Domaines de compétences
Théorie de la commande
Centre Automatique et Syst�mes
Researcher and Lecturer
2000 - 2014
2014 - 2016
2014 - 2017
2014 - 2018
Researcher and Lecturer
2014 - (now)
Inventory management and follow-ups
2017 - 2019
Automatique et Traitement du Signal
Bayesian inference with Expectation Maximisation for the characterisation of antibiotic treatment recovery in Cystic Fibrosis2021-08-27
Muscle co-contraction in an upper limb musculoskeletal model: EMG-assisted vs. standard load-sharingComputer Methods in Biomechanics and Biomedical Engineering. 2021. DOI : 10.1080/10255842.2020.1814755.
Feasibility of an alternative method to estimate glenohumeral joint center from videogrammetry measurements and CT/MRI of patientsComputer Methods In Biomechanics And Biomedical Engineering. 2021. DOI : 10.1080/10255842.2020.1808889.
On two isomorphic Lie algebroids for Feedback Linearization2019-01-24
On two isomorphic Lie algebroids associated with feedback linearization2019. 8th International-Federation-of-Automatic-Control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-Control (IFAC) Symposium on Nonlinear Control Systems (NOLCOS), Vienna, AUSTRIA, September 04-06, 2019. p. 280-285. DOI : 10.1016/j.ifacol.2019.11.792.
Imprecise dynamic walking with time-projection controlarXiv. 2018-11-12.
Time-projection control to recover inter-sample disturbances, application to bipedal walking controlArXiv. 2018.
A simulation framework for humeral head translationsMedical Engineering and Physics. 2017. DOI : 10.1016/j.medengphy.2017.08.013.
A framework for forward-dynamics simulation of the human shoulder2016. 11th Conference of the International Shoulder Group, ISG 2016, Winterthur, Switzerland, 14-16 July 2016.
Modelling of the human shoulder as a parallel mechanism without constraintsMechanism and Machine Theory. 2016. DOI : 10.1016/j.mechmachtheory.2016.02.004.
Modeling and Compensating Friction in Power Steering2015. European Control Conference 2015, Linz, Austria, July 15-17.
Active Stability of Glenohumeral Joint Diminishes during the End-range Motions2015. 21st Congress of the European Society of Biomechanics ESB 2015, Prague, Czech Republic, 5-8 July 2015.
Application of Artificial Neural Networks in Assessing the Equilibrium Depth of Local Scour Around Bridge Piers2015. ASME 2015 34th International Conference on Ocean, Offshore & Arctic Engineering OMAE2015, St. John’s, Newfoundland, Canada, May 31-June 5. p. V007T06A061. DOI : 10.1115/OMAE2015-42387.
A Cable-Driven Pendulum for Analysing the Stability of Joint Stiffness ControlJournal of Biological Cybernetics. 2015.
Review of "Critical configurations of planar robot arms" by Khimshiashvili Giorgi, Panina Gaiane, Siersma Dirk and Zhukova Alena, in Cent. Eur. J. Math. 11, no. 3, 519-529, 2013Mathematical reviews database fee. 2014.
Review of "Stability analysis and design of nonlinear singular systems" by Yang, Chun Yu, Zhang Qing Ling, Zhou Linna, Springer, Heidelberg, LCNCIS 435, 2013Mathematical reviews database fee. 2014.
Review of "Neutral wrenches of 3-parametric robot-manipulators of spherical rank 1" by Marksova, Marta, Appl. Math. 56, n0. 4, 405-416, 2011Mathematical reviews database fee. 2014.
A Quotient Method for Designing Nonlinear ControllersEuropean Journal of Control. 2013. DOI : 10.1016/j.ejcon.2012.10.001.
Review of "A characterization of one-element p-bases of rings of constants", by Jedrzejewicz, P., Bull. Pol. Acad. Sci. Math. 59 (2011), no. 1, 19–26.1732-8985Mathematical reviews database fee. 2012.
Review of "Flexible Multibody Dynamics", by Bauchau, O. A., Springer, 2011.Mathematical reviews database fee. 2012.
Avoiding Feedback-Linearization Singularity Using a Quotient Method -- The Field-Controlled DC Motor Case2012. American Control Conference, Montreal, Canada, June 27-29, 2012.
