公开(公告)号：US08739641B2

公开(公告)日：2014-06-03

申请号：US13511130

申请日：2010-11-22

Applicant: Mehdi Boukallel ,  Mathieu Grossard

Inventor： Mehdi Boukallel ,  Mathieu Grossard

IPC: G01L1/10 ,  G01L1/00 ,  G01L5/00

CPC classification number: G01L1/162 ,  G01L1/106 ,  G01L1/183 ,  G01L9/0022

Abstract: A micro-force sensor comprising a one-piece plate including a first area defining a first recess, which must be held in position relative to a mounting, a second area connected to the first area defining the first recess and a second recess, a measuring beam across the first recess having a first end embedded in the first area and a second end connected to the second area, an excitation beam across the second recess having two ends embedded in the second area and being provided with at least one excitation element, a third area connected to the first area and an effector beam having one free end for receiving the force being measured and one end-embedded in the third area, and a fourth area connecting the embedded end of the effector beam to the second end of the measuring beam, which is provided with a measuring element.

Abstract translation: 一种微力传感器，包括一体式板，其包括限定第一凹部的第一区域，所述第一区域必须相对于安装件保持在适当位置，连接到限定所述第一凹部的所述第一区域的第二区域和第二凹部， 横跨第一凹部的第一凹部具有嵌入在第一区域中的第一端和连接到第二区域的第二端，跨越第二凹部的激发束，其具有嵌入第二区域中的两个端部并且设置有至少一个激励元件， 连接到第一区域的第三区域和具有一个自由端的效应器梁，用于接收被测量的力和一个端部嵌入在第三区域中;以及第四区域，其将效应束的嵌入端连接到测量的第二端 梁，其设有测量元件。

公开(公告)号：US20130018612A1

公开(公告)日：2013-01-17

申请号：US13638834

申请日：2011-04-11

Applicant: Mathieu Grossard ,  Mehdi Boukallel

Inventor： Mathieu Grossard ,  Mehdi Boukallel

IPC: G06F19/00

CPC classification number: G05B19/18 ,  G05B2219/41146 ,  G05B2219/41367 ,  G05B2219/42078

Abstract: An observation device of a non-linear system includes: at least one sensor supplying a measurement vector each component of which is a measurable output parameter of the non-linear system; and a state observer processor that, based on a predetermined state representation of the non-linear system, is configured to supply an estimation of a state vector of the non-linear system according to the measurement vector supplied and a control vector of the non-linear system. In addition, the predetermined state representation including a non-linearity model of the system in a form of a gain parameter, and one component of the state vector is this gain parameter.

Abstract translation: 非线性系统的观察装置包括：至少一个传感器，其提供测量矢量，每个分量是非线性系统的可测量的输出参数; 以及状态观察器处理器，其基于所述非线性系统的预定状态表示，被配置为根据所提供的所述测量向量和所述非线性系统的控制向量来提供所述非线性系统的状态向量的估计， 线性系统 此外，包括增益参数形式的系统的非线性模型和状态向量的一个分量的预定状态表示是该增益参数。

公开(公告)号：US20120279319A1

公开(公告)日：2012-11-08

申请号：US13511130

申请日：2010-11-22

Applicant: Mehdi Boukallel ,  Mathieu Grossard

Inventor： Mehdi Boukallel ,  Mathieu Grossard

IPC: G01L1/10

CPC classification number: G01L1/162 ,  G01L1/106 ,  G01L1/183 ,  G01L9/0022

Abstract: A micro-force sensor comprising a one-piece plate including a first area defining a first recess, which must be held in position relative to a mounting, a second area connected to the first area defining the first recess and a second recess, a measuring beam across the first recess having a first end embedded in the first area and a second end connected to the second area, an excitation beam across the second recess having two ends embedded in the second area and being provided with at least one excitation element, a third area connected to the first area and an effector beam having one free end for receiving the force being measured and one end-embedded in the third area, and a fourth area connecting the embedded end of the effector beam to the second end of the measuring beam, which is provided with a measuring element.

Abstract translation: 一种微力传感器，包括一体式板，其包括限定第一凹部的第一区域，所述第一区域必须相对于安装件保持在适当位置，连接到限定所述第一凹部的所述第一区域的第二区域和第二凹部， 横跨第一凹部的第一凹部具有嵌入在第一区域中的第一端和连接到第二区域的第二端，跨越第二凹部的激发束，其具有嵌入第二区域中的两个端部并且设置有至少一个激励元件， 连接到第一区域的第三区域和具有一个自由端的效应器梁，用于接收被测量的力和一个端部嵌入在第三区域中;以及第四区域，其将效应束的嵌入端连接到测量的第二端 梁，其设有测量元件。

公开(公告)号：US09278628B2

公开(公告)日：2016-03-08

申请号：US14119837

申请日：2012-05-22

Applicant: Mathieu Grossard ,  Sofiene Kachroudi ,  Neil Abroug

Inventor： Mathieu Grossard ,  Sofiene Kachroudi ,  Neil Abroug

IPC: B60L15/20 ,  B60L1/00 ,  B60L1/02 ,  B60L11/18

CPC classification number: B60L15/2045 ,  B60L1/003 ,  B60L1/02 ,  B60L11/1861 ,  B60L2240/12 ,  B60L2240/34 ,  B60L2240/622 ,  B60L2240/80 ,  B60L2260/52 ,  B60L2260/54 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7258 ,  Y02T10/7291 ,  Y02T90/16 ,  Y02T90/162

