

INRIA, 2004 route des Lucioles, BP 93, 06902 SophiaAntipolis cedex FRANCE


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Large Scale Initiative Action Personally Assisted Living
The objective of this project is to create a research infrastructure that will enable experiments with technologies for improving the quality of life for persons who have suffered a loss of autonomy through age, illness or accident. In particular, the project seeks to enable development of technologies that can provide services for elderly and fragile persons, as well as their immediate family, caregivers and social groups. Projectsteams : AROBAS, COPRIN, DEMAR, EMOTION, PULSAR, PRIMA, MAIA, TRIO, LAGADIC 

Workshop PAL Person Assisted Living September, 19th, 2011 
[1]
JP. Merlet and D. Daney.
"Appropriate Design of Parallel Manipulators."
Smart Devices and machines for advanced manufacturing,
ed. L. Wang and J. Xi, pp. 125, Springer, 2008.
PDF
[17]
Julien Alexandre dit Sandretto, Gilles Trombettoni, David Daney
Confirmation of Hypothesis on Cable Properties for CableDriven Robots
New Trends in Mechanism and Machine Science, Mechanisms and Machine Science, Spinger, p8593,2013
[16]
Milan Hladik, David Daney, and Elias Tsigaridas
Characterizing and approximating eigenvalue sets of symmetric interval matrices.
Elsevier, Computers and Mathematics with Applications, 62:31523163, 2011.
PDF File,
Open Archive
[15]
Milan Hladik, David Daney, and Elias Tsigaridas
An algorithm for addressing the real interval eigenvalue problem.
J. Comput. Appl. Math., 235(8):27152730, 2011.
Open Archive
[14]
Milan Hladik, David Daney, and Elias Tsigaridas
A filtering method for the interval eigenvalue problem.
Applied Mathematics and Computation, 217(12):52365242, 2011.
Open Archive
[13]
M. Gouttefarde, D. Daney, JP Merlet
Interval Analysis Based Determination of the WrenchFeasible Workspace
of Parallel CableDriven Robots
IEEE Transactions on Robotics vol. 27(1), pp. 113, 2011. PDF File
[12]
JP Merlet, D. Daney,
Robotique : des aides abordables pour nos aines
La Recherche. Les Cahiers de l'Inria, 446 novembre 2010 (2010)
PDF File, HAL pages
[11]
Milan Hladik, David Daney, and Elias Tsigaridas
"Bounds on Real Eigenvalues and Singular Values of Interval Matrices"
SIAM. J. Matrix Anal. & Appl. Volume 31, Issue 4, pp. 21162129, 2010.
Open Archive
[10]
Harada, k., Oetomo, D., Susilo, E., Menciassi, A., Daney, D., Merlet, JP., Dario P.
"A Reconfigurable Modular Robotic Endoluminal Surgical System : Visions and Preliminary Results"
Robotica, Volume 28, Issue 2, pp. 171183, 2010. PDF File
[9]
Oetomo, D., Daney, D. and Merlet, JP.
"Design Strategy of Serial Manipulators With Certified Constraint
Satisfaction."
IEEE Trans. on Robotics, vol. 25 (1), p. 111, 2009. PDF File
[8]
Oetomo, D., Daney, D., Shirinzadeh, B. and Merlet, JP.
"An IntervalBased Method for Workspace Analysis of Planar FlexureJointed Mechanism"
Trans of the ASME J. of Mechanical Design, vol 131 (1), p. 011014 (11 pages), 2009.
PDF File
[7]
D. Daney, N. Andreff, C. Chabert and Y. Papegay.
"Interval Method for Calibration of Parallel Robots :
Visionbased Experiments."
Mechanism and Machine Theory, Elsevier, vol 41,
pp. 926944, 2006.
PDF
File , html
[6]
D. Daney, B. Madeline and Y. Papegay
"Choosing Measurement Poses for Robot
Calibration with local Convergence Method and
Tabu Search."
International Journal of Robotic Research, Sage publications, vol 24 (6), pp. 501518, 2005.
PDF
File
[5]
Y. Lebbah, C. Michel, M. Rueher, D. Daney and JP. Merlet
"Combining local consistencies with a new global filtering algorithm on linear relaxations."
SIAM Journal on Numerical Analysis, 42(5), pp. 20762097, 2005..
PDF
File,
[4]
Y. Papegay, JP. Merlet and D. Daney,
"Exact Kinematic Analysis of Car's Suspension Mechanisms Using
Symbolic Computation and Interval Analysis."
Mechanism and Machine Theory, Elsevier, vol. 40, p. 395413, 2005.
PDF File
[3]
Y. Papegay, D. Daney and JP. Merlet
"Parallel Implementation of Interval Analysis for Equations
Solving "
Recent Advances in
Parallel Virtual Machine and Message Passing Interface, Lecture Notes
in Computer Science 2840, p. 555559, Springer, 2003.