Quotient method for stabilising a ball-on-a-wheel system – Experimental results2012. IEEE CDC 2012, Hawaii, December 2012.
Application of Legendrian Foliations in Differential Flatness Problems2012. IEEE CDC 2012, Hawaii.
Review of "A multiple time-scale solution for non-linear vibration of mass grounded system", by A. Shooshtari and A.A. Pasha Zanoosi, Appl. Math. Model., 34, 2010, no. 7, 1918-1929.Mathematical reviews database fee. 2012.
Review of "The shape of some linear transformations", by Hou, Bo and Gao, Suogang, Linear Algebra Appl., 433, 2010, n0 11-12, 2088-2095Mathematical reviews database fee. 2012.
Review of "Some nonlinear boundary value problems describing conflict control with continuous feedback and nonconvex target set", by S.A. Brykalov and Y.A. Latushkin, Nonlinear Analysis, 71, 2009, no 12, pp. 1116-1123Mathematical reviews database fee. 2012.
Minimal State Representation for Open Fluid-Fluid Reaction Systems2012. 2012 American Control Conference (ACC), Montreal, Canada, June 27 - 29, 2012. p. 3496-3502.
A quotient method for designing nonlinear controllers2011. 50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC), Orlando, FL, Dec 12-15, 2011. p. 7980-7987.
Review of "Condition number related to the outer inverse of a complex matrix", by D. Mosic and D. Djordjevic, Appl. Math. Comput. 215, 2009, no.8, pp 2826-2834Mathematical reviews database fee. 2011.
Review of "The complex solution to a quaternion matrix equation with applications", Ding, Yu-Han; Wang, Qing-Wen, Math. Sci. Res. J. 12, no. 9, pp. 215-224, 2008Mathematical reviews database fee. 2011.
Review of "On functions whose graph is a Hamel basis. II", Krzysztof Plotka, Canad. Math. Bull. 52, No. 2, pp 295-302, 2009.Mathematical reviews database fee. 2011.
Review of "Modeling, performance analysis and control of robot manipulators" Edited by Etienne Dombre and Wisama KhalilMathematical reviews database fee. 2011.
Feedback Linearizability and Flatness in Restricted Control Systems2011. 18th IFAC World Congress, Milano, Italy, August 28, 2011.
Stabilization of the cart-pendulum system through approximate manifold decomposition2011. IFAC, Milano, Italy 2011, August 28th to September 2nd 2011.
Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots2010. 2010 IEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control, Yokohama, Japan, September 8-10, 2010. p. 1307-1312. DOI : 10.1109/CCA.2010.5611216.
Review of "Rigid body dynamics in terms of quaternions: Hamiltonian formulation and conserving numerical integration" Betsch, P. and Siebert, R., International J. Numer. Methods, Engrg. 79, no. 4, pp. 444-473, 2009Mathematical reviews database fee. 2010.
Review of "On symplectic polar spaces over non-perfect fields of characteristic 2", De Bruyn, B. and Pasini, A., Linear Multilinear Algebra 57, no. 6, pp. 567-575, 2009Mathematical reviews database fee. 2010.
Advances in the Theory of Control, Signals and Systems with Physical ModelingNew York, Heidelberg, Berlin: Springer Verlag.
Review of "Some remarks on Eisenstein's criterion", Woo, Sung Sik, Commun. Korean Math. Soc. 23 (2008), no.4, 499-509Mathematical reviews database fee. 2010.
Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots2010. IEEE Multi-Conference on Systems and Control, Yokohama, Japan, September 8-10, 2010.
Quotient method for controlling the acrobot2009. CDC 2009, Shanghai, December 2009.
Review of "The inversion formulae for automorphisms of polynomial algebras and rings of differential operators in prime characteristic", by Bavula, V. V., J. Pure Appl. Algebra, 212, 2008, no. 10, pp 2320-2337Mathematical reviews database fee. 2009.
Review of "Generalized Differential Galois Theory." P. Landesmann, Trans. Amer. Math. Soc. 360 (2008) no. 8, pp 4441-4495.Mathematical reviews database fee. 2009.
Review of "Sheafhom: software for sparse integer matrices", M. McConnell, Pure Appl. Math. Q. 3 (2007), no. 1, part 3, 307-322.Mathematical reviews database fee. 2009.
