The main interest of linear models is the wide panel of control structures that are available. ” “I’m eager to see how much additional crane and load capacity can be added to our workboats in order to increase their operational range and to. In MTS/IEEE Oceans, Kona, HI, September 2011. 06/03/2023. Enter the email address you signed up with and we'll email you a reset link. However, note that the results shown in the present paperJerome Jouffroy Denmark James B. Krug USA Yoann Ladroit France David Lane UK Stephanie A. Article. “A Tutorial on Incremental Stability Analysis using Contraction Theory” Authors: Jerome Jouffroy and Thor I. Gaelle. These are then used in combination with an integrator-based time. FormationContraction theory entails a theoretical framework in which convergence of a nonlinear system can be analysed differentially in an appropriate contraction metric. For adaptive real-time optimization of the sail and heading angle we then发音 Jerome Jouffroy 1 音, 更为 Jerome Jouffroy. Y1 - 2004. SlotineThis paper discusses convergence issues of the basic particle swarm optimization algorithm for different parameters. Engineering, Environmental Science. Two people are usually required for operating serpentine robot, one for pushing and twisting, and the other for controlling the tip. This also motivated a large amount of work to extend these structures to nonlinear plants, either by local or exact linearization, or by introducing robustness properties. N1 - Funding Information: ACKNOWLEDGMENTS The authors thank Markus Weber for his early investigations on the Lagrange system structure that led to the formulation framework of the present work. I. The proposed approach consists of a diffusion-based trajectory observer (Jouffroy and Opderbecke, 2004) processing whole segments of a trajectory. Content available from Jerome Jouffroy: 0912f50fffd864e66c000000. Jerome Jouffroy Professor at Syddansk Universitet - University of Southern Denmark 2y Report this post Great company, great innovation, these guys have a great future ahead of them. Pendant la Seconde Guerre mondiale, les avions de chasse revenaient de la bataille avec des impacts de balles. Report this post Report Report Methodological remarks on contraction theory: Matlab/Simulink file of section 5. , 3. Gildas Besançon. dk. In this paper, we extend the original definition of contrac- tion theory to incorporate in an explicit manner the control in. Søren Smedegaard #908900. This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2 implemented in Simulink™ which has been designed and experimentally validated for benchmark control algorithms for underwater vehicles. sdu. , F. The approach is indeed interesting, even though it. Jouffroy [7, section 2. Vincent, Ifremer [email protected] Jouffroy works at SDU Mechatronics, The Mads Clausen Institute, Univ and is well known for Constraint Functions, Sailing Yachts and Marine Craft. In a typical mode of operation, the profilers drift passively at their parking depth before making a vertical profile to go back to the surface. Jerome Jouffroy; This paper addresses the issue of rejecting spurious acoustic position measurements for the estimation of trajectories in underwater vehicle navigation. All figure content in this area was uploaded by Jerome Jouffroy. Petit, †Backstepping Stabilization of an Underactuated 3x3 Linear Hyperbolic System of Fluid Flow Equations†, American Control Conference, Montreal, Canada, 2012. Jérôme Jouffroy posted images on LinkedIn. degree in control systems from the University of Savoie, Annecy,. See Photos. François Jouffroy (French pronunciation: [fʁɑ̃swa ʒufʁwa]; 1 February 1806 – 25 June 1882) was a French sculptor. Jerome Jouffroy received the Diplome d'Etudes Approfondies in applied control systems and the Ph. Steinar Vike Jerome Jouffroy. Keviczky, T. Research Unit UCL. Sustainable Development Goals; Study programmes. ad. Kean USA Gary W. Ihle, Jerome Jouffroy, Thor I. “A Tutorial on Incremental Stability Analysis using Contraction Theory” Authors: Jerome Jouffroy and Thor I. Professor Jerome Jouffroy delves into this crucial discussion in his latest article. Content may be subject to copyright. Jerome Jouffroy; This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. dk). Content available from Jerome Jouffroy: Jouffroy-2007joe. 5. In their current mode of operation, the profilers usually drift passively at their parking depth before making a vertical profile to go back to the surface. Vazquez, M. fr Nathalie. Biography. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil-ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. dkDespite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. Agus Hasan and Jerome Jouffroy / Energy Procedia 00 (2017) 000–000 [10] F. November 13, 2013 International Journal of Systems Science paper can be utilized in the context of contraction theory to analyze convergence of systems, basedNous avons le plaisir d'annoncer la fusion de l'étude Jouffroy-Bonnotte Gagnepain - Mignerey et du Cabinet d'avocats en droit des affaires Fileas. Log in or sign up for Facebook to connect with friends, family and people you know. 1109/J0E. | Find, read and cite all the research you need. On a historical perspective, note that results very closedAll figure content in this area was uploaded by Jerome Jouffroy. dk and jerome@mci. Mads Clausen Institute . OCEANS 2006. 00. A simple extension of contraction theory to study incremental stability properties. . In Proceedings of. Report this post Report Report8th IFAC Conference on Control Applications in Marine Systems Rostock-Warnemünde, Germany September 15-17, 2010 Reflexions on Feedforward Control Strategies for a Class of Sailing Vehicles Lin Xiao and Jerome Jouffroy Mads Clausen Institute University of Southern Denmark (SDU) Alsion 2, DK-6400, Sønderborg,. JOUFFROY Jérôme : Jérôme JOUFFROY, né en 1970 et habite DIJON. Jouffroy-2003un. Jouffroy. Contributors: Christian Mai; Søren Top; Jerome Jouffroy Show more detail. -J. Join. Discover the world's research. 2006. July 2002 · IFAC Proceedings Volumes (IFAC Papers-OnLine) Jerome Jouffroy. Decentralized receding horizon control for large scale. What is the meaning of the colors in the coauthor index? How does dblp detect coauthor communities? 1. Semantic Scholar profile for Jerome Jouffroy, with 2 highly influential citations and 2 scientific research papers. Content available from Jerome Jouffroy: Ihle-2006joe31(4). In the work presented by Fossen and Blanke, a nonlinear observer for estimation of. The approach consists of diffusion-based observers processing aShared with Each photo has its own privacy settingJerome Jouffroy This paper considers the on-line implementation of the modulating function method, for parameter and state estimation, for the model of an air-handling unit, the central element of. Bojan Nemec, Fares J. Sign Up. After entering the Benedictine order and teaching at the. Presse/medie. Jouffroy is with the Center for Ships and Ocean Structures, Norwegian University of Science and Technology, Trondheim NO-7491, Norway (e-mail: jouffroy@marin. Examination condition: The mandatory exercises and the project reports must be handed in on time and in accordance with requirements specified at the beginning of the semester. Presse/medie. However, note that the results shown in the present paperJerome Jouffroy Denmark James B. Related Papers. This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. When expanded it provides a list of search options that will switch the search inputs to match the current. Andrei Popa, Simon Iversen, Lars Duggen & Jerome Jouffroy Advanced Manufacturing Research Center, Youngstown State University, Youngstown, OH, 44555, USA Brian Zellers, Dillon Kennedy, Pedro Cortes, Brett Conner & Eric MacDonaldOn algebraic time-derivative estimation and deadbeat state reconstruction Johann Reger† and Jerome Jouffroy‡ Abstract— This paper places into perspective the so-called practical interest, we recall here only the main result for a algebraic time-derivative estimation method recently introduced moving-horizon version of the approach (see [21] and [35]). downlo. Download and share free MATLAB code, including functions, models, apps, support packages and toolboxesWeighing in at 7. -J. January 2005. Real-Time Geo-Referenced Video Mosaicking with the MATISSE System . Fossen **, Jerome Jouffroy * Show more. All content in this area was uploaded by Jerome Jouffroy on Mar 28, 2014 . org Summary. Nowakowski; Andreas Holmetoft Lyder. Ionesi; Mohammad Hossein Ramezani; Jerome Jouffroy Show more detail. 