Publications de Yvan Michellod

The ESPRI project: astrometric exoplanet search with PRIMA I. Instrument description and performance of first light observations

Context. The ESPRI project relies on the astrometric capabilities offered by the PRIMA facility of the Very Large Telescope Interferometer for discovering and studying planetary systems. Our survey consists of obtaining high-precision astrometry for a larg ...

Edp Sciences S A2013

A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization

Dominique Pioletti, Denis Gillet, Alexandre Terrier, Philippe Müllhaupt, Alain Farron, Yvan Michellod, Martin Aeberhard

The goal of the present work was assess the feasibility of using a pseudo-inverse and null-space optimization approach in the modeling of the shoulder biomechanics. The method was applied to a simplified musculoskeletal shoulder model. The mechanical syste ...

Elsevier2010

Overactuated systems coordination

Yvan Michellod

The economic growth inherent to our nowadays society pushes the industries toward better performances. In the mechatronic context, the increasing competition results in more and more stringent specifications. Thus, the multiple objectives to track become h ...

EPFL2009

On Achieving Periodic Joint-Motion for Redundant Robots

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

The consequence of the loss of involutivity of a specific set of vector fields on the periodicity of the joint motion is examined for redundant robots. An output task, defined as a one dimensional periodic closed curve embedded in a two dimensional working ...

2008

Dedicated controller design for a dual-stage opto-mechatronic system

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

To improve the resolution of the Very Large Telescope Interferometer (VLTI) a two-stage mechanical system, a so called Differential Delay Line (DDL), is developed jointly by the EPFL and the Observatory of Geneva. The system is designed to reach nanometer ...

IEEE2008

Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system

Dominique Pioletti, Denis Gillet, Alexandre Terrier, Philippe Müllhaupt, Yvan Michellod, Martin Aeberhard

A new dynamical model of the shoulder has been developed. It consists of eleven muscles. The glenohumeral joint, modeled as a spherical joint, allows three rotations and blocks the translations. Muscle wrapping around a spherical humeral head is calculated ...

2009

Real-time compensation of hysteresis in piezoelectric-stack actuator tracking a stochastic reference

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

This paper presents a convenient way to invert the classical Preisach model to compensate the hysteresis of a piezoelectric stack actuator in real-time. The advantage of the proposed method lies in the possibility to track a stochastic signal and compensat ...

2008

Trajectory Tracking through Overactuation for an Optical Delay Line

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

Nano-positioning devices constitute the mechatronic heart of the VLTI (Very Large Telescope Interferometer) for the ESO (European Southern Observatory) astrometry instrumentation. In the context of the development of a new optical Differential Delay Line ( ...

2007

Strategy for the Control of a Dual-stage Nano-positioning System with a Single Metrology

Denis Gillet, Philippe Müllhaupt, Yvan Michellod

A double-stage feedback control structure for a double-stage mechanical system, with a single optical metrology is developed to reach the nanometer accuracy at high bandwidth over large displacements. A piezoelectric stack actuator is used for fine positio ...

2006

Hands-on Introduction to Automatic Control with focus on Teleoperation and Real-Time Interaction

Denis Gillet, Christophe Salzmann, Yvan Michellod, Damien Perritaz

Introducing automatic control has always been challenging. As a technology, control is generally hidden by the enclosing application. As a methodology, control is often seen as a theoretical subject. Therefore, to grasp the interest of both practitioners e ...

2006