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Dr. Olivier Chocron
École Nationale d'Ingénieurs de Brest, France

Basic Info


Research Keywords & Expertise

0 Design Optimization
0 Propulsion Systems
0 Robot Control
0 Robotics
0 System Simulation

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Propulsion Systems
Design Optimization
autonomous underwater vehicle (AUV)

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Short Biography

Olivier Chocron was born in Gennevilliers, France, in 1969 and graduated (M.Sc. and Ph.D. in mechanical engineering) from Pierre and Marie Curie University (Paris VI), respectively in 1995 and 2000. From 2000 to 2001, he was a post-doctoral fellow and lecturer at the MIT Laboratory of Space and Field Robotics and Mechanical Engineering. department (Cambridge, MA, United States). Since 2002, he has been an associate professor at the National Engineering School of Brest (Brest, France), in the department of mechatronics. He teaches robotics and several engineering sciences. He is now a member of the Dupuy de Lôme Research Institute (IRDL, CNRS UMR 6027) in Brest. His current research interests include mechatronic design, nonlinear model-based control, vector propulsion of autonomous underwater robots , as well as robotic systems optimization through task-based design using the artificial evolution.

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Review
Published: 07 February 2021 in Journal of Marine Science and Engineering
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Manoeuvrability is one of the essential keys in the development of improved autonomous underwater vehicles for challenging missions. In the last years, more researches were dedicated to the development of new hulls shapes and thrusters to assure more manoeuvrability. The present review explores various enabling technologies used to implement the vectorial thrusters (VT), based on water-jet or propellers. The proposals are analysed in terms of added degrees of freedom, mechanisms, number of necessary actuators, water-tightness, electromagnetomechanical complexity, feasibility, etc. The usage of magnetic coupling thrusters (conventional or reconfigurable) is analysed in details since they can assure the development of competitive full waterproof reconfigurable thrusters, which is a frictionless, flexible, safe, and low-maintenance solution. The current limitations (as for instance the use of non conductive hull) are discussed and ideas are proposed for the improvement of this new generation of underwater thrusters, as extending the magnetic coupling usage to obtain a fully contactless vector thrust transmission.

ACS Style

Henrique Fagundes Gasparoto; Olivier Chocron; Mohamed Benbouzid; Pablo Siqueira Meirelles. Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots. Journal of Marine Science and Engineering 2021, 9, 170 .

AMA Style

Henrique Fagundes Gasparoto, Olivier Chocron, Mohamed Benbouzid, Pablo Siqueira Meirelles. Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots. Journal of Marine Science and Engineering. 2021; 9 (2):170.

Chicago/Turabian Style

Henrique Fagundes Gasparoto; Olivier Chocron; Mohamed Benbouzid; Pablo Siqueira Meirelles. 2021. "Advances in Reconfigurable Vectorial Thrusters for Adaptive Underwater Robots." Journal of Marine Science and Engineering 9, no. 2: 170.

Journal article
Published: 26 November 2020 in Applied Sciences
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Hydrogen is an excellent energy source for long-term storage and free of greenhouse gases. However, its high production cost remains an obstacle to its advancement. The two main parameters contributing to the high cost include the cost of electricity and the cost of initial financial investment. It is possible to reduce the latter by the optimization of system design and operation conditions, allowing the reduction of the cell voltage. Because the CAPEX (initial cost divided by total hydrogen production of the electrolyzer) decreases according to current density but the OPEX (operating cost depending on the cell voltage) increases depending on the current density, there exists an optimal current density. In this paper, a genetic algorithm has been developed to find the optimal evolution parameters and to determine an optimum electrolyzer design. The optimal current density has been increased by 10% and the hydrogen cost has been decreased by 1%.

ACS Style

Damien Le Bideau; Olivier Chocron; Philippe Mandin; Patrice Kiener; Mohamed Benbouzid; Mathieu Sellier; Myeongsub Kim; Fabrizio Ganci; Rosalinda Inguanta. Evolutionary Design Optimization of an Alkaline Water Electrolysis Cell for Hydrogen Production. Applied Sciences 2020, 10, 8425 .

AMA Style

Damien Le Bideau, Olivier Chocron, Philippe Mandin, Patrice Kiener, Mohamed Benbouzid, Mathieu Sellier, Myeongsub Kim, Fabrizio Ganci, Rosalinda Inguanta. Evolutionary Design Optimization of an Alkaline Water Electrolysis Cell for Hydrogen Production. Applied Sciences. 2020; 10 (23):8425.