201912 år. Since the. See Photos. University of Southern Denmark An Accurate Programmable Pulse Generator for Stepper Actuated Real-Time Control Systems. Petit, †Backstepping Stabilization of an Underactuated 3x3 Linear Hyperbolic System of Fluid Flow Equations†, American Control Conference, Montreal, Canada, 2012. Jerome Jouffroy. E-mail jerome @ sdu. (2011a) and Jouffroy et al. Découvrez ses expériences et son réseau professionnel comme Yannick SUZANNE. In particular, it is shown that the algebraic method can in a. The method relies on the diffusion-based. C. Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1yA control-theoretic outlook at the no-go zone in sailing vessels Bin Yang†, Lin Xiao ‡, and Jerome Jouffroy Mads Clausen Institute University of Southern Denmark (SDU) Alsion 2, DK-6400. NEWSPAPER ARCHIVES: Vancouver Daily Province Archives 1894 - 2021. Received 21 Apr 2011. sdu. Jerome Jouffroy の発音 1 オーディオ音, 辞書 集 クイズ 地域 の貢献 CertificateGuillaume Jouffroy, Jerome Jouffroy. com fxiao,jeromeg@mci. (2009). dk. This paper presents a formation modelling scheme based on a set of inter-body constraint functions and Lagrangian multipliers. sdu. The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing to consider important practical problems such as. View the profiles of people named Jerome Jouf. University of Southern Denmark An Accurate Programmable Pulse Generator for Stepper Actuated Real-Time Control Systems. Real-Time Geo-Referenced Video Mosaicking with the MATISSE System . Jérôme Jouffroy’s Post Jérôme Jouffroy Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1y Report this post Report Report. Torsetnes, J. 3. Interestingly, dynamical models of sailing vessels, which are usually quite complex, all haveJerome Jouffroy; Information about the internal position and velocity of a robotic system is crucial for its control. Y1 - 2010. Show more. UCL. Formation Control of Marine Surface Craft using Lagrange Multipliers. Karabchevsky Israel James G. Jerome Jouffroy Autonomous Lagrangian profilers are now widely used as measurement and monitoring platforms, notably in observation programs as Argo. dk Phone: +4565501642. sdu. Jørgensen, Thiusius Rajeeth Savarimuthu, Jérôme Jouffroy, Henrik Gordon Petersen, Norbert Krüger: Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile. Kim USA Minsung Kim South Korea Tae Ho Kim South Korea Yongjune Kim South Korea Thomas Benjamin Knesl USA Matthew Koessler Australia. by Jerome Jouffroy This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. Jerome Jouffroy; Jacques Lottin; For original paper see T. Jérôme Jouffroy posted a video on LinkedIn. Once communications are interrupted on a. Facebook. dk; Tel. Jérôme Jouffroy’s Post Jérôme Jouffroy Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 11mo Report this post Report Report. 29. , 1999. PhD. ad. AU - Slotine, Jean-Jacques E. Mads Clausen Institute, Sønderborg, Denmark. Professor Jerome Jouffroy delves into this crucial discussion in his latest article. Content may be subject to copyright. . Content may be subject to copyright. D. OC] 25 Apr. Keywords. Content may be subject to copyright. AU - Jouffroy, Jerome. These are then used in combination with an integrator-based time. 1109/J0E. Jerome Jouffroy This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. 25+ million members; 160+ million publication pages; View the profiles of people named Jérôme Jouffroy. SDU Mechatronics and the Centre of Industrial Mechanics, part of the Department of Mechanical and Electrical Engineering and the Faculty of Engineering at the University of Southern Denmark in S ø nderborg, invites applications for a position as postdoctoral researcher in control engineering. Af Jerome Jouffroy 17. Proceedings of OCEANS 2005 MTS/IEEE. “A lot of our ProZero work- and crewboat customers will benefit from an even more safe and stable platform to work from. In their current mode of operation, the profilers usually. Cite. fr Manon. Abstract. Starting date is November 2022. sdu. Press/Media: Press / Media. Jérôme Jouffroy. Mere om Teknologiens Mediehus. This repository contains MATLAB scripts and Simulink models for the purpose of creating a low-level controller for UBC Sailbot. Report this post Report ReportContent uploaded by Jerome Jouffroy. The lithium-ionJerome Jouffroy; Autonomous sailing platforms or sailing robots are a class of autonomous surface vehicles using only the wind as their means of propulsion. 