A Systematic Comparison of Simulation Software for Robotic Arm Manipulation using ROS2

Florent P. Audonnet,Andrew Hamilton,Gerardo Aragon-Camarasa 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11

Simulation software is a powerful tool for robotics research, allowing the virtual representation of the real world. However, with the rise of the Robot Operating System (ROS), there are new simulation software packages that have not been compared within the literature. This paper proposes a systematic review of simulation software compatible with ROS version 2. The focus is research in robotics arm manipulation as it represents the most often used robotic application in industry and their future applicability to digital twins. For this, we thus benchmark simulation software under similar parameters, tasks and scenarios and evaluate them in terms of their capability for long-term operations, success at completing a task, repeatability and resource usage. We find that there is no best simulation software overall. Still, two simulation packages (Ignition and Webots) have higher stability than others while, in terms of resource usage, PyBullet and Coppeliasim consume less than their competitors.

Production of jet-fuel-range olefins via catalytic conversion of pentene and hexene over mesoporous Al-SBA-15 catalyst

Florent Dubray,Vladimir Paunovic,Marco Ranocchiari,Jeroen A. van Bokhoven 한국공업화학회 2022 Journal of Industrial and Engineering Chemistry Vol.114 No.-

The oligomerization of biomass-derived light olefins offers a promising potential for the synthesis of sustainablejet-fuels, which mostly comprise C10-C18 hydrocarbons. However, the selectivity control ofoligomerization reaction remains a challenge. In this contribution, oligomerization of pentene and hexenemixtures was studied over acidic mesoporous Al–SBA–15 catalyst in continuous operation, and theimpact of different process parameters on conversion and selectivity is thoroughly evaluated. Kineticsevaluation showed that the reactivity of pentene is higher than that of hexene. Selectivity to jet-fuelrange products > 98 % were achievable at low-to-moderate conversions (<50 %), while higher conversions(ca. 90 %) resulted in selectivities of ca. 75 %. Notably, the product distribution at iso-conversion wasunaffected by temperature, pressure, and weight hourly space velocity, implicating that adjusting theconversion is the primary way to tune the selectivity of the Al-SBA-15 catalyst. This understanding ofthe oligomerization process opens the door for the research devoted on the oligomerization of complexolefin mixtures, mimicking the process stream of olefins production units, in order to achieve ‘‘biomass tojet-fuel” transformation.

Hy-HIL : new test platform for the development of hybrid vehicle

Florent PEREZ Ing,Stephane PELLETIER 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11

D2T, RENAULT, IFP, LMS and G2ELAB launched together the HyHIL project, a new test platform for the development of hybrid vehicles. HyHIL uses a suite of generic tools, such as D2T’s MORPHEE 2 automation system, to reproduce and assess the complex architecture of hybrid vehicles in a unique and flexible way. Combining an IC engine with an electric motor is complex: it increases the number of parameters to be calibrated during the development. This means increased time and cost, while the market demand is asking for their reduction. HyHIL helps to solve this problem by defining the best architecture of a hybrid powertrain at the early stages of development. The platform evaluates hybrid powertrain concepts and the benefits of different levels of hybridization in an engine test bed, thanks to real-time simulations developed with LMS’ AMESim simulation platform and executed by D2T’s MORPHEE 2 automation system. MORPHEE 2 executes real time models required to simulate both hybrid vehicle and driver. The MORPHEE 2 flexibility allows switching easily between the three hybrid architectures retained for this project: - "Pure thermal" mode, with simulation of an alternator-starter. - "Stop & Start" mode, with simulation of the engine’s frequent stop/start phases. - "Hybrid" mode, with simulation of electric propulsion, energy recovery during deceleration phases and battery recharging. These architectures have been tested over several standard driving cycles (NEDC, FTP, Artemis, etc.) using an energy supervisor developed by IFP which is sufficiently generic not to require specific calibration. The results obtained on the engine test bed were compared to results obtained on a real vehicle; the simulation proved to be a very realistic representation. Simulation, with the use of an environment such as AMESim and MORPHEE 2, offers a real way to assess complex powertrains without the need to manufacture the powertrain or even the complete car.

