Journée scientifique projet DGA MRIS

Date et Lieu

Mardi 7 novembre 2017 -- ENSTA ParisTech, Palaiseau

Salle: R317 à l'U2IS

Programme

9h30 - Accueil Café

10h00 - Luc Jaulin

Modelisation, control and guidance of a quadrotor

In the first part of the presentation, a simple but realistic model for a quadrotor robot is proposed. The quadrotor is composed with four propellers that can be tuned independently. This will allow us to control the attitude and position of the robot by changing the speeds of the motors. In the second part, I will show that the quadrotor can be seen as a chain of causal loops. A controller will be built by inverting one by one each block of the causal chain. In the last part, we will use a vector field approach, so that the quadrotor follows a path that obeys the Van der Pol equation.

11h15 - Benjamin Martin

An interval Branch & Bound approach for reliability-based optimization problems

Reliability-based Optimization problems are optimization problems considering a constraint that measures reliability of the modelled system: the probability of a safety event with respect to controllable decision variables and uncertain random variables. Most solving approaches use approximate techniques for evaluating this reliability constraint. As a consequence, the reliability of the computed optimal decision is not guaranteed.

In this paper, we investigate an interval-based Branch & Bound for solving globally reliability-based optimization problems with numerical guarantee. It combines an interval Branch & Bound framework with a certified reliability analysis technique. This technique considers the reliability constraint and induced safety region modeled within Probabilistic Continuous Constraint Programming paradigm. The certified reliability analysis is numerically handled by an interval quadrature algorithm. In addition, a new interval quadrature function for two random variables, based on linear models of the safety region is described. Two implementations of the Branch & Bound, which differ on how the certified reliability analysis is handled throughout the optimization process, are presented. A numerical study of these two variants shows the relevance of the interval linear model-based quadrature function

12h30 - Repas

Club Magnan

14h00 - Pause Café

14h30 - Alexandre Chapoutot

Introduction aux solveurs SMT et lien analyse par intervalles

Dans cet exposé une introduction aux techniques utilisées dans le cadre des solveurs SMT (SAT Modulo Theory) sera réalisée mettant en avant les caractéristiques actuelles de ces algorithmes (bactracking, apprentissage, etc.). De plus, un lien avec l'analyse par intervalles sera fait dans le cadre du solveur de théories pour les contraintes NRA (Non-linear Real Arithmetic), en particulier, dans le cas des détections de conflits. Cette présentation s'appuie en partie sur le travail réalisé par Adrien Bisutti lors de son stage de M2.

15h30 - Vie du projet et discussions

Social event

Lundi 6 novembre 2017 -- 19h30 - L'entrepôt, Paris 14

Participants: