http://hdl.handle.net/10985/13596 Mon, 20 Apr 2026 12:33:26 GMT 2026-04-20T12:33:26Z http://hdl.handle.net/10985/14475 Free Hand-Based 3D Interaction in Optical See-Through Augmented Reality Using Leap Motion ABABSA, Fakhreddine; HE, Junhui; CHARDONNET, Jean-Rémy In augmented reality environments, the natural hand interaction between a virtual object and the user is a major issue to manipulate a rendered object in a convenient way. Microsoft’s HoloLens (Microsoft 2018) is an innovative augmented reality (AR) device that has provided an impressive experience for the user. However, the gesture interactions offered to the user are very limited. HoloLens currently recognizes two core component gestures: Air tap and Bloom. To solve this issue, we propose to integrate a Leap Motion Controller (LMC) within the HoloLens device (Figure 1). We thus used 3D hand and finger tracking provided by the LMC to propose new free hand-based interaction more natural and intuitive. We implemented three fully 3D techniques for selection, translation and rotation manipulation. In this work, we first investigated how to combine the two devices to get them working together in real time, and then we evaluated the proposed 3D hand interactions. Mon, 01 Jan 2018 00:00:00 GMT http://hdl.handle.net/10985/14475 2018-01-01T00:00:00Z ABABSA, Fakhreddine HE, Junhui CHARDONNET, Jean-Rémy In augmented reality environments, the natural hand interaction between a virtual object and the user is a major issue to manipulate a rendered object in a convenient way. Microsoft’s HoloLens (Microsoft 2018) is an innovative augmented reality (AR) device that has provided an impressive experience for the user. However, the gesture interactions offered to the user are very limited. HoloLens currently recognizes two core component gestures: Air tap and Bloom. To solve this issue, we propose to integrate a Leap Motion Controller (LMC) within the HoloLens device (Figure 1). We thus used 3D hand and finger tracking provided by the LMC to propose new free hand-based interaction more natural and intuitive. We implemented three fully 3D techniques for selection, translation and rotation manipulation. In this work, we first investigated how to combine the two devices to get them working together in real time, and then we evaluated the proposed 3D hand interactions. http://hdl.handle.net/10985/19485 Combining HoloLens and Leap-Motion for Free Hand-Based 3D Interaction in MR Environments ABABSA, Fakhreddine; HE, Junhui; CHARDONNET, Jean-Rémy The ability to interact with virtual objects using gestures would allow users to improve their experience in Mixed Reality (MR) environments, especially when they use AR headsets. Today, MR head-mounted displays like the HoloLens integrate hand gesture based interaction allowing users to take actions in MR environments. However, the proposed interactions remain limited. In this paper, we propose to combine a Leap Motion Controller (LMC) with a HoloLens in order to improve gesture interaction with virtual objects. Two main issues are presented: an interactive calibration procedure for the coupled HoloLens-LMC device and an intuitive hand-based interaction approach using LMC data in the HoloLens environment. A set of first experiments was carried out to evaluate the accuracy and the usability of the proposed approach. Wed, 01 Jan 2020 00:00:00 GMT http://hdl.handle.net/10985/19485 2020-01-01T00:00:00Z ABABSA, Fakhreddine HE, Junhui CHARDONNET, Jean-Rémy The ability to interact with virtual objects using gestures would allow users to improve their experience in Mixed Reality (MR) environments, especially when they use AR headsets. Today, MR head-mounted displays like the HoloLens integrate hand gesture based interaction allowing users to take actions in MR environments. However, the proposed interactions remain limited. In this paper, we propose to combine a Leap Motion Controller (LMC) with a HoloLens in order to improve gesture interaction with virtual objects. Two main issues are presented: an interactive calibration procedure for the coupled HoloLens-LMC device and an intuitive hand-based interaction approach using LMC data in the HoloLens environment. A set of first experiments was carried out to evaluate the accuracy and the usability of the proposed approach. http://hdl.handle.net/10985/16195 3D Human Tracking with Catadioptric Omnidirectional Camera ABABSA, Fakhreddine; HADJ-ABDELKADER, Hicham; BOUI, Marouane This paper deals with the problem of 3D human