Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Institut National De La Sante Et De La Recherche Medicale

Olivier David

Pascale Pham

Stéphane Bonnet

François-Xavier Russotto

Yvan Measson

Stephane Bonnett

Alexandre Fouchard

An EIT or differential EIT method in which measurements of voltage differences between electrodes are performed according to a measurement configuration in which at least one of the electrodes injecting a current in the medium being investigated is also used for performing a measurement of the voltage difference. The contact impedances of the different electrodes are measured thanks to a counter-electrode having a contact area with the medium much higher than the contact area of a unit electrode. The measurement of a contact impedance is performed by impedance spectroscopy by comparison with the impedance spectrum of an equivalent circuit. The contact impedances allow voltage drops in the injection electrodes to be calculated the voltage differences between these electrodes and to be corrected. Alternatively, the contact impedances can be used to correct or complete the direct model.

Method for imaging a medium through electrical measurements with a contact impedance correction

A method for handling of a first robotized mobile machine moving in a congested working environment under the control of a second robotized mobile machine, providing the operator, in real time, with a relevant view of the working scene, even if an object intrudes into the field of view of the camera and thereby obscures the operator's view. This method is based on use of properties of a physics engine of the constraint resolution type. For each object in the scene, the physics engine has a physical representation of said object in the form of a mesh. The engine calculates a wrench on the basis of the respective positions and velocities of two objects. In case of a collision between the manipulator and a fixed object in the scene, the engine determines the wrench to be applied to the manipulator in order to make it avoid the object.

Method and system for assisting in the handling of robotized machines in a congested environment

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Le Sappey, France

Olivier David