Chicago/Turabian Style

Damien Le Bideau; Olivier Chocron; Philippe Mandin; Patrice Kiener; Mohamed Benbouzid; Mathieu Sellier; Myeongsub Kim; Fabrizio Ganci; Rosalinda Inguanta. 2020. "Evolutionary Design Optimization of an Alkaline Water Electrolysis Cell for Hydrogen Production." Applied Sciences 10, no. 23: 8425.

Conference paper
Published: 01 October 2019 in IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
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Magnetic couplings play an essential role in designing fully waterproof mechanical transmission devices. These systems allow transmitting motions at a distance, therefore without complex and unreliable mechanical seals for rotating shafts. However, magnetic couplings naturally create less rigid joints when compared with mechanical ones. It means the driven rotor of a magnetic coupling can present a different movement of its motorised counterpart in transient conditions (while accelerating, for example). Usually, designers look for optimising the torque density. However, if we are looking for a fast response and position control accuracy (i.e. synchronisation), another approach must be carried out. The reason is that, for different magnetic couplings, the maximum transmissible torque can be achieved with widely different angles (according to device features), while we need high torques for tiny angles. Hence, our objective is to maximise the initial stiffness minimising the volume of magnets. Thus, this work aims to present a design method to find an optimal rigid axial magnetic coupling by maximising its initial stiffness density (defining the objective function) under geometric constraints. First, the stiffness analytical expression is obtained for a chosen axial magnetic coupling made with Halbach arrayed arched magnets. Secondly, an optimal magnetic coupling is sought for a given device. In conclusion, this stiffness density-based design is analysed and compared to the torque density-based one, finding the best number of poles-pairs.

ACS Style

Henrique Fagundes Gasparoto; Olivier Chocron; Mohamed Benbouzid; Pablo Siqueira Meirelles. Design of an Optimally Stiff Axial Magnetic Coupling for Compliant Actuators. IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society 2019, 1, 5198 -5203.

AMA Style

Henrique Fagundes Gasparoto, Olivier Chocron, Mohamed Benbouzid, Pablo Siqueira Meirelles. Design of an Optimally Stiff Axial Magnetic Coupling for Compliant Actuators. IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society. 2019; 1 ():5198-5203.

Chicago/Turabian Style

Henrique Fagundes Gasparoto; Olivier Chocron; Mohamed Benbouzid; Pablo Siqueira Meirelles. 2019. "Design of an Optimally Stiff Axial Magnetic Coupling for Compliant Actuators." IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society 1, no. : 5198-5203.

Conference paper
Published: 01 October 2019 in IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
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This work proposes a design method for the propulsion system of autonomous underwater vehicles (AUVs) based on the to be accomplished tasks or trajectories. The method adapts to AUVs involving both fixed and vector thrusters. It is based on the inverse kinematic and dynamic models of the AUV performing a task of trajectory tracking. We first determine the actuation requirement in terms of propulsion effort according to the required task. These efforts are thus used to generate propulsion capabilities in the form of a “Thrust configuration matrix” (TCM). This matrix depends on the positions and orientations of the thrusters, but also thrust controlled angles of vector thrusters. In general, this matrix is compatible with any desired Cartesian trajectory and may include fixed or vector thrusters. From this matrix can be extracted the number, the type, position and orientation of thrusters constituting the obtained propulsion system. Thus, the robot's propulsion capabilities will match the characteristics of the to-be-followed trajectory.

ACS Style

Olivier Chocron; Emmanuel Delaleau. Task-based design of AUVs propulsion systems including fixed or vector thrusters. IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society 2019, 1, 5292 -5298.

AMA Style

Olivier Chocron, Emmanuel Delaleau. Task-based design of AUVs propulsion systems including fixed or vector thrusters. IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society. 2019; 1 ():5292-5298.

Chicago/Turabian Style

Olivier Chocron; Emmanuel Delaleau. 2019. "Task-based design of AUVs propulsion systems including fixed or vector thrusters." IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society 1, no. : 5292-5298.