tracking in catadioptric images using particle-filtering framework. While traditional perspective images are well exploited, only a few methods have been developed for catadioptric vision, for the human detection or tracking problems. We propose to extend the 3D pose estimation in the case of perspective cameras to catadioptric sensors. In this paper, we develop an original likelihood functions based, on the one hand, on the geodetic distance in the spherical space SO3 and, on the other hand, on the mapping between the human silhouette in the images and the projected 3D model. These likelihood functions combined with a particle filter, whose propagation model is adapted to the spherical space, allow accurate 3D human tracking in omnidirectional images. Both visual and quantitative analysis of the experimental results demonstrate the effectiveness of our approach. Tue, 01 Jan 2019 00:00:00 GMT http://hdl.handle.net/10985/16195 2019-01-01T00:00:00Z ABABSA, Fakhreddine HADJ-ABDELKADER, Hicham BOUI, Marouane This paper deals with the problem of 3D human tracking in catadioptric images using particle-filtering framework. While traditional perspective images are well exploited, only a few methods have been developed for catadioptric vision, for the human detection or tracking problems. We propose to extend the 3D pose estimation in the case of perspective cameras to catadioptric sensors. In this paper, we develop an original likelihood functions based, on the one hand, on the geodetic distance in the spherical space SO3 and, on the other hand, on the mapping between the human silhouette in the images and the projected 3D model. These likelihood functions combined with a particle filter, whose propagation model is adapted to the spherical space, allow accurate 3D human tracking in omnidirectional images. Both visual and quantitative analysis of the experimental results demonstrate the effectiveness of our approach. http://hdl.handle.net/10985/19418 Augmented Reality Application in Manufacturing Industry: Maintenance and Non-destructive Testing (NDT) Use Cases ABABSA, Fakhreddine In recent years, a structural transformation of the manufacturing industry has been occurring as a result of the digital revolution. Thus, digital tools are now systematically used throughout the entire value chain, from design to production to marketing, especially virtual and augmented reality. Therefore, the purpose of this paper is to review, through concrete use cases, the progress of these novel technologies and their use in the manufacturing industry. Wed, 01 Jan 2020 00:00:00 GMT http://hdl.handle.net/10985/19418 2020-01-01T00:00:00Z ABABSA, Fakhreddine In recent years, a structural transformation of the manufacturing industry has been occurring as a result of the digital revolution. Thus, digital tools are now systematically used throughout the entire value chain, from design to production to marketing, especially virtual and augmented reality. Therefore, the purpose of this paper is to review, through concrete use cases, the progress of these novel technologies and their use in the manufacturing industry. http://hdl.handle.net/10985/25144 Advanced Deep Learning Techniques for Industry 4.0: Application to Mechanical Design and Structural Health Monitoring ABABSA, Fakhreddine Nowadays, Deep Learning (DL) techniques are increasingly employed in industrial applications. This paper investigate the development of data-driven models for two use cases: Additive Manufacturing-driven Topology Optimization and Structural Health Monitoring (SHM). We first propose an original data-driven generative method that integrates the mechanical and geometrical constraints concurrently at the same conceptual level and generates a 2D design accordingly. In this way, it adapts the geometry of the design to the manufacturing criteria, allowing the designer better interpretation and avoiding being stuck in a timeconsuming loop of drawing the CAD and testing its performance. On the other hand, SHM technique is dedicated to the continuous and non-invasive monitoring of structures integrity, ensuring safety and optimal performances through on-site real-time measurements. We propose in this work new ways of structuring data that increase the accuracy of data driven SHM algorithms and that are based on the physical knowledge related with the structure to be inspected. We focus our study on the damage classification step within the aeronautic context, where the primary objective is to