{"id":151,"date":"2016-06-06T10:39:03","date_gmt":"2016-06-06T08:39:03","guid":{"rendered":"https:\/\/project.inria.fr\/singcast\/?page_id=151"},"modified":"2016-06-14T15:41:48","modified_gmt":"2016-06-14T13:41:48","slug":"nantes-9-10-juin-2016","status":"publish","type":"page","link":"https:\/\/project.inria.fr\/singcast\/reunions\/nantes-9-10-juin-2016\/","title":{"rendered":"Nantes 9-10 Juin 2016"},"content":{"rendered":"<p class=\"p1\"><span class=\"s1\">LIEU : D\u00e9partement info b\u00e2t. 11,<\/span><span class=\"s1\">\u00a0salle 113\u00a0<\/span><a href=\"http:\/\/www.sciences-techniques.univ-nantes.fr\/adminsite\/photo.jsp?ID_PHOTO=75\">Carte du campus<\/a>,\u00a0<a href=\"https:\/\/www.tan.fr\/ewp\/mhv.php\/itineraire\/web\/?service=Itineraire&amp;langue=0&amp;kportal_host=http:\/\/www.tan.fr&amp;secure=1\">Lien vers les trams<\/a><\/p>\n<p>PROGRAMME<\/p>\n<ul>\n<li>Jeudi 9 Juin\n<ul>\n<li>14h Accueil<\/li>\n<li>14h30\u00a0Alexandre Goldsztejn:<span class=\"s2\">\u00a0<\/span><strong><span class=\"s1\">A parametric Kantorovich theorem with application to tolerance synthesis \u00a0<a href=\"https:\/\/project.inria.fr\/singcast\/files\/2016\/06\/Goldsztejn-SCAN2016.pdf\">Abstract<\/a>\u00a0\u00a0<a href=\"https:\/\/project.inria.fr\/singcast\/files\/2016\/06\/SCAN2016-RobustWorkspace-handout.pdf\">slides<\/a><\/span><\/strong><\/li>\n<li>\n<p class=\"p2\"><span class=\"s2\">15h\u00a0<span class=\"s1\">Abhilash NAYAK:\u00a0<\/span><\/span><strong><span class=\"s2\"><span class=\"s2\">Kinematic analysis and singularities of lower-mobility parallel manipulators using algebraic geometry techniques \u00a0<a href=\"https:\/\/project.inria.fr\/singcast\/files\/2016\/06\/9th-June.pdf\">Slides<\/a><\/span><\/span><span class=\"s2\"><br \/>\n<\/span><\/strong><\/p>\n<p class=\"p1\"><span class=\"s1\"><b>Abstract<\/b>: A parallel manipulator (PM) consists of a fixed base and a moving platform to each of which a coordinate frame is attached. Initially, these coordinate frames are assumed to be coincident. When the moving platform is displaced with respect to the fixed base, this Euclidean displacement can be associated to a point in the projective space P^7 via Study&rsquo;s kinematic mapping. Using this approach, the constraint equations of the PM are derived in terms of the Study parameters. Primary decomposition of the ideal of the constraint equations are used to find the number of operation modes and Groebner basis is used to solve the forward kinematics of the PM for a given set of actuated joint variables. Furthermore, differentiating the constraint equations with respect to Study parameters yields the Jacobian matrix of the PM whose determinant when equated to zero gives the singularity conditions. Some techniques of classical screw theory are involved to find out the constraint, actuation and compound singularities.\u00a0<\/span><\/p>\n<\/li>\n<li>\n<p class=\"p2\"><span class=\"s2\">pause<\/span><\/p>\n<\/li>\n<li>\n<p class=\"p2\"><span class=\"s2\">16h R\u00e9mi Imbach: <strong>Calcul de topologie de la projection dans un plan d&rsquo;une courbe en nD \u00a0<a href=\"https:\/\/project.inria.fr\/singcast\/files\/2016\/06\/9juin2016.pdf\">Slides<\/a><\/strong><\/span><\/p>\n<\/li>\n<li>16h30 &#8211; 18h Discussions<\/li>\n<li>20h D\u00eener<\/li>\n<\/ul>\n<\/li>\n<li>Vendredi 10 Juin \u00a09h-12h Discussions\n<ul>\n<li>\n<p class=\"p1\"><span class=\"s1\">Surfaces: approches symbolique\/num\u00e9rique pour le suivi, la topologie, les singularit\u00e9s\u2026<\/span><\/p>\n<\/li>\n<li>&#8230;<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>PARTICIPANTS:<\/p>\n<ul>\n<li>Nantes:\n<ul>\n<li>Equipe OGRE, Alexandre Goldsztejn, Christophe Jermann,\u00a0Fr\u00e9d\u00e9ric Goualard,\u00a0Gilles Chabert,\u00a0Laurent Granvilliers,\u00a0Raphael Chenouard<\/li>\n<li>Equipe ROBOTICS Irccyn, Damien Chablat, Abhilash Nayak<\/li>\n<\/ul>\n<\/li>\n<li>Nancy: Equipe VEGAS, Guillaume Moroz, R\u00e9mi Imbach, Marc Pouget<\/li>\n<li>Lille: Yacine Bouzidi<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>LIEU : D\u00e9partement info b\u00e2t. 11,\u00a0salle 113\u00a0Carte du campus,\u00a0Lien vers les trams PROGRAMME Jeudi 9 Juin 14h Accueil 14h30\u00a0Alexandre Goldsztejn:\u00a0A parametric Kantorovich theorem with application to tolerance synthesis \u00a0Abstract\u00a0\u00a0slides 15h\u00a0Abhilash NAYAK:\u00a0Kinematic analysis and singularities of lower-mobility parallel manipulators using algebraic geometry techniques \u00a0Slides Abstract: A parallel manipulator (PM) consists of a fixed base and a &hellip; <\/p>\n<p><a class=\"more-link btn\" href=\"https:\/\/project.inria.fr\/singcast\/reunions\/nantes-9-10-juin-2016\/\">Lire la suite<\/a><\/p>\n","protected":false},"author":584,"featured_media":0,"parent":72,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-151","page","type-page","status-publish","hentry","nodate","item-wrap"],"_links":{"self":[{"href":"https:\/\/project.inria.fr\/singcast\/wp-json\/wp\/v2\/pages\/151","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/project.inria.fr\/singcast\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/project.inria.fr\/singcast\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/project.inria.fr\/singcast\/wp-json\/wp\/v2\/users\/584"}],"replies":[{"embeddable":true,"href":"https:\/\/project.inria.fr\/singcast\/wp-json\/wp\/v2\/comments?post=151"}],"version-history":[{"count":11,"href":"https:\/\/project.inria.fr\/singcast\/wp-json\/wp\/v2\/pages\/151\/revisions"}],"predecessor-version":[{"id":167,"href":"https:\/\/project.inria.fr\/singcast\/wp-json\/wp\/v2\/pages\/151\/revisions\/167"}],"up":[{"embeddable":true,"href":"https:\/\/project.inria.fr\/singcast\/wp-json\/wp\/v2\/pages\/72"}],"wp:attachment":[{"href":"https:\/\/project.inria.fr\/singcast\/wp-json\/wp\/v2\/media?parent=151"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}