Journal article
Published: 25 December 2018 in Energies
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The concept of reconfigurable magnetic coupling thrusters (RMCT) applied to the vectorial thrust of autonomous underwater vehicles (AUV) has been recently developed and presented. This technology ensures greater robot watertightness with enhanced maneuvering capabilities, which are desired features in agile AUVs for marine renewable energy (MRE) system maintenance. It is possible since in RMCTs the driving torque is magnetically transmitted to the propeller, which has its orientation changed. This work is focused on the coupling and control torque calculation and further analysis of the latest prototype version (Flat-RMCT), in the static condition for the full thrust vector range. For this purpose, a numerical model is implemented and validated with experimental results. The numerical model is based on the finite volume integral method. The results indicate that the minimum magnetic reluctance propensity creates not only the expected magnetic spring effect but also an auto-driving torque due to the non-axial symmetry of coupling rotors, which exists only for reconfigurable couplings. Mathematical functions are proposed to model these effects and they are used to extend the understanding of the coupling. These models can be used to compose a full and accurate dynamic model for a better RMCT simulation, identification, and control.

ACS Style

Henrique Fagundes Gasparoto; Olivier Chocron; Mohamed Benbouzid; Pablo Siqueira Meirelles; Luiz Otávio Saraiva Ferreira. Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs. Energies 2018, 12, 56 .

AMA Style

Henrique Fagundes Gasparoto, Olivier Chocron, Mohamed Benbouzid, Pablo Siqueira Meirelles, Luiz Otávio Saraiva Ferreira. Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs. Energies. 2018; 12 (1):56.

Chicago/Turabian Style

Henrique Fagundes Gasparoto; Olivier Chocron; Mohamed Benbouzid; Pablo Siqueira Meirelles; Luiz Otávio Saraiva Ferreira. 2018. "Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs." Energies 12, no. 1: 56.

Conference paper
Published: 20 May 2018 in Cavitation Instabilities and Rotordynamic Effects in Turbopumps and Hydroturbines
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This paper presents a synthesis method for the Autonomous Underwater Vehicle (AUV) propulsion system based on the features of a trajectory to follow. This method is based on solid/fluid dynamics analysis of a AUV performing the trajectory following task and gives actuation requirements to achieve it properly. This actuation is then used to generate a propulsion system under the form of a Thrust Configuration Matrix (TCM) that is compatible with the desired trajectory. From this matrix the number of thrusters, their position and direction can then be extracted to synthesis a fitted propulsion system. Thus, the propulsion capabilities of the robot will match the trajectory characteristics and it will be able to follow it. The objective of this work is to provide an evaluation as well as a design method to produce a controllable AUV for a given task. A second use of such an analysis is to provide an evaluation process allowing to perform AUV task-based design. The method is developed for generic fixed-thrusters AUVs on any trajectory, and is applied to an existing 4-thrusters AUV for a seabed scanning flat trajectory. The method shows why the initial AUV propulsion does not match the task and what is the solution solving the issue.

ACS Style

Olivier Chocron; Emmanuel Delaleau. Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs. Cavitation Instabilities and Rotordynamic Effects in Turbopumps and Hydroturbines 2018, 380 -391.

AMA Style

Olivier Chocron, Emmanuel Delaleau. Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs. Cavitation Instabilities and Rotordynamic Effects in Turbopumps and Hydroturbines. 2018; ():380-391.

Chicago/Turabian Style

Olivier Chocron; Emmanuel Delaleau. 2018. "Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs." Cavitation Instabilities and Rotordynamic Effects in Turbopumps and Hydroturbines , no. : 380-391.

Journal article
Published: 01 May 2018 in Ocean Engineering
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ACS Style

Olivier Chocron; Emanuel P. Vega; Mohamed Benbouzid. Dynamic reconfiguration of autonomous underwater vehicles propulsion system using genetic optimization. Ocean Engineering 2018, 156, 564 -579.

AMA Style

Olivier Chocron, Emanuel P. Vega, Mohamed Benbouzid. Dynamic reconfiguration of autonomous underwater vehicles propulsion system using genetic optimization. Ocean Engineering. 2018; 156 ():564-579.

Chicago/Turabian Style

Olivier Chocron; Emanuel P. Vega; Mohamed Benbouzid. 2018. "Dynamic reconfiguration of autonomous underwater vehicles propulsion system using genetic optimization." Ocean Engineering 156, no. : 564-579.

Chapter
Published: 30 December 2017 in Handbook of Ocean Wave Energy
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In this chapter, the in-mission optimization of the propulsion and control systems of AUVs is developed. This optimization is aimed at obtaining parameters to adapt a dynamically reconfigurable propulsion to underwater infrastrtuctures monitoring missions. The hydrodynamic model of the AUVs is examined. Additionally, a four-thrusters fixed propulsion system is proposed and modelled. A control method using the hydrodynamic model is developed and adapted to our AUV topology. The optimization is used to find suitable vectorial-thrusters orientations and control parameters in order to execute given robotic tasks, speeding up the convergence and minimizing the energy consumption. This is done using a genetic algorithm, which is a stochastic optimization method used here for task-based design. The optimization results are used for readily adapt the vectorial propulsion system to different tasks specificatins, making the AUV dynamically reconfigurable.

