bandeau bandeau
Julien Alexandre dit Sandretto
Postdoctoral researcher
Safety and Reliability of Software
Computer Science and System Engineering Department
ENSTA - ParisTech
828, Boulevard des Maréchaux
91762 Palaiseau Cedex
Office: R.2.25
Julien Alexandre dit Sandretto
Quick links: [ Research | Publications | Bio | Software ]
Research

Main research field : how manage uncertainties and provide certification in parameter identification, simulation, modeling, control, etc.


Publications

Thesis

Etalonnage des robots a cables : identification et qualification

Research Reports

  • Calibration of a fully-constrained parallel cable-driven robot Report
  • Interval Methods for Model Qualification: Methodology and Advanced Application Report
  • Validated Solution of Initial Value Problem for Ordinary Differential Equations based on Explicit and Implicit Runge-Kutta Schemes Report

Workshop

  • Certified calibration of parallel cable-driven robots, Workshop MEA, 2013, Paris, France Abstract, Slides
  • Newton Contractor of Least Square Solution Set for Overconstrained Systems, SWIM, 2014, Uppsala, Sweden Abstract, Slides
  • Validated Explicit and Implicit Runge-Kutta Methods, SWIM, 2015, Praha, Czech Republic Abstract, Slides
  • Validated Simulation of Differential Algebraic Equations, SWIM, 2015, Praha, Czech Republic Abstract, Slides
  • Viability kernel computation based on interval methods, SWIM, 2015, Praha, Czech Republic Abstract, Slides
  • Inner and Outer Computation of the Viability Kernel based on Interval Analysis, SMART 2015, Manchester, UK Abstract, Slides
  • Control of Nonlinear Switched Systems Based on Validated Simulation, SNR, Apr 2016, Vienne, Austria. Paper
  • Contraction, propagation and bisection on a validated simulation of ODE, SWIM, 2016, Lyon, France Abstract, Slides
  • Appropriate Design Guided by Simulation: An Hovercraft Application, MORSE, 2016, Leipzig, Germany Abstract, Slides
  • DynIBEX: une boîte à outils pour la vérification des systèmes cyber-physiques , AFADL, 2016, Besançon, France Slides
  • Studying Sequences of Jumps in Hybrid Systems to Detect Zeno Phenomenon, NSV, 2016, Toronto, Canada Slides
  • Runge-Kutta Theory and Constraint Programming, SCAN 2016, Uppsala, Sweden Book of abstracts Slides
  • Interval-based QuickXplain Algorithm, Swim-Smart 2017, Manchester, UK Book of abstracts
  • Robust Motion Planning Based on Sliding Horizon and Validated Simulation, Swim-Smart 2017, Manchester, UK Book of abstracts

Conference papers

  • Calibration of a fully-constrained parallel cable-driven robot, RoManSy, Paris (France) Proceedings
  • Confirmation of Hypothesis on Cable Properties for Cable-driven Robots, Eucomes, Santander (Spain) Proceedings
  • Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming, Computanional Kinematics, Barcelona (Spain) Proceedings
  • Cable-Driven Robots for Pedagogical and Practical Illustration in Science and Mathematics, Congress in Numerical Methods in Engineering, Bilbao (Spain) Proceedings
  • Cable-Driven Robots with Wireless Control Capability for Pedagogical Illustration in Science, Control Architectures of Robots, Angers (France) Proceedings
  • Tuning PI controller in nonlinear uncertain closed-loop systems with interval analysis, SynCoP 2015, London (UK) Proceedings
  • DynIBEX: a Differential Constraint Library for Studying Dynamical Systems, HSCC, Apr 2016, Vienne, Austria. HSCC 2016 Poster
  • Validated Computation of the Local Truncation Error of Runge-Kutta Methods with Automatic Differentiation, AD, Sep 2016, Oxford, UK Poster
  • Formal Verification of Robotic Behaviorsin Presence of Bounded Uncertainties, IRC 2017, Taichung, Taiwan Conference

Journal papers

  • Confirmation of Hypothesis on Cable Properties for Cable-driven Robots, New Trends in Mechanism and Machine Science, Volume 7, 2013, pp 85-93 Paper
  • Interval Methods for Model Qualification: Methodology and Advanced Application, Mathematics in Computer Science, Special Issue on Interval Methods and Applications Paper
  • The Forward Kinematics of Cable-Driven Parallel Robots with Sagging Cables, Cable-Driven Parallel Robots Mechanisms and Machine Science Volume 32, 2015, pp 3-15 Paper
  • Validated Explicit and Implicit Runge-Kutta Methods, Reliable Computing Paper
  • Validated Simulation of Differential Algebraic Equations, Reliable Computing Paper
  • Solving over-constrained systems of non-linear interval equations and its robotic application, Applied Mathematics and Computation 313, 180-195, 2017


Supervisor
  • 2015, Douglas Piccani de Souza, Appropriate Design of a Hovercraft, Master thesis
  • 2016, Adeline Rousse, Robust and encrypted communication for a RC plane, Master Internship
  • 2016, Sergio Rodriguez, Experimental platform for multi-robot control, Master Internship
  • 2016, Robin Morier, SAT modulo ode, Master Internship
  • 2016, Lei Zhu, Validated parameter identification of differential equations, Master Internship
  • 2016, Xiang Wang, Design of a UTV, Master Internship
  • 2017, Wangfan Li, Calibration of a Hovercraft, Master thesis
  • 2017, Adrien Bisutti, SAT modulo theory and ODEs, Master thesis


Bio
  • March 2014-Now : Postdoctoral researcher at Ensta
  • June 2010-September 2013 : Phd student at Inria Sophia-Antipolis (team Coprin-Jean-Pierre Merlet)
  • June 2007-June 2010 : Project manager in Defense industry
  • 2002-2006 : Engineer student at Polytech'Grenoble


Software
  • Dynibex : First release of our plugin for Ibex allowing validated integration based on explicit and implicit Runge-Kutta schemes



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