1109/OCEANS. pdf. 2009; Compared to more conventional ships, little attention was given to nonlinear control design for ships sailing by the wind. Author content. Fossen; The paper presents a systematic method for design of observer-controllers in cascade. (2011b)), simple feedback algorithms referred to as Sector-of-Sight controllers were used to make Lagrangian profilers select ocean currents for. JØrôme Jouffroy Center for Ships and Ocean Structures (CESOS) Norwegian University of Science and Technology (NTNU) NO-7491 Trondheim, Norway e-mail: jouffroy@ntnu. Proceedings of the 2019 IEEE International Conference on Mechatronics, ICM 2019. View the profiles of people named Jerome Jouffroy. For the one-dimensional case, it is shown that, for a specific range of parameters, the particles will converge prematurely, i. He was born at Luxeuil-les-Bains ( Haute-Saône ). We propose a method for constructing control laws for formation control of marine craft using classical tools from analytical mechanics. The desired formation configuration is given as a set of constraint functions. Department of Mechanical and Electrical Engineering (DME) Professor, SDU Mechatronics (CIM) VIP, SDU Climate Centre. [11] A. Her er droner oplagte til at levere udstyr og reservedele, siger Jerome Jouffroy. People named Jouffroy Jérôme. Jerome Jouffroy. dk). 93-106. 2, 2014. In this paper, we extend the original definition of contrac- tion theory to incorporate in an explicit manner the. aau. RANK N/A of 283,693 REPUTATION N/A. University of Southern Denmark On steering a sailing ship in a wearing maneuver Jouffroy, Jerome. Lee USA Wei. The methodology includes four distinct steps: the descriptions of two systems to be compared (the plant and the observer in the case of. Jérôme a 11 postes sur son profil. Log in or sign up for Facebook to connect with friends, family and people you know. The method relies on the. Vazquez, M. See Photos. PDF | This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. 2018-08-01 | Book. by Jerome Jouffroy. Jérôme Jouffroy posted on LinkedIn3D Printed Hybrid Flexible Electronics with Direct Light Synthesis Andrei Popa1, Brian Zellers2, Simon Iversen1, Dillon Kennedy2, Pedro Cortes2, Lars Duggen1, Jerome Jouffroy1, Kirk Rogers3, Brett. CONTRACTION ANALYSIS BYLOHMILLER AND SLOTINE, 1998 In the following, we consider systems described by general nonlinear deterministic differential. Konrad USA Warren S. 2022 | Conference paper | Author. Slotine. Preferred source (of 2) Covering path generation for autonomous turf-care vehicle. 06/03/2023. Springer-Verlag London Ltd. Opderbecke, Ifremer V. Jerome Jouffroy. In a typical mode of operation, the profilers drift passively at their parking depth before making a vertical profile to go back to the surface. Content may be subject to copyright. ee/maximeblondeauJerome Jouffroy; FreeD is a project at Center for Unmanned Aerial Vehicles, University of Southern Denmark (SDU): . This button displays the currently selected search type. Institut for Mekanik og Elektronik (IME) Professor, SDU Mechatronics (CIM) Professor, SDU Climate Cluster. sdu. IEEE Journal of Oceanic Engineering. Associate professor Jerome Jouffroy received one of the three teaching awards from the BHJ FoundationProfessor Jerome Jouffroy, an expert in Drone Mechatronics at the University of Southern Denmark, shares his perspective. A remark on "Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocityJerome Jouffroy and Qiuyang Zhou. Part of ISBN: 978-1-958651-10-0. SDU Mechatronics and the Centre of Industrial Mechanics, part of the Department of Mechanical and Electrical Engineering and the Faculty of Engineering at the University of Southern Denmark in Sønderborg, invites applications for a position as postdoctoral researcher in control engineering. Sailing vessels, due to their particular propulsive mechanism, gradually lose power as they face the wind, i. Content may be subject to copyright. 2004. (2011a) and Jouffroy et al. . e. Uniform global exponential stability (UGES) of the resulting system is proven. Content may be subject to copyright. pdf. . CONTRIBUTIONS 0 Questions 0 Answers. The observer produces accurate estimates of position, slowly varying environmental. Using Fossen’s compact notation for marine vehicles, we first describe a nonlinear four-degree-of-freedom (DOF) dynamic model for a sailing yacht, including roll. Jerome Jouffroy; In this paper we develop a simplified mathematical model representing the main elements of the behaviour of sailing vessels as a basis for simulation and controller design. Towards selective tidal-stream transport for lagrangian profilers. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil-ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. View the profiles of people named Jouffroy Jérôme. In a previous study (see Jouffroy et al. mdl. Malte von Benzon 1,, Fredrik Fogh Sørensen 1, Esben Uth 1, Jerome Jouffroy 2, Jesper Liniger 1 and Simon Pedersen 1 1 AAU Energy, Aalborg University, 6700 Esbjerg, DenmarkJerome Jouffroy Jan Opderbecke. On algebraic time-derivative estimation and deadbeat state reconstruction Johann Reger† and Jerome Jouffroy‡ Abstract— This paper places into perspective the so-called practical interest, we recall here only the main result for a algebraic time-derivative estimation method recently introduced moving-horizon version of the approach (see [21] and [35]). Hélène JOUFFROY. . when they are in the so-called “no-go zone”. Dashboard; Badges; Statistics. Content may be subject to copyright. Facebook gives people the power to share and makes the world more open and. In a previous study (see Jouffroy et al. sdu. Krstic, and N. Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1mo All content in this area was uploaded by Jerome Jouffroy. Contributors: Andrei-Alexandru Popa; Lars Duggen; Jerome Jouffroy Show more detail. This analysis should help with the design of small and. Syddansk Universitet On steering a sailing ship in a wearing maneuver Jouffroy, Jerome Publication date: 2009 Document version Publisher's PDF, also known as Version of record Citation for pulished version (APA): Jouffroy, J. Email or phone: Password: Forgot account? People named Jouffroy Jérôme. practical interest, we recall here only the main result for a moving-horizon version of the approach (see [21] and [35]). 1 Media contribution. ORCID record for Jerome Jouffroy. Contraction theory is a recent tool enabling to study the stabil- ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of incremental stability meth- ods. Jerome Jouffroy · J. This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. In this paper, we investigate motion. 313 - 326 , 10. This paper presents a globally contracting con- troller for regulation and dynamic positioning of ships, using only position measurements. Content available from Jerome Jouffroy: 0912f50fffd864e66c000000. Decentralized receding horizon control for large scale. 1 Mediebidrag. Roana de Oliveira Hansen, Steffen Chemnitz & Jerome Jouffroy. Jerome Jouffroy Central pattern generators (CPG) are oscillatory systems that are responsible for generating rhythmic patterns at the origin of many biological activities such as for example. It is also closely related to the. In: Proc. All content in this area was uploaded by Jerome Jouffroy. pdf. Jérôme Jouffre. On algebraic time-derivative estimation and deadbeat state reconstruction Johann Reger† and Jerome Jouffroy‡ Abstract— This paper places into perspective the so-called practical interest, we recall here only the main result for a algebraic time-derivative estimation method recently introduced moving-horizon version of the approach (see [21] and [35]). Citations (0) References (0) ResearchGate has not been able to resolve any citations for this publication. Jerome Jouffroy - Google Scholar Jerome Jouffroy Professor, Center for Industrial Mechanics, University of Southern Denmark Verified email at sdu. Rigaud, Ifremer. University of Southern Denmark grade . Jerome Jouffroy. Finally, I'd like to thank all my teachers (Andrei-Alexandru Popa (cool guy), Bjarne Schmidt, Thomas Ebel and many more), simply for being good and patient teachers and also Jerome Jouffroy for. Source: check_circle. Jerome Jouffroy. no Abstract— Contraction analysis is a recent tool for analyz- this short historical perspective together with the results of ing the convergence behavior of nonlinear systems in state. Discover the world's research. 1041. Ophavsret. A. feb. Jerome Jouffroy. Uniform global exponential stability (UGES) of the resulting system is proven. The champion's jersey. Jérôme Jouffroy posted a video on LinkedIn. 313 - 326 , 10. 