ACS Style

O. Chocron; E. P. Vega; M. Benbouzid. Evolutionary Dynamic Reconfiguration of AUVs for Underwater Maintenance. Handbook of Ocean Wave Energy 2017, 137 -178.

AMA Style

O. Chocron, E. P. Vega, M. Benbouzid. Evolutionary Dynamic Reconfiguration of AUVs for Underwater Maintenance. Handbook of Ocean Wave Energy. 2017; ():137-178.

Chicago/Turabian Style

O. Chocron; E. P. Vega; M. Benbouzid. 2017. "Evolutionary Dynamic Reconfiguration of AUVs for Underwater Maintenance." Handbook of Ocean Wave Energy , no. : 137-178.

Journal article
Published: 12 July 2016 in IEEE/ASME Transactions on Mechatronics
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Reconfigurable Magnetic Coupling Thruster (RMCT) is an enabling technology for achieving vectorial thrust on AUVs. This allows us to dispose of dynamic, compliant, and secure propulsion to enhance their agility for demanding locomotion tasks. RMCT can generate and control a thrust vector by redirecting its propeller through the compliance of the magnetic coupling and therefore achieve thrust vectoring for AUVs. In this paper, a new design of RMCT is presented. This new prototype uses a flat geometry magnetic coupling for a better AUV full integrability. The new design provides some additional advantages with regard to its predecessor (spherical RMCT); namely, construction simplicity and better torque transmission. The first characteristic is derived from its flat shapes, which makes it easier to manufacture (cubic magnets) and to isolate (planar air gap between rotors). The second characteristic is due to the fact that now both parts of the magnetic coupling can store magnets (increasing the maximal transmitted torque). This paper proposes a thruster dynamics model, a magnetic coupling model, and shows the use of a dynamic parameter identification method based on algorithms used for robotic manipulators. The validity of the dynamic model and identified parameters is then analyzed by means of experimental tests.

ACS Style

Emanuel Pablo Vega; Olivier Chocron; Mohamed Benbouzid. A Flat Design and a Validated Model for an AUV Reconfigurable Magnetic Coupling Thruster. IEEE/ASME Transactions on Mechatronics 2016, 21, 2892 -2901.

AMA Style

Emanuel Pablo Vega, Olivier Chocron, Mohamed Benbouzid. A Flat Design and a Validated Model for an AUV Reconfigurable Magnetic Coupling Thruster. IEEE/ASME Transactions on Mechatronics. 2016; 21 (6):2892-2901.

Chicago/Turabian Style

Emanuel Pablo Vega; Olivier Chocron; Mohamed Benbouzid. 2016. "A Flat Design and a Validated Model for an AUV Reconfigurable Magnetic Coupling Thruster." IEEE/ASME Transactions on Mechatronics 21, no. 6: 2892-2901.

Research article
Published: 31 May 2016 in Journal of Control Science and Engineering
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This paper deals with metric observer application for induction motors. Firstly, assuming that stator currents and speed are measured, a metric observer is designed to estimate the rotor fluxes. Secondly, assuming that only stator currents are measured, another metric observer is derived to estimate rotor fluxes and speed. The proposed observer validity is checked throughout simulations on a 4 kW induction motor drive.

ACS Style

Mohamed Benbouzid; Abdelkrim Benchaib; Gang Yao; Brice Beltran; Olivier Chocron. A Metric Observer for Induction Motors Control. Journal of Control Science and Engineering 2016, 2016, 1 -9.

AMA Style

Mohamed Benbouzid, Abdelkrim Benchaib, Gang Yao, Brice Beltran, Olivier Chocron. A Metric Observer for Induction Motors Control. Journal of Control Science and Engineering. 2016; 2016 ():1-9.

Chicago/Turabian Style

Mohamed Benbouzid; Abdelkrim Benchaib; Gang Yao; Brice Beltran; Olivier Chocron. 2016. "A Metric Observer for Induction Motors Control." Journal of Control Science and Engineering 2016, no. : 1-9.

Journal article
Published: 31 October 2014 in International Review on Modelling and Simulations (IREMOS)
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This paper presents a simulation-based evaluation of different modeling levels for Autonomous Underwater Vehicle (AUV) propulsion systems. A model of an existing AUV (RSM robot) is proposed and detailed. Likewise, models of the RSM propulsion system and thruster behavior are presented. Simulations of the closed-loop controlled AUV performing a predefined task are carried-out using the proposed propulsion systems models. The simulated task allows evaluating the influence of the propulsive system modeling over the maneuverability of the AUV. Subsequently, numerical results are discussed and applicability is evaluated. Copyright © 2014 Praise Worthy Prize - All rights reserved.