SUSTAINABILITY INTO LUXURY GEMSTONE INDUSTRY

Florent Vincent,Ivan Coste-Maniere,Shubham Ramchandra Patil 글로벌지식마케팅경영학회 2021 Global Fashion Management Conference Vol.2021 No.11

Effects of Reinforcement on RC Panels Resistance under Hard Missile in High-Speed Collision

Kouadou, Florent(코아두 플로하),Ye, Junhwi(예준휘),Cho, Jae-Yeol(조재열) 한국콘크리트학회 2024 한국콘크리트학회 학술대회 논문집 Vol.36 No.1

R. S. WebTool, a web server for random sampling-based significance evaluation of pairwise distances

Villiers, Florent,Bastien, Olivier,Kwak, June M. Oxford University Press 2014 Nucleic acids research Vol.42 No.w1

<P>Pairwise comparison of data vectors represents a large part of computational biology, especially with the continuous increase in genome-wide approaches yielding more information from more biological samples simultaneously. Gene clustering for function prediction as well as analyses of signalling pathways and the time-dependent dynamics of a system are common biological approaches that often rely on large dataset comparison. Different metrics can be used to evaluate the similarity between entities to be compared, such as correlation coefficients and distances. While the latter offers a more flexible way of measuring potential biological relationships between datasets, the significance of any given distance is highly dependent on the dataset and cannot be easily determined. Monte Carlo methods are robust approaches for evaluating the significance of distance values by multiple random permutations of the dataset followed by distance calculation. We have developed R. S. WebTool (http://rswebtool.kwaklab.org), a user-friendly online server for random sampling-based evaluation of distance significances that features an array of visualization and analysis tools to help non-bioinformaticist users extract significant relationships from random noise in distance-based dataset analyses.</P>

CO-CONSTRUCTION OF A LOCAL ENVIRONMENTAL POLICY : THE CASE OF URBAN GREEN CORRIDORS

( Sophie Cros ),( Florent Pratlong ) 한국행정학회 2019 한국행정학회 학술발표논문집 Vol.2019 No.하계

초단 펄스 (Ultra Short Pulse)레이저를 이용한 절단 어플이케이션

Joris VanNunen,Florent Thibault 한국레이저가공학회 2017 Laser Solutions Vol.20 No.5

Time-Varying Bond Market Integration in EMU

( Priyanshi Gupta ),( Sanjay Sehgal ),( Florent Deisting ) 세종대학교 경제통합연구소(구 세종대학교 국제경제연구소) 2015 Journal of Economic Integration Vol.30 No.4

We examine the level and progress of bond market integration amongst the eleven Economic and Monetary Union countries with active bond markets, over normal and crisis periods. The study covers data from January 2002 up to March 2014. We employ seven indicators for assessing integration, namely beta convergence, sigma convergence, variance ratio, Asymmetric Dynamic Conditional Correlation, dynamic co-integration, market synchronisation, and common factors approach. The results suggest that there is no heterogeneity in the integration process of large-sized economies and medium-sized economies, thereby restricting portfolio diversification potential. Further, bond market integration in the Economic and Monetary Union deteriorated during the crisis period, especially during the European debt crisis, with the economies of Greece, Ireland, Italy, Portugal, and Spain being the worst affected. We observe that bond markets take a lead in information linkages vis-a-vis stock markets, and hence should get precedence in policy intervention relating to market integration, development, and crisis management.

Biogenic Amine, Fatty Acid, and Volatile Compound Contents in Ivorian Traditionally Fermented Fish “Adjuevan”

Clementine Amenan Kouakou-Koua,Florent Kouadio N’guessan,Didier Montet,Marcellin Koffi Dje 한국식품영양과학회 2020 Preventive Nutrition and Food Science Vol.25 No.1

This study identified biogenic amines, fatty acids, and volatile compounds in adjuevan, an Ivorian traditionally salted and fermented fish. Samples were obtained from two processing methods (method 1: entire fish adjuevan; method 2: both sides filleted adjuevan) with the fish species Galeoides decadactylus. Biogenic amines found in freshly produced adjuevan were histamine, putrescine, cadaverine, tyramine, β-phenyl ethylamine, and spermidine. Among these, the most prevalent were β-phenyl ethylamine and cadaverine. Biogenic amine contents varied according to the processing method but remained lower than levels considered hazardous for human health. The major fatty acids present in adjuevan from method 1 were docosahexaenoic acid, palmitic acid, and oleic acid. In adjuevan from method 2, the major fatty acids were oleic acid, stearic acid, and palmitic acid. The omega (ω)-3/ω-6 ratio was 8.87 and 4.12 for adjuevan from methods 1 and 2, respectively. Most of the fatty acids are considered healthy fats, making adjuevan a useful food for treating and preventing lifestyle diseases. The volatile compounds found composed of 19 aldehydes, 12 alcohols, 7 esters, 7 ketones, 3 furans, 10 aromatic compounds, and 7 acids with aldehyde, alcohol, and ester compounds as the predominant groups. Among the aldehydes, 2,4-heptadienal (E,Z), octanal, and 2-octenal (E) were most prevalent in adjuevan from method 1, whereas 2-nonenal (E), 2,4-heptadienal (E,Z), and octanal were most prevalent in adjuevan from method 2.