PDF File
[2]
D. Daney,
"Kinematic Calibration of the Gough platform."
Robotica, Cambridge University Press, vol 21(6), pp 677690, 2003.
PDF
preprint File
[1] D. Daney,
I. Z. Emiris,
"Variable elimination for reliable parallel robot calibration."
Electronic Journal of Computational Kinematics, vol 1 (1),
2002.
EJCK
[34]
Julien Alexandre dit Sandretto, Gilles Trombettoni, David Daney
Confirmation of Hypothesis on Cable Properties for CableDriven Robots
4th European Conference on Mechanism Science. September 18th22nd, 2012, Santander, Spain.
[33]
David Daney, Ph. Gesnouin, Pr. Ph. Robert
Research in the service of personal assistance
Health Information Technologies, HIT, May, 2012, Paris.
[32]
Julien Alexandre Dit Sandretto, David Daney, Marc Gouttefarde
Calibration of a FullyConstrained Parallel CableDriven Robot
The 19th CISMIFToMM RoManSy Symposium (ROMANSY2012), June 2012, Paris
[31]
D. Daney
Robotic services for the elderly improving their autonomy at home
Invited talk, workshop on Robotics for Neurology and Rehabilitation, IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), September 2011, San Francisco
[30]
Mandar Harshe, JeanPierre Merlet, David Daney, Sami Bennour
Multisensors System for Human Motion Measurement: Preliminary Setup
The 13th World Congress in Mechanism and Machine Science, IFTOMM. June 1925, 2011, Guanajuato, Mexico
[29]
D. Daney
Int4Sci: Scilab Interface for Interval Analyis
Plenary talk
14th GAMMIMACS International Symposium on Scientific Computing, Computer Arithmetic and Validated Numerics
Lyon, France, 2010
[28]
JP. Merlet, D. Daney
A portable, modular parallel wire crane for rescue operations.
IEEE Int. Conf. on Robotics and Automation (ICRA), Anchorage, USA, 2010.
[27]
Merlet JP., D. Daney
Kinematic analysis of a spatial fourwire driven parallel crane without constraining mechanism.
In Computational Kinematics, pages 18, Duisburg, 68 Mai 2009
PDF File
[26]
D. Oetomo, D. Daney, K. Harada, JP. Merlet and P. Dario
Topology Design of Surgical Reconfigurable Robots by Interval Analysis.
IEEE Int. Conf. on Robotics and Automation (ICRA), Kobe, Japan, 2009.
[25]
M. Hladik, D. Daney, E.P. Tsigaridas
Bounds on Eigenvalues of Symmetric Interval Matrices.
SmallWorkshop on Interval Methods (SWIM), Lausanne, Switzerland, 2009.
[24]
Y. Papegay and D. Daney
UnCertainties, a Package for Interval Analysis
9th International Mathematica Symposium, 2008, Maastricht, The Netherlands.
[23]
D. Oetomo, D. Daney, B. Shirinzadeh and JP. Merlet
Certified Workspace Analysis of 3RRR Planar Parallel Flexure Mechanism
In IEEE Int. Conf. on Robotics and Automation (ICRA), May 2008, Pasadena, USA.
[22]
Y. Papegay and D. Daney
"Computing with Intervals : the Ultimate Symbolic Computation ? "
Wolfram Technology Conference, 2007, Illinois, US.
[21]
C. Grandon, D. Daney, Y. Papegay, C. Tavolieri, E. Ottaviano and
M. Ceccarelli.
Handling Uncertainties with Symbolic/Numerical Solvers for a Class
of Parallel Robots.
WC  International Federation for the Theory of Machines and Mechanisms (IFToMM),
June, 2007, Besancon, France.
PDF
[20]
M. Gouttefarde, JP. Merlet and D. Daney
WrenchFeasible Workspace of Parallel CableDriven Mechanisms.
In IEEE Int. Conf. on Robotics and Automation (ICRA), May 2007, Rome, Italia.
PDF
[19]
JP. Merlet and D. Daney
A New Design for WireDriven Parallel Robot.
Inter. Cong. Design and Modelling of Mechanical Systems (CMSM 2007), March, 2007, Monastir, Tunisia.
[18]
C. Grandon, D. Daney and Y. Papegay
Combining CP and Interval Methods for solving the Direct Kinematic of a Parallel Robot under Uncertainties.
Workshop of International Conference on Principles and Practice of
Constraint Programming (IntCP 06), September, 2006, Nantes, France.
PDF
File
[17]
M. Gouttefarde, JP. Merlet and D. Daney
Determination of the WrenchClosure Workspace of 6DOF Parallel Cabledriven Mechanisms
10th International Symposium on Advances in Robot Kinematics, June 25  29, 2006, Ljubljana, Slovenia
PDF
File
[16]
JP. Merlet and D. Daney,
"Legs interference checking of parallel robots over a given workspace or trajectory."
