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PEOPLE@HES-SO – Directory and Skills inventory

PEOPLE@HES-SO
Directory and Skills inventory

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Lauria Michel

Lauria Michel

Professeur HES associé

Main skills

Robotique Industrielle

Automatisation

Mécatronique

Machine spéciale

  • Contact

  • Teaching

  • Publications

Main contract

Professeur HES associé

Desktop: BS24

Haute école du paysage, d'ingénierie et d'architecture de Genève
Rue de la Prairie 4, 1202 Genève, CH
hepia
Faculty
Technique et IT
Main Degree Programme
Microtechniques
BSc HES-SO en Microtechniques - Haute école du paysage, d'ingénierie et d'architecture de Genève
  • Robotique industrielle
  • Signaux et Systèmes
MSc HES-SO en Engineering - HES-SO Master
  • Robotique et systèmes automatisés
BSc HES-SO en Génie mécanique - Haute école du paysage, d'ingénierie et d'architecture de Genève
  • Robotique Industrielle
  • Automatisation

2018

Smart wire EDM machine
Scientific paper ArODES

Georg Wälder, Damien Fulliquet, Noria Foukia, Frédéric Jaquenod, Michel Lauria, Roland Rozsnyo, B. Lavazais, R. Perez

Procedia CIRP,  2018, 68, pp. 109-114

Link to the publication

Summary:

Wire EDM is a time consuming process which requires several, (cost significant), consumables like wire, filters or deionization resin. Based on machining history and sensor inputs a developed model, e.g. an intelligent software, allows to predict the status & future capacity of consumables and wear parts and thus avoid down-times of machine. The use of a predictive model for estimation of the lifetime of consumable and wear parts will be a significant step in the automation of (wire EDM) machines.

Estimation of the instantaneous centre of rotation with nonholonomic omnidirectional mobile robots
Scientific paper ArODES

Lionel Clavien, Michel Lauria, François Michaud

Robotics and Autonomous Systems,  2018, 106, pp. 47-57

Link to the publication

Summary:

In order to move safely and accurately, mobile platforms using steerable wheels require adequate coordination of their actuators. One possibility to achieve actuator coordination is to control the motion of the chassis’ instantaneous centre of rotation (ICR) and motion around it. Considering the chassis as a rigid body, the ICR is located at the intersection of each wheel’s zero motion axis. In practice however, these axes may not concur, in particular when compliant actuators are used for wheel steering. They then no more define precisely an ICR and only an estimation of its position can be computed. Moreover, most parametrizations of the ICR position bring in singularities with no physical meaning, which hinder estimation. This paper introduces the H representation, a new parametrization of the motion state space free of any non-structural singularities, and presents an algorithm which estimates the ICR within the joint space. The proposed approach is compared in terms of reliability, efficiency, accuracy and robustness with three methods working within the operational space. Results suggest that the proposed estimation approach provides the best compromise for these performance indicators.

Instantaneous centre of rotation based motion control for omnidirectional mobile robots with sidewards off-centred wheels
Scientific paper ArODES

Lionel Clavien, Michel Lauria, François Michaud

Robotics and Autonomous Systems,  2018, 106, pp. 58-68

Link to the publication

Summary:

AZIMUT-3 is a nonholonomic omnidirectional platform design using sidewards off-centred compliant wheels. This design makes it possible to experiment with the use of the chassis’ instantaneous centre of rotation (ICR) for motion control. Research on ICR-based motion controllers has focused on handling structural singularities and misses a more general consideration of the chassis’ kinematic and physical constraints like steering, velocity and acceleration constraints. This paper presents the design of an ICR-based motion controller for AZIMUT-3. Leveraging a new parametrization of the motion state space and the associated representation in R3 (collectively referred to as the H representation) and adapting a time scaling principle initially developed for manipulator trajectories, the designed motion controller is able to handle actuators coordination and their physical limits, as well as structural singularities. Results of tests done with the platform are presented, demonstrating the applicability of the proposed motion controller in efficiently handling these issues.

2015

Serious games for rehabilitation using head-mounted display and haptic devices
Book chapter ArODES

Stéphane Gobron, Nicolas Zannini, Nicolas Wenk, Carl Schmitt, Yannick Charrotton, Aurélien Fauquex, Michel Lauria, Francis Degache, Rolf Frischknecht

Dans De Paolis, L., Mongelli, A., AVR 2015: Augmented and Virtual Reality : Lecture Notes in Computer Science  (22 p.). 2015,  Cham : Springer

Link to the publication

Summary:

In the health domain, the field of rehabilitation suffers from a lack specialized staff while hospital costs only increase. Worse, almost no tools are dedicated to motivate patients or help the personnel to carry out monitoring of therapeutic exercises. This paper demonstrates the high potential that can bring the virtual reality with a platform of serious games for the rehabilitation of the legs involving a head-mounted display and haptic robot devices. We first introduce SG principles, nowadays rehabilitation context, and an original applied haptic device called Lambda Health System. The architecture of the model is then detailed, including communication specifications showing that lag is imperceptible for user. Finally, to improve this prototype, four serious games for rehabilitation using haptic robots and/or HMD were tested by 33 health specialists.

2014

Force-guidance of a compliant omnidirectional non-holonomic platform
Scientific paper ArODES

Julien Frémy, François Ferland, Michel Lauria, François Michaud

Robotics and Autonomous Systems,  2014, vol. 2, no. 4, pp. 579-590

Link to the publication

Summary:

Physical guidance is a natural interaction capability that would be beneficial for mobile robots. However, placing force sensors at specific locations on the robot limits where physical interaction can occur. This paper presents an approach that uses torque data from four compliant steerable wheels of an omnidirectional non-holonomic mobile platform, to respond to physical commands given by a human. The use of backdrivable and torque-controlled elastic actuators for active steering of this platform intrinsically provides the capability of perceiving applied forces directly from its locomotion mechanism. In this paper, we integrate this capability into a control architecture that allows users to force-guide the platform with shared-control ability, i.e., having the platform being guided by the user while avoiding obstacles and collisions. Results using a real platform demonstrate that user’s intent can be estimated from the compliant steerable wheels, and used to guide the platform while taking nearby obstacles into consideration.

Achievements

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