distinguish between different damage types in composite. Thu, 01 Feb 2024 00:00:00 GMT http://hdl.handle.net/10985/25144 2024-02-01T00:00:00Z ABABSA, Fakhreddine Nowadays, Deep Learning (DL) techniques are increasingly employed in industrial applications. This paper investigate the development of data-driven models for two use cases: Additive Manufacturing-driven Topology Optimization and Structural Health Monitoring (SHM). We first propose an original data-driven generative method that integrates the mechanical and geometrical constraints concurrently at the same conceptual level and generates a 2D design accordingly. In this way, it adapts the geometry of the design to the manufacturing criteria, allowing the designer better interpretation and avoiding being stuck in a timeconsuming loop of drawing the CAD and testing its performance. On the other hand, SHM technique is dedicated to the continuous and non-invasive monitoring of structures integrity, ensuring safety and optimal performances through on-site real-time measurements. We propose in this work new ways of structuring data that increase the accuracy of data driven SHM algorithms and that are based on the physical knowledge related with the structure to be inspected. We focus our study on the damage classification step within the aeronautic context, where the primary objective is to distinguish between different damage types in composite. http://hdl.handle.net/10985/19775 3D Human Pose Estimation with a Catadioptric Sensor in Unconstrained Environments Using an Annealed Particle Filter ABABSA, Fakhreddine; HADJ-ABDELKADER, Hicham; BOUI, Marouane The purpose of this paper is to investigate the problem of 3D human tracking in complex environments using a particle filter with images captured by a catadioptric vision system. This issue has been widely studied in the literature on RGB images acquired from conventional perspective cameras, while omnidirectional images have seldom been used and published research works in this field remains limited. In this study, the Riemannian varieties was considered in order to compute the gradient on spherical images and generate a robust descriptor used along with an SVM classifier for human detection. Original likelihood functions associated with the particle filter are proposed, using both geodesic distances and overlapping regions between the silhouette detected in the images and the projected 3D human model. Our approach was experimentally evaluated on real data and showed favorable results compared to machine learning based techniques about the 3D pose accuracy. Thus, the Root Mean Square Error (RMSE) was measured by comparing estimated 3D poses and truth data, resulting in a mean error of 0.065 m when walking action was applied. Wed, 01 Jan 2020 00:00:00 GMT http://hdl.handle.net/10985/19775 2020-01-01T00:00:00Z ABABSA, Fakhreddine HADJ-ABDELKADER, Hicham BOUI, Marouane The purpose of this paper is to investigate the problem of 3D human tracking in complex environments using a particle filter with images captured by a catadioptric vision system. This issue has been widely studied in the literature on RGB images acquired from conventional perspective cameras, while omnidirectional images have seldom been used and published research works in this field remains limited. In this study, the Riemannian varieties was considered in order to compute the gradient on spherical images and generate a robust descriptor used along with an SVM classifier for human detection. Original likelihood functions associated with the particle filter are proposed, using both geodesic distances and overlapping regions between the silhouette detected in the images and the projected 3D human model. Our approach was experimentally evaluated on real data and showed favorable results compared to machine learning based techniques about the 3D pose accuracy. Thus, the Root Mean Square Error (RMSE) was measured by comparing estimated 3D poses and truth data, resulting in a mean error of 0.065 m when walking action was applied. http://hdl.handle.net/10985/11186 Torsional Vibrations of Fluid-Filled Multilayered Transversely Isotropic Finite Circular Cylinder ABASSI, Wafik; RAZAFIMAHERY, Fulgence; EL BAROUDI, Adil An analytical and numerical study for the torsional vibrations of viscous fluid-filled three-layer transversely isotropic cylinder is presented in this paper. The equations of motion of solid and fluid are respectively formulated using the constitutive equations of a