Review of "Singurlarly perturbed piecewise deterministic games", A. Haurie and F. Moresino, SIAM J. Control Optim, 47 (2008), no. 1, 73-91.Mathematical reviews database fee. 2009.
Review of "On the number of generators of the module of derivations and multiplicity of certain rings", Gurjar, R.V. and Vagh, V., J. Algebra 319 (2008), no. 5, 2030-2049Mathematical reviews database fee. 2009.
Dynamics and Control of 2D SpiderCrane: A Lie-Bäcklund Approach2009. European Control Conference, Budapest, August 2009.
Introduction à l'Analyse et la Commande Non LinéaireLausanne: PPUR.
Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system2008. 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, December 14-17, 2008.
Review of "On the determination of the basin of attraction for stationary and periodic movements"Mathematical reviews database fee. 2008.
Review of "Standard bases for local rings of branches and their module of differentials"Mathematical reviews database fee. 2008.
Review of "The Holditch sickles for the open homothetic motions"Mathematical reviews database fee. 2008.
Review of "Holditch-type theorems under the closed planar homothetic motions"Mathematical reviews database fee. 2008.
Dedicated controller design for a dual-stage opto-mechatronic system2008. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xian, China, 2-5 July 2008.
Review of "Quantum field theory and the Jones polynomial."Mathematical reviews database fee. 2008.
Review of "Geometrical derivation of Lagrange's equations for a system of rigid bodies."Mathematical reviews database fee. 2008.
Stabilization of a 2D-SpiderCrane Mechanism Using Damping Assignment Passivity-based Control2008. IFAC World Congress, Seoul, July 2008.
Jet-Scheduling Control for SpiderCrane: Experimental Results2008. IFAC World Congress, Seoul, July 2008.
On Achieving Periodic Joint-Motion for Redundant Robots2008. IFAC World Congress, Seoul, 6-11 July, 2008.
Real-time compensation of hysteresis in piezoelectric-stack actuator tracking a stochastic reference2008. American Control Conference, Seattle, June 2008.
Fast Step-response Evaluation of Linear Continuous-time Systems with Time Delay in the Feedback Loop2007. IFAC World Congress Seoul, Seoul, june 2008.
Review of "Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles"Mathematical reviews database fee. 2007.
Review of "Control of chaos and its relevancy to spacecraft steering" by E. E. N. Macau and C. Grebogi in Phil. Trans. R. Soc. A, vol. 364, p. 2463-2481Mathematical reviews database fee. 2007.
Review of "On Lagrange multipliers in flexible multibody dyanmics" by B. Simeon, Comput. Meth. Appl. Mech. Eng., vol. 195, p. 6993-7005Mathematical reviews database fee. 2007.
Review of "Rational constants of monomial derivations" by A. Nowicki and J. Zielinski, J. Algebra 302 (2006),no. 1, 387-418Mathematical reviews database fee. 2007.
Review of "The dynamics of legged locomotion: models, analysis, and challenges" by Ph. Holmes, R. J. Full, D. Koditschek, and J. Guckenheimer, SIAM Rev. 48 (2006), no. 2, 207-304Mathematical reviews database fee. 2007.
Trajectory Tracking through Overactuation for an Optical Delay LineIEEE/ASME Transactions on Mechatronics. 2007.
Velocity Scheduling Controller for a Nonholonomic Mobile Robot2006. Chinese Control Conference, Harbin, August 2006.
Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology2006. 2006 IEEE International Conference on Robotics, Automation & Mechatronics (RAM), Bangkok, Thailand, June 7-9, 2006.
Experimental Results for a Nonholonomic Mobile Robot Controller Enforcing Linear Equivalence Asymptotically2006. IEEE Conference on Industrial Electronics and Applications, Singapore, May 2006.
Enseignement & Phd
Programme doctoral en informatique et communications
Programme doctoral en robotique, contrôle et systèmes intelligents
A dirigé les thèses EPFL deBuccieri Davide , Fuchs Robert , Graf Basile , Ingram David , Michellod Yvan , Sarshari Ehsan , Sudarsandhari Shibani Willson ,
The course contents include the following main chapters:
- Mathematical description of linear systems
- State-space solutions and realizations
- Controllability and observability
- Minimal realizations and coprime fractions
- State feedback and state estimation