Abstract: A method includes trajectories of setpoints controlling a motor mechanism and auxiliary unit, the trajectory describing variation of the setpoint by position of the mobile system, the trajectories being calculated with respect to objectives according to an optimization algorithm, said method comprising: storing an approximate profile of the route as segments of straight lines, forming positions sampled along the route, a sampled position corresponding to passage from one segment to the following segment; sampling the profile according to a spatial pitch, forming a series of positions sampled along the route; the trajectories being recalculated at each sampled position by the optimization algorithm, the setpoints being constant over a given segment, a simulation predicting the energy environment of the mobile system at each sampled position as a function of the setpoints and the profile of the route, the optimization algorithm taking the simulation result to calculate the setpoints.

Abstract translation: 一种方法包括控制马达机构和辅助单元的设定点的轨迹，该轨迹描述了根据移动系统的位置的设定点的变化，根据优化算法针对目标计算轨迹，所述方法包括：存储大致轮廓 作为直线段，形成沿着路线采样的位置，对应于从一个段到下一段的通过的采样位置; 根据空间间距对轮廓进行采样，形成沿路线采样的一系列位置; 通过优化算法在每个采样位置重新计算轨迹，设定点在给定段上是恒定的，模拟预测每个采样位置处的移动系统的能量环境作为路线的设定点和轮廓的函数， 采用仿真结果计算设定值的优化算法。

公开(公告)号：US20140081503A1

公开(公告)日：2014-03-20

申请号：US14119837

申请日：2012-05-22

Applicant: Mathieu Grossard ,  Sofiene Kachroudi ,  Neil Abroug

Inventor： Mathieu Grossard ,  Sofiene Kachroudi ,  Neil Abroug

IPC: B60L15/20

CPC classification number: B60L15/2045 ,  B60L1/003 ,  B60L1/02 ,  B60L11/1861 ,  B60L2240/12 ,  B60L2240/34 ,  B60L2240/622 ,  B60L2240/80 ,  B60L2260/52 ,  B60L2260/54 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7258 ,  Y02T10/7291 ,  Y02T90/16 ,  Y02T90/162

Abstract: A method includes trajectories of setpoints controlling a motor mechanism and auxiliary unit, the trajectory describing variation of the setpoint by position of the mobile system, the trajectories being calculated with respect to objectives according to an optimization algorithm, said method comprising: storing an approximate profile of the route as segments of straight lines, forming positions sampled along the route, a sampled position corresponding to passage from one segment to the following segment; sampling the profile according to a spatial pitch, forming a series of positions sampled along the route; the trajectories being recalculated at each sampled position by the optimization algorithm, the setpoints being constant over a given segment, a simulation predicting the energy environment of the mobile system at each sampled position as a function of the setpoints and the profile of the route, the optimization algorithm taking the simulation result to calculate the setpoints.

Abstract translation: 一种方法包括控制马达机构和辅助单元的设定点的轨迹，该轨迹描述了根据移动系统的位置的设定点的变化，根据优化算法针对目标计算轨迹，所述方法包括：存储大致轮廓 作为直线段，形成沿着路线采样的位置，对应于从一个段到下一段的通过的采样位置; 根据空间间距对轮廓进行采样，形成沿路线采样的一系列位置; 通过优化算法在每个采样位置重新计算轨迹，设定点在给定段上是恒定的，模拟预测在每个采样位置处的移动系统的能量环境作为路线的设定点和轮廓的函数， 采用仿真结果计算设定值的优化算法。

公开(公告)号：US20110231168A1

公开(公告)日：2011-09-22

申请号：US13055468

申请日：2009-07-08

Applicant: Mathieu Grossard ,  Christine Rotinat-Libersa ,  Nicolas Chaillet

Inventor： Mathieu Grossard ,  Christine Rotinat-Libersa ,  Nicolas Chaillet

IPC: G06F17/50

CPC classification number: G06F17/50

Abstract: A method for producing a flexible mechatronic system includes: a step of modeling the system by a mesh including a given combination of elementary blocks, each block being formed of a predefined assemblage of segments representing elementary beams, the mesh including at least one active block controllable by means of a control signal; a step of simulating the behavior of a terminal node of the model in open-loop response to a control signal; a step of characterizing said response by at least one static mechanical criterion and at least one numerical criterion representative of the decay of the resonance spikes of the response as a function of frequency. The above steps may be repeated. The method further includes a step of selecting a design as a function of the criteria defined in the characterization step, the system being produced on the basis of the selected model.

Abstract translation: 一种用于生产柔性机电系统的方法包括：通过包括基本块的给定组合的网格对系统进行建模的步骤，每个块由表示基本波束的段的预定义组合形成，所述网格包括至少一个活动块可控制 借助于控制信号; 在对控制信号的开环响应中模拟模型的终端节点的行为的步骤; 通过至少一个静态机械标准表征所述响应的步骤，以及表示作为频率的函数的响应的谐振尖峰的衰减的至少一个数值标准。 可以重复上述步骤。 该方法还包括根据在表征步骤中定义的标准来选择设计的步骤，该系统是基于所选择的模型而产生的。