transversely isotropic cylinder and the constitutive equations of a viscous fluid. The analytical solution of the frequency equation is obtained using the boundary conditions at the free surface of the solid layer and the boundary conditions at the fluid–solid interface. The frequency equation is deduced and analytically solved using the symbolic Software Mathematica. The finite element method using Comsol Multiphysics Software results are compared with present method for validation and an acceptable match between them were obtained. It is shown that the results from the proposed method are in good agreement with numerical solutions. The influence of fluid dynamic viscosity is thoroughly analyzed and the effect of the isotropic properties on the natural frequencies is also investigated. Fri, 01 Jan 2016 00:00:00 GMT http://hdl.handle.net/10985/11186 2016-01-01T00:00:00Z ABASSI, Wafik RAZAFIMAHERY, Fulgence EL BAROUDI, Adil An analytical and numerical study for the torsional vibrations of viscous fluid-filled three-layer transversely isotropic cylinder is presented in this paper. The equations of motion of solid and fluid are respectively formulated using the constitutive equations of a transversely isotropic cylinder and the constitutive equations of a viscous fluid. The analytical solution of the frequency equation is obtained using the boundary conditions at the free surface of the solid layer and the boundary conditions at the fluid–solid interface. The frequency equation is deduced and analytically solved using the symbolic Software Mathematica. The finite element method using Comsol Multiphysics Software results are compared with present method for validation and an acceptable match between them were obtained. It is shown that the results from the proposed method are in good agreement with numerical solutions. The influence of fluid dynamic viscosity is thoroughly analyzed and the effect of the isotropic properties on the natural frequencies is also investigated. http://hdl.handle.net/10985/11185 Vibration Analysis of Euler-Bernoulli Beams Partially Immersed in a Viscous Fluid ABASSI, Wafik; RAZAFIMAHERY, Fulgence; EL BAROUDI, Adil The vibrational characteristics of a microbeam are well known to strongly depend on the fluid in which the beam is immersed. In this paper, we present a detailed theoretical study of the modal analysis of microbeams partially immersed in a viscous fluid. A fixed-free microbeamvibrating in a viscous fluid is modeled using the Euler-Bernoulli equation for the beams.The unsteady Stokes equations are solved using a Helmholtz decomposition technique in a two-dimensional plane containing the microbeams cross sections.The symbolic softwareMathematica is used in order to find the coupled vibration frequencies of beams with two portions. The frequency equation is deduced and analytically solved.The finite element method using ComsolMultiphysics software results is compared with present method for validation and an acceptable match between them was obtained. In the eigenanalysis, the frequency equation is generated by satisfying all boundary conditions. It is shown that the present formulation is an appropriate and new approach to tackle the problem with good accuracy. Fri, 01 Jan 2016 00:00:00 GMT http://hdl.handle.net/10985/11185 2016-01-01T00:00:00Z ABASSI, Wafik RAZAFIMAHERY, Fulgence EL BAROUDI, Adil The vibrational characteristics of a microbeam are well known to strongly depend on the fluid in which the beam is immersed. In this paper, we present a detailed theoretical study of the modal analysis of microbeams partially immersed in a viscous fluid. A fixed-free microbeamvibrating in a viscous fluid is modeled using the Euler-Bernoulli equation for the beams.The unsteady Stokes equations are solved using a Helmholtz decomposition technique in a two-dimensional plane containing the microbeams cross sections.The symbolic softwareMathematica is used in order to find the coupled vibration frequencies of beams with two portions. The frequency equation is deduced and analytically solved.The finite element method using ComsolMultiphysics software results is compared with present method for validation and an acceptable match between them was obtained. In the eigenanalysis, the frequency equation is generated by satisfying all boundary conditions. It is shown that the present formulation is an appropriate and new approach to tackle the problem with good accuracy. http://hdl.handle.net/10985/11995 Design Elements for