ACS Style

Emanuel Pablo Vega; Olivier Chocron; Mohamed El Hachemi Benbouzid. AUV Propulsion Systems Modeling Analysis. International Review on Modelling and Simulations (IREMOS) 2014, 7, 827 .

AMA Style

Emanuel Pablo Vega, Olivier Chocron, Mohamed El Hachemi Benbouzid. AUV Propulsion Systems Modeling Analysis. International Review on Modelling and Simulations (IREMOS). 2014; 7 (5):827.

Chicago/Turabian Style

Emanuel Pablo Vega; Olivier Chocron; Mohamed El Hachemi Benbouzid. 2014. "AUV Propulsion Systems Modeling Analysis." International Review on Modelling and Simulations (IREMOS) 7, no. 5: 827.

Journal article
Published: 01 April 2013 in IEEE/ASME Transactions on Mechatronics
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This paper presents the concept and design of a new reconfigurable magnetic-coupling thruster (RMCT). Mechanical models, as well as digital and real-world experiments, are proposed to understand the fundamental aspects of such technology. The principle of RMCT is to reorient the propeller, and therefore the thrust vector, to the desired direction without adding or moving any motors. The focus of this study is to propose a new design to solve the problems raised in a previous work on RMCT and to understand how the transmitted coupling torque behaves with regard to the new kinematics of the propeller shaft. After introducing the models underlying this thruster design, we build a numerical simulation and validate it through experimental results. The performance of this design is then discussed based on open-loop trials and its potential integration and control. The conclusion proposes guidelines for developing an underwater prototype that will be designed and tested on real autonomous underwater vehicles.

ACS Style

Olivier Chocron; Urbain Prieur; Laurent Pino. A Validated Feasibility Prototype for AUV Reconfigurable Magnetic Coupling Thruster. IEEE/ASME Transactions on Mechatronics 2013, 19, 642 -650.

AMA Style

Olivier Chocron, Urbain Prieur, Laurent Pino. A Validated Feasibility Prototype for AUV Reconfigurable Magnetic Coupling Thruster. IEEE/ASME Transactions on Mechatronics. 2013; 19 (2):642-650.

Chicago/Turabian Style

Olivier Chocron; Urbain Prieur; Laurent Pino. 2013. "A Validated Feasibility Prototype for AUV Reconfigurable Magnetic Coupling Thruster." IEEE/ASME Transactions on Mechatronics 19, no. 2: 642-650.

Article
Published: 01 May 2008 in Robotica
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SUMMARY This paper proposes a method for task based design of modular serial robotic arms using evolutionary algorithms (EA). We introduce a 3D kinematics and a global optimization for both topology and configuration from task specifications. The search features revolute as well as prismatic joints and any number of DOF to build up a solution without using any design knowledge. A study of the evolution dynamics gives some keys to set evolution parameters that enable artificial evolution. An adapted algorithm dealing with the topology/configuration search tradeoff is proposed, descibed, and discussed. Illustrations of the algorithms results are given and conclusions are drawn from their analysis. Perspectives of this work are given, extending its reach to control and complex system design.

ACS Style

O. Chocron. Evolutionary design of modular robotic arms. Robotica 2008, 26, 323 -330.

AMA Style

O. Chocron. Evolutionary design of modular robotic arms. Robotica. 2008; 26 (3):323-330.

Chicago/Turabian Style

O. Chocron. 2008. "Evolutionary design of modular robotic arms." Robotica 26, no. 3: 323-330.

Book chapter
Published: 01 January 2007 in Artificial Intelligence: Foundations, Theory, and Algorithms
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ACS Style

Olivier Chocron. Evolving Modular Robots for Rough Terrain Exploration. Artificial Intelligence: Foundations, Theory, and Algorithms 2007, 50, 23 -46.

AMA Style

Olivier Chocron. Evolving Modular Robots for Rough Terrain Exploration. Artificial Intelligence: Foundations, Theory, and Algorithms. 2007; 50 ():23-46.

Chicago/Turabian Style

Olivier Chocron. 2007. "Evolving Modular Robots for Rough Terrain Exploration." Artificial Intelligence: Foundations, Theory, and Algorithms 50, no. : 23-46.