Le cycab de l'INRIA Rhône-Alpes
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(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE. Le Cycab de l’INRIA Rhˆone-Alpes G´erard Baille, Philippe Garnier, Herv´e Mathieu, Roger Pissard-Gibollet. N ˚ 0229 Avril 1999 ` THEME 3. ISSN 0249-0803. apport technique.
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(17) Õ ± ±% ¼ Öx×TØÙPÚuÛDÜoÝÚ»Þß3Úáàiâ. Unit´e de recherche INRIA Rhˆone-Alpes 655, avenue de l’Europe, 38330 MONTBONNOT ST MARTIN (France) T´el´ephone : 04 76 61 52 00 - International: +33 4 76 61 52 00 T´el´ecopie : 04 76 61 52 52 - International: +33 4 76 61 52 52.
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(130) }|}{)wr_ ±_tjRuÌ l#ntlHkjm_ʬqjqIkqHulenoqH`9`a}hvpxI}_)hIjR_)hIjmkm__6½®pul#}h¤}}{ |}_¤jm_)kkmlpuh±FqHhIjmkmquu_)k#km_)l*_)jÃFqIkm ±%BÍ ¼R}knt_`K_)¹ `#_¤;}{±%, {m_)kmqHhIj9noqHh;hv_)ntjv_6~ {eu_){ n)lvjm_)}k{ vujmkl{mqHhvqIk_6{Flpuh;{p v_Bxlntl`Ë_6~ kmlerpxh%_6~ lzpxk_H¼ . !. µ ¦ c+O+ ( +. ¾@_¢n ] lH{m{mpu{|} ±F«;±%l_){mj|%_)~ kmprF_~ |}n ] l{{px{jm;}vxlzpxk_/_)~ vpx}lhIju_){®Hqpujm}km_tjmj_6{|v_²yHqrº tn qH`9`#_)knopxlzuÌ pu{}_)~ _){e;lk9xl*{mqvnopo_t~ jv_K~ £ RÀÓ \ e^ ¼%±F_n ] l{{px{9{m;};qIkjm_¦r_6{9ÆÐ;lzjjm_)kmpr_6{twTu_){9Æ }rqvnt{FkqIv_ kmqH}_
(131) `#qHj_);k ºÉk_)puh®`Ë_6~ ntlHhvpuv_ lcjl`a;qI}kÎÍ wu_){µÆ
(132) `aqHj_6}km{F|v_ ºÉkm_tpxh|v_}lHkmÂIpxhvy;w u_){¤vpu_tur_)jjm_){¦|v_Ð|vpukm_)ntjpuqHh u_){¤km_tupulHhHj¤`_)~ n)lhvpxv_)`#_)hIjK_)hIjmkm_¬_)ru_){)wFu_*µ_)~ kmpuh `#qjmqHkmpu{}_~ _)jKu_){ 4q3¹ rjmpr_6km{_)~ r_6nojmkmqHh}puv_6{t¼ 243 5\ 276.
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(135) "!$#&%. Puissance Arrêt d’Urgence bus CAN. Noeud AR. Noeud Direction. Interface CAN. Joystick PC Industriel / VME. Noeud AV. +. +. +. +. +. A. A. A. A. A. -. -. -. -. -. moteur direction. moteur moteur gauche droit. moteur moteur gauche droit. autres dispositifs. extensions utilisateur. ecran tactile (IHM). noeud US. noeud US US. US. US. US camera linéaire. . H¼ }Ï. ceinture de capteurs à Ultra-Sons. . # & # !$ 7 ! # T & O [. . . . . . . . . industriel. PC. . . . . . . . . . . . Noeud de traction AV. . I . . Carte MVME162. . . .
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(170). Noeud de direction. Boîtier de commande des freins. Boîtier Alimentation Générale . . \]O^`_ abcb$d. Noeud de traction AR. . H¼ b;Ï
(171) ! 7 $! #
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(178) h%_)~ nt_){{mlpukm_){clH*º»qHh}ntjpuqHh}hv_6`#_)hIja|}°±F«}±%lH Ì }}pu{{mlHh}no_K;qI}k
(179) u_){ `#qHj_);km{)w4lrpx`#_)hIjmljpuqHh|v_6{h Y
(180) }|;{twW|} ±wW|v_
(181) xln)lkmj_cʲÒʲÓ6ÑH}w4|v_
(182) xl®n)l`_)~ kl9upuh%_)~ lzpxkm_w¼u¼ Í {mqHhIjº»qH}khvpu_){B}lHku_;q3¹ ujpu_)kB|© lzupu`#_)hIjlzjpuqHh¬yT_6~ h%_6~ kmlr_e{mqpuj l¤^ ;lkmjpxk|v_6{cÌ }lzjmj_6kpu_){³_)`a}lk%_)~ _){)w {mqpuj l9^ }lkmjpxk |v_cxl }kmpu{m_³;vpu{{lh}nt_ #jmkmpu4qxlzpxkm_³{mprj%_)~ _B{mqH;{Rr_c4qY¹ ujpu_)k ¶;yH}km_®¥ H¼ ƨ»Í ¼. !. . . . . connecteur batteries -48 +48. coup de poing. +24 +12. +48 +24 -48 prise puissane. relais alimentation générale. circul-alim +48 +24. disjoncteur de protection. GND. relais 24 Volts inter. alim noeuds connecteurs CAN 15 Volts (alim-noeud) 220 pF. 3.3 k. PH75F48-12 Lambda-Coutant 4700 pf. relais AR_UR. 120. 3.3 k. 1.5 k. terminaison bus CAN boucle d’arrêt d’urgence relais statique. Cde manuelle de frein. GND. Cde frein. +12. vers le boîtier Frein. puissance vers les noeuds. ¼ Æ;Ï T
(183) # # !$ # !