high speed SRM ABBA, Gabriel; ANTOINE, Jean-François; SAUVEY, Christophe; VISA, Codrut This paper deals with the study of high speed switched reluctance motors and their pre-dimensioning. The predimensioning is tackled towards the inductance profile and the torque generation. Then, the power density is assessed in terms of three defined fundamental parameters, each depending on electrical, mechanical and geometrical design of the motor. The mechanical limitations studied are the centrifugal stresses and the vibratory behavior of the motor. A shape optimization of the rotor teeth leans then on a coupled magnetic-mechanic coupled problem, solved with finite elements simulations. After that,mechanic, magnetic and copper losses are given in terms of the rotor external volume so as to assess the weight of each heat source in the global motor heating. Once all the losses are linked to temperature, a criterion to improve the ability to develop a high speed motor is finally proposed. Thu, 01 Jan 2004 00:00:00 GMT http://hdl.handle.net/10985/11995 2004-01-01T00:00:00Z ABBA, Gabriel ANTOINE, Jean-François SAUVEY, Christophe VISA, Codrut This paper deals with the study of high speed switched reluctance motors and their pre-dimensioning. The predimensioning is tackled towards the inductance profile and the torque generation. Then, the power density is assessed in terms of three defined fundamental parameters, each depending on electrical, mechanical and geometrical design of the motor. The mechanical limitations studied are the centrifugal stresses and the vibratory behavior of the motor. A shape optimization of the rotor teeth leans then on a coupled magnetic-mechanic coupled problem, solved with finite elements simulations. After that,mechanic, magnetic and copper losses are given in terms of the rotor external volume so as to assess the weight of each heat source in the global motor heating. Once all the losses are linked to temperature, a criterion to improve the ability to develop a high speed motor is finally proposed. http://hdl.handle.net/10985/9238 Comparaison des actionneurs ABBA, Gabriel Les objectifs de ce rapport sont donc multiples. En premier, le rapport établie la méthodologie de sélection des actionneurs d’un robot en fonction d’un ou plusieurs critères à satisfaire tout en respectant les contraintes nécessaires au bon fonctionnement du robot, contraintes elles mêmes liées très fortement aux performances dynamiques exigées du robot et aux différentes tâches auxquelles le robot est destiné. Il est facile de montrer que la sélection des actionneurs est fortement liée aux choix technologiques des dispositifs de transmission des mouvements et de la technologie même desdits actionneurs. Le second objectif du rapport est par conséquent d’élaborer une méthode de sélection couplée des actionneurs et des transmissions. Pour se faire, nous limitons délibérément les choix à certaines technologies. Enfin, le dernier objectif du rapport est de proposer un modèle physique approché mais néanmoins le plus précis possible du comportement énergétique de l’ensemble de la chaîne de transmission des mouvements et donc un modèle énergétique des actionneurs, des transmissions cinématiques jusqu’aux variables articulaires du robot. Sun, 01 Jan 2012 00:00:00 GMT http://hdl.handle.net/10985/9238 2012-01-01T00:00:00Z ABBA, Gabriel Les objectifs de ce rapport sont donc multiples. En premier, le rapport établie la méthodologie de sélection des actionneurs d’un robot en fonction d’un ou plusieurs critères à satisfaire tout en respectant les contraintes nécessaires au bon fonctionnement du robot, contraintes elles mêmes liées très fortement aux performances dynamiques exigées du robot et aux différentes tâches auxquelles le robot est destiné. Il est facile de montrer que la sélection des actionneurs est fortement liée aux choix technologiques des dispositifs de transmission des mouvements et de la technologie même desdits actionneurs. Le second objectif du rapport est par conséquent d’élaborer une méthode de sélection couplée des actionneurs et des transmissions. Pour se faire, nous limitons délibérément les choix à certaines technologies. Enfin, le dernier objectif du rapport est de proposer un modèle physique approché mais néanmoins le plus précis possible du comportement énergétique de l’ensemble de la chaîne de transmission des mouvements et donc un modèle énergétique des actionneurs, des transmissions cinématiques jusqu’aux variables articulaires du robot.