Dr. Olivier Pape Profile

Dr. Olivier Pape

Control Engineer at Nexter Systems

SPIE Involvement:

Author

Publications (2)

This will count as one of your downloads.

You will have access to both the presentation and article (if available).

DOWNLOAD NOW

This content is available for download via your institution's subscription. To access this item, please sign in to your personal account.

Email or Username Forgot your username?

Password Forgot your password?

Show

Keep me signed in

No SPIE account? Create an account

Proceedings Article | 27 May 2005 Paper

Stability control for high speed tracked unmanned vehicles

Olivier Pape, Joel Morillon, Philippe Houbloup, Stephane Leveque, Cecile Fialaire, Thierry Gauthier, Patrice Ropars

Proceedings Volume 5804, (2005) https://doi.org/10.1117/12.603743

KEYWORDS: Defense and security, Robotics, Unmanned vehicles, Vehicle control, Control systems, Automatic tracking, Target acquisition, Unmanned systems, Robotic systems, Safety

Read Abstract +

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational add-on value". The paper details the "automatic speed adjustment" behavior (named SYR4), developed by Giat Industries Company, which main goal is to secure the teleoperated mobility of high speed tracked vehicles on rough grounds; more precisely, the validated low level behavior continuously adjusts the vehicle speed taking into account the teleperator wish AND the maximum speed that the vehicle can manage safely according to the commanded radius of curvature. The algorithm is based on a realistic physical model of the ground-tracks relation, taking into account many vehicle and ground parameters (such as ground adherence and dynamic specificities of tracked vehicles). It also deals with the teleoperator-machine interface, providing a balanced strategy between both extreme behaviors: a) maximum speed reduction before initiating the commanded curve; b) executing the minimum possible radius without decreasing the commanded speed. The paper presents the results got from the military acceptance tests performed on tracked SYRANO vehicle (French Operational Demonstrator).

Proceedings Article | 27 May 2005 Paper

Steer assistance for teleoperation

Olivier Pape, Philippe Houbloup, Stephane Leveque

Proceedings Volume 5804, (2005) https://doi.org/10.1117/12.603426

KEYWORDS: Roads, OpenGL, Control systems, Computer simulations, Robotics, Actuators, 3D modeling, MATLAB, System integration, Network architectures

Read Abstract +

Giat Industries, expert in combat system, designs and integrates the technologies (electrical network, mechanical design, ergonomic and mobility command and control) for the French military and civil robotic. One of the main problems of current robotics is to treat the lack of operator's perception due to teleoperation. The article details the assistance for the steer control part of mobility command and control. The purpose of the assistance is to secure the vehicle, to insure the continuity of the command (in particular for tracked vehicle equipped of hydrostatic steering group), and to adapt the command (to use all the range of the command even at high speed and to adapt the speed to the desired curve). The advantage of the system presented in the article is to filter the order first and to transmit to the actuators only safe orders preserving the vehicle. This approach transforms the telepilot's order watching and correction problem, to a telepilot's order filtering problem. We pass here, from a logical "a posteriori" to a logical of "a priori" processing. The assistance includes: a model of the dynamic behavior of the vehicle and an open loop, some feed forward with appropriate filters and a closed loop. The article presents the result of the command studies from time simulation to "man on the loop" simulation. This system, at present time applied to the French Observation Robot demonstrator SYRANO (developped for the DGA-French Defence Procurement Agency), is the subject of a patent.

My Library

You currently do not have any folders to save your paper to! Create a new folder below.

Folder Name

Folder Description

View contact details

UPDATE YOUR PROFILE

Is this your profile? Update it now.

Sign into your SPIE.org account

Don’t have a profile and want one?

Create an account on SPIE.org

Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks. You are receiving this notice because your organization may not have SPIE eBooks access.*

*Shibboleth/Open Athens users─please sign in to access your institution's subscriptions.

To obtain this item, you may purchase the complete book in print or electronic format on SPIE.org.

ORGANIZATIONAL
Sign in with credentials provided by your organization.

Organizational Username

Organizational Password

Show/Hide Password

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members:

Non-members: ADD TO CART

Keywords/Phrases

Search In:

Publication Years