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(185) prjm_){{_`#lz½vpu`9lzu_|v_BzcÂ` Å3] {}kF|v_){F;_6hHjm_){%h© _o½}nW_6~ |}lhIj}lH{,6 ¼H¾@_){jm_)\ h}{mpuqHh}{ ÆI}w BzÆ;w a6aÒTqHrj{,_tj,`9lH{m{m_
(186) {qIhIj,|vpu{4qHhvpxvu_){,{}k u_
(187) noqIh}hv_)ntj_6}k,|vqI}vu_ Õc± ÕÓ _6km{ u_){#}ljj_6kpu_){)¼C¾µ© lzupuP `#_6hHjlzP jmprqIh|v_){#`#qjm_)}k{a|;°±F«;±%l hv_K{m_ºÉlprj9v_¦|v_)}}P pu{ar_6{9}lzjmj_)kmpu_){#{p =© puhIj_6kmk}vjm_)}k "A& C@ AU?T= {mprj%_~ {mqH;{µu_4qY¹ ujpu_)kFh© _){mjF}lH{_)hvº»qHh}nW_~ ¼HÀhv_ ?D) ; I ?D) W= jk] px4qxlzpxk_³_){mj,}kv_t~ vv_B;qI}kRxl#ntqHh}h}_)nojmprqIhK| © }h}_
(188) lzupu`#_)hIjlzjpuqHh_o½vj_6kmh}_BntqH`9`#_
(189) }lk%_t½] _6`9vr_
(190) ;h n lkmy_);k|%_t~ uprvklhIj ÆI_)j B3ƤÒTqujm{c_6h¢{mqHkmjpu_¼@±F_6nopT_){mjcvjpuu_®;qI}kc}kv_)~ {m_)km_6k,xl¤n lkmy_9|v_){ . . . . " . . .
(191). 243 5\ 276.
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(194) "!$#&%. - 48 + 48 Connecteurs vers Batteries. Fusible 60A. + 24 + 12. Bornier Alim Noeud. Relais Alim-Gen. Disjoncteur. Barre de connection +48Vdc. Barre de connection - 48Vdc. Relais +24Vdc. Bornier Can. Alim-15Vdc. DB9s Can. Connecteurs Alim. Alim-noeuds + 15. + 24. + 48. Fusibles Led Coup de Poing Cde Frein manuelle. Relais AR-UR. Puissance Dir. Relais Cde-Frein. Connecteur Frein Chargeur. Puissance Trac-AR Puissance Trac-AV. . \]O^`_ abcb$d. Coup de Poing. ¼ §vÏ T
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(200) N }|}{)¼v¾@l#}kv_)~ {m_)h}nt_³|© }hvN _ jm_)h}{mpuqHh®|v_ÆHcÒTqHrj{F{}kFula}kmpu{m_}vpx{{mlHh}no_³noqH`9`9lh;|v_,u_ W?É C . ?D >= ?TAU= > = ntqHh}{mjpujm%_~ |vN _²jmkmqÌ px{9pxhHH_)k{_6}k{l{{m}klhIj#r_¢`evujpxvu_o½}lzyH_²|v_){®{mqH;kmnt_){|© lzupu`#_6hHjlzjmprqIh°4qH;kr_ noqIh}hv_6noj_6}k#nopxkmn)vulpukm_®{}keu_KnIq¹ jv_~ |} ;q3¹ rjmpr_6kÎÍ w¿u_¤;kpx`9lzpxk_|;noqIhHH_)kmjpx{m{m_);k £E ±? H£ I ± ? M Ì N ?D?É M : % C ÍRº»qH}khvpx{m{lhIjxl¤j_6h}{puqHh¢|v_¦6§®ÒTqujm{c|vpx{jkpx}%_t~ _9l½¬h Y