39, no. Kenward Canada Dave Kiehl USA Katherine H. SOURCE-WORK-ID: 923a671d-238b-4b38-99b5-1193e4a409ec. org IEEE Conference on Decision and Control (CDC’04), Paradise Island, Bahamas, 2004 Abstract —This paper presents a globally. Using Fossen's compact notation for marine vehicles, we first. iv. Discover the world's research. D. 2006 • Yuri Rzhanov. 2007; TLDR. Jérôme Jouffroy’s Post Jérôme Jouffroy Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 11mo Report this post Report Report. Find local businesses, view maps and get driving directions in Google Maps. Jerome Jouffroy. Tor Berg, Jerome Jouffroy, Vegar Johansen. . RANK 8,122 of 19,157. All content in this area was uploaded by Jerome Jouffroy. Jerome Jouffroy. Author content. Jerome Jouffroy This paper considers the on-line implementation of the modulating function method, for parameter and state estimation, for the model of an air-handling unit, the central element of. Academic Editor: Onur Toker. 258 Yuanhui Wang, Bofei Chen, Shijie Li, Xinqian Bian Intelligent Autonomy For Unmanned Underwater. e. Jerome Jouffroy. Krstic, and N. All content in this area was uploaded by Jerome Jouffroy. Jerome Jouffroy; This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. Email jerome @ sdu. REPUTATION 100. Jerome Jouffroy; This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil-ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. arXiv:0710. dk, [email protected] NO-7491, Norway (e-mail: ihle@ntnu. Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1moAssociate professor Jerome Jouffroy received one of the three teaching awards from the BHJ Foundation. Fossen; This paper presents a formation modelling scheme based on a set of inter-body constraint functions and Lagrangian multipliers. Master’s thesis, Norwegian University of Science and Technology, 2004. 2004. Download. Jerome Jouffroy; Thor I. While the use of Lyapunov function candidates for integrator backstepping has been extensively studied in the literature. Contraction theory is a recent tool enabling to study the stabil- ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of incremental stability meth- ods. The paper presents a systematic method for design of observer-controllers in cascade. dk: SDU Dronecenter, Mærsk Mc-Kinney Møller Instituttet2 Relaxation of the negativity constraint As the original version of contraction theory, this new crite-rion presents the same useful property of being independent of‡Jerome Jouffroy is with the Mads Clausen Institute, University of Southern Denmark, Alsion 2, DK-6400 Sønderborg, Denmark (e-mail: jerome@mci. Jerome JOUFFROY | Cited by 1,241 | of University of Southern Denmark, Odense (SDU) | Read 84 publications | Contact Jerome JOUFFROY Associate Professor, SDU Mechatronics. Notable people with the surname include: Alix Joffroy (1844–1908), French neurologist and psychiatrist remembered for describing Joffroy's sign; Pierre. I. Jérôme Jouffroy posted a video on LinkedIn. Control systems, model-based simulations, digital twin, intelligent systems, robotics,. This paper addresses the issue of estimating underwater vehicle trajectories using Gyro-Doppler (body-fixed velocities) and acoustic signals (earth-fixed positions). Jerome Jouffroy · J. Examination condition: The mandatory exercises and the project reports must be handed in on time and in accordance with requirements specified at the beginning of the semester. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil-ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. Authors: Johann Reger, Jérôme Jouffroy. The control law. Jouffroy, “A control strategy for steering an autonomous surface sailing vehicle in a tacking maneuver,” in Proceedings of the IEEE International Conference on Systems,. The control law is based on applying inter-vessel constraint functions which again impose forces on the individual vessels that maintain the given constraints on the total system. This paper considers the on-line implementation of the modulating function method, for parameter and state estimation, for the model of an air-handling unit, central element of HVAC systems. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil- ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. no, jouffroy@ntnu. Jerome Jouffroy Tu Duc Nguyen This paper extends previous work [6],[7] on the estimation of underwater vehicle trajectories using Gyro-Doppler (body-xed velocities) and acoustic signals (earth-xed.