In IEEE Int. Conf. on Robotics and Automation (ICRA), Orlando, 1618
Mai 2006, Orlando, US.
PDF
File
[15]
D. Daney, Ioannis Z. Emiris, Y. Papegay, E. Tsigaridas and JP Merlet
"Calibration of parallel robots : on the Elimination of PoseDependent Parameters"
European Conference on Mechanism Science, (EuCoMeS), February 2126, 2006, Obergurgl Austria.
PDF
File
[14]
Y. Papegay and D. Daney
"Solving with Interval Analysis."
Wolfram Technology Conference, October 68, 2005, Illinois, US.
[13]
A. Goldsztejn, D. Daney, M. Rueher and P. Taillibert
"Modal intervals revisited : a meanvalue extension to generalized intervals."
In International Workshop on Quantification in Constraint
Programming (International Conference on Principles and Practice of Constraint
Programming, CP2005), October 1, 2005, Bracelona, Spain.
PDF
File
[12]
D. Daney, A. Andreff, and Y. Papegay
" Interval method for calibration of parallel robots : a visionbased experimentation."
In Computational Kinematics (CK), May 46, 2005, Cassino, Italy.
PDF
File
[11]
JP. Merlet and D. Daney,
"Dimensional synthesis of parallel robots with a guaranteed given accuracy over a specific workspace."
In IEEE Int. Conf. on Robotics and Automation (ICRA), April 1922, 2005, Barcelona, Spain.
PDF
File
[10] D. Daney, Y. Papegay and A. Neumaier
"Interval Methods for Certification of the Kinematic Calibration of
Parallel Robots"
In IEEE International Conference on Robotics and Automation
(ICRA), pp. 147152, April 26  May 1, 2004, New Orleans, USA.
PDF
File
[9] D. Daney,
I. Z. Emiris
"Algebraic Elimination for Parallel Robot Calibration"
International Federation for the Theory of Machines and
Mechanisms (IFToMM), pp.212217 April 14, 2004, Tianjin, China.
PDF
File
[8] Y. Papegay,
D. Daney, JP. Merlet
"Parallel Implementation of Interval Analysis for Equations
Solving "
10th European PVM/MPI Users' Group Conference (EuroPVM/MPI03),
29 Sep  2 Oct, 2003, Venice, Italy.
[7] D. Daney,
"Optimal Measurement Configurations for Gough Platform
Calibration."
In IEEE International Conference on Robotics and Automation
(ICRA), pp. 147152, 1115 May 2002, Washington, US.
PDF
File
[6] D. Daney,
I. Z. Emiris,
"Robust parallel robot calibration with partial information."
In IEEE International Conference on Robotics and Automation
(ICRA), vol(4), pp. 32623267, 2126 May 2001, Coree
Postscript
File
[5] D. Daney,
I. Z. Emiris,
"Variable elimination for reliable parallel robot calibration."
In 2nd Workshop on Computational Kinematics (CK), pp. 133144,
2022 May 2001, Coree.
Postscript
File
[4] JP.
Merlet, D. Daney,
"A formalnumerical approach to determine the presence of
singularity within the workspace of a parallel robot."
In 2nd Workshop on Computational Kinematics (CK), pp. 167176,
2022 May 2001, Coree.
Postscript
File
[3] JP.
Merlet, MW. Perng, D. Daney,
"Optimal trajectory planning of a 5axis machine tool based on a
6axis parallel manipulator."
In 7th International Symposium on Advances in Robot Kinematics
(ARK), pp. 315322, Piran, 2529 June 2000
Postscript
File
[2] D. Daney,
"Self calibration of Gough platform using leg mobility
constraints."
International Federation for the Theory of Machines and
Mechanisms (IFToMM), pp. 104109, Oulu, 20 24 June 1999.
Postscript
File
[1] D. Daney,
"Mobility constraints on the legs of a parallel robot to improve
the kinematic calibration."
In New machine concepts for handling and manufacturing devices on
the basis of parallel structures, pp. 187200, Braunschweig, 1011
November 1998.
Postscript
File
D.
Daney,
"Étalonnage des robots parallèles."
Journées ROBÉA/MAX, INRIA, Sophia Antipolis,
07 avril 2003.
D. Daney
and I. Z. Emiris,
"Élimination de variables appliqueée à
l'étalonnage des robots parallèles."
Journées Nationales de Calcul Formel, CIRM, Luminy,
2024 janvier 2003.
D. Daney,
S. Lazard, S. Robbins and S. Whitesides,
"Géométrie algorithmique pour la CAO et la
conception optimale de robots"
68ème Congrés ACFAS, 1519 mai 2000,
Montréal, Canada.
D.
Daney,
"Étalonnage
Géométrique des Robots Parallèles."
Thèse de
doctorat, Université de Nice SophiaAntipolis, 02
Février 2000.
Postscript
File PDF