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Fonooni B.,Umea University | Jevtic A.,Robosoft S.A. | Jevtic A.,Ecole Superieure des Technologies Industrielles Avancees | Hellstrom T.,Umea University | Janlert L.-E.,Umea University
Robotics and Autonomous Systems | Year: 2015

In domains where robots carry out human's tasks, the ability to learn new behaviors easily and quickly plays an important role. Two major challenges with Learning from Demonstration (LfD) are to identify what information in a demonstrated behavior requires attention by the robot, and to generalize the learned behavior such that the robot is able to perform the same behavior in novel situations. The main goal of this paper is to incorporate Ant Colony Optimization (ACO) algorithms into LfD in an approach that focuses on understanding tutor's intentions and learning conditions to exhibit a behavior. The proposed method combines ACO algorithms with semantic networks and spreading activation mechanism to reason and generalize the knowledge obtained through demonstrations. The approach also provides structures for behavior reproduction under new circumstances. Finally, applicability of the system in an object shape classification scenario is evaluated. © 2014 Elsevier B.V. All rights reserved. Source


Clay A.,Ecole Superieure des Technologies Industrielles Avancees | Wolff M.,University of Paris Descartes | Mollard R.,University of Paris Descartes
Journal Europeen des Systemes Automatises | Year: 2014

The context of this paper is movement and gesture-based interaction for natural user interaction (NUI) design. Naturalness is not an intrinsic but a perceived quality; and although movement seems an ideal candidate for NUIs, it bears its own limitations. Although experience can be drawn from other interaction styles (e.g. desktop graphical interfaces, touch), we advocate that movement-based natural interaction should also be tackled from a fresh perspective. Many existing works are technology-driven; our approach focuses on users' definitions of interactions, leaving the technical issues for later works. © Lavoisier 2014. Source


Etxeberria A.,Ecole Superieure des Technologies Industrielles Avancees | Etxeberria A.,University of Bordeaux 1 | Vechiu I.,Ecole Superieure des Technologies Industrielles Avancees | Baudoin S.,Ecole Superieure des Technologies Industrielles Avancees | And 2 more authors.
IECON Proceedings (Industrial Electronics Conference) | Year: 2012

The increasing penetration level of the Renewable Energy Sources (RES) and their variability can compromise the proper operation of an electrical grid. The microgrid is being analysed as a solution to obtain a high penetration of RES in a controlled way. © 2012 IEEE. Source


Etxeberria A.,Ecole Superieure des Technologies Industrielles Avancees | Etxeberria A.,French National Center for Scientific Research | Vechiu I.,Ecole Superieure des Technologies Industrielles Avancees | Camblong H.,Ecole Superieure des Technologies Industrielles Avancees | And 2 more authors.
Energy Procedia | Year: 2011

A high penetration of the Renewable Energy Sources (RES) can create stability, reliability and power quality problems in the main electrical grid due to their stochastic nature. The microgrid is one of the analysed solutions to solve this problem. In this context, the storage becomes necessary to better harness the energy generated by RES and to maintain the proper operation of the microgrid. This paper addresses the control of the bidirectional DC-DC converters used to interface a parallel connected Hybrid Energy Storage System (HESS) formed by a Vanadium Redox Battery (VRB) and a SuperCapacitor (SC) bank. The linear controllers have been widely used due to their simple design and implementation. However, their operation is limited to a certain operation range. The variability of the analysed system makes the use of a more robust controller necessary. In this work a PI based two-loop control system and a PI type sliding mode controller (SMC) are compared by means of simulations using the Matlab-Simulink software. Some rules are fixed to facilitate the design process of the SMC and the advantages of using a nonlinear controller are stressed. © 2011 Published by Elsevier Ltd. Source


Etxeberria A.,Ecole Superieure des Technologies Industrielles Avancees | Etxeberria A.,University of Bordeaux 1 | Vechiu I.,Ecole Superieure des Technologies Industrielles Avancees | Camblong H.,Ecole Superieure des Technologies Industrielles Avancees | And 2 more authors.
2010 9th International Power and Energy Conference, IPEC 2010 | Year: 2010

The increasing use of the Renewable Energy Sources (RES) and the intermittency of the power generated by them create stability, reliability and power quality problems in the main electrical grid. The microgrid is called to be a feasible alternative to solve these issues. As it is a weak electrical grid, the microgrid is very sensitive to load or generation changes. To reduce the effect of these variations and to better harness the energy generated by RES, the Energy Storage Systems (ESS) are used. As the different ESS technologies that are currently available are not enough to satisfy the wide frequency spectrum of the generated energy, the use of a Hybrid Energy Storage System (HESS) is necessary. A HESS is usually formed by two complementary storage devices that can be associated in many different topologies. Of course, the two devices have to be coordinated by an Energy Management System (EMS). In this paper the different topologies and energy management algorithms that have been applied in the RES and microgrid contexts have been analysed and compared. A review of the latest papers related to the use of HESS to facilitate the integration of the RES in the microgrid context is carried out. Some examples of the (hybrid) electric vehicles are also addressed, as the use of the HESS is more extended in this field than in the field of the microgrids. ©2010 IEEE. Source

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