(201) ;|}{ l^ jkmlYH_)k{ u_KntqHh}h}_)nojm_)}k £ ZRб%,aw@xl¬4qHvpxhv_¦|} N W?É S * A N ) |vqHhIjar_¤k6qH¹ r_K_){mja|© lzupu`#_6hHjm_)k Ì Y ÒT qHrNj{ÎÍ@u_ 4qY¹ ujL pu_)kT|}_noqI`#`9lHh}|v_,|v_6{CºÉk_)puh;{}lkÌD© puhIjm_)k`_)~ |vpxlzpxk_R|© }hkm_txlzpx{Tnt}kmpr_6}{m_)`#_)hIj}lHvjpx{v_ ~ W?D KC . &> = H ¼v¾µ©i_t~ jlzj |v_
(202) km_)4qH{ hvqIh¦lzupu`#_)hIjv_Y~ ÍF4qH}kRu_){RºÉkm_tpxh}{R_6{j =©i_t~ jmljµºÉkm_tpxh%_H~ ¼ ¾@_,noqIhHH_)kmjpx{m{m_);k £ ± £ ±Ë`#qIhHjv_,~ |}lHh}{Tu_;q3¹ ujpu_)kT_6{j}hnoqHhIH_)kmjpx{_6}kO¾@l`a4|;l3s±FqHvjlhIj|}9j«v;_ ÄB§ Ô ÆHzsY¦I}p l¢^ }lkmjpxk#|© ;hv_¦j_)h;{puqHh |© _6hIjmkv_t~ _4qH}YlHhIja3lkmpu_)k#|v_¤bHÑ l¯^ 3ѬÒTqujm{)w@º»qI}khvprj _6hË{mqHkmjpu_}hv_¤j_6h}{mprqIhËnoqI`9}kpx{m__)hIjk_¦_tjz¬ÒTqujm{ l^ B wCno_tjmj_¤j_6h}{puqHhË|v_¤{mqHkmjpu_ _t~ jmlHhIj }kmqyHklN `9`9l}r_ l#^ D© lzpx|v_
(203) |© }hv_
(204) kv_)~ {mpx{jlh}nt__tj,| © }h¦4qÌ jm_)hIjpuqH` _)^ jmkm_¼ À³h W?D ? O {}kCxlc;qI}nou_ |© lHkmk)Ì _)¹ jO|© }kmy_6h}no_ ntqHh}hv_6nojm_)}k £ Z 3s±%,! c Í¿ `#"_) jT r_. F_ ~ ] pun)vu_ |;lh}{@D©_)~ jmlzj ºÉk_)puh%_µ~ {t© puh © _6{jO}l{Olzupu`#_6hHjv_ ~ ;qI}nou_FqIv_6kjm_µ}lHk =© pxhIj_)kk}vj_6}k vxlnW_ ~ {}kTxl
(205) ntqHh}{mqu_YÍ ¼zÓFh{v_)~ kmpu_RlYH_)nRu_{m_)noqIh}|}lpukm_ |v_nt_,k_)ulpu{{mjmljpxv_,_){mjµ`#qHhIjv_,~ }hpxhIj_)kk}vj_6}k|v_ ntqH`9`9lh}|}_³`9lhv_)ru_B|v_){FºÉkm_tpxh}{R|v_c}lkÂIpuhvy4¼HfW_6{j `#qHhIjv_~ {}k%r_BnHqH¹ jv_³~ |}K4q3¹ rjmpr_6kF{}k%r_6v_tW=© qIh jkqIv_³l}{{mp4\ u_){FºÉ}{mpu}r_6{R_tj%r_6{Fpxh}|vpxntlj_6}Ì km{%|v_c}kv_)~ {m_)h;no_|v_6{Rlzupu`#_)hIjlzjpuqHh;{ Ì ¾¿Ó £ Í ÆH;w BzÆe_tj aY§9ÒTqujm{)¼ kmqpx{jqHkmqHh;{|v_9}vpx{m{lh;no_ ÆHÒTqujm{ Í,}lHkjm_)hIjB|}¬4qY¹ ujpu_)k|© lzupu`#_)hIjlzjpuqHh²yT_6~ hF_)~ klzu_ H_)k{%r_6{,h Y
(206) }|}{ Ì noqIh}hv_)ntj_6}k |v_
(207) }vpx{{mlHh}no_3Íμ I @F¡ ¼R¾¿_6{,`#qj_6}k{%h}_
(208) ;_6v_6hHj,;l{B_)¹ jmkm_³lrpx`#_)hIjv_6~ {%Ipxl#ul;kpx{_c}}pu{{mlHh}no_H¼ v¼R¾¿_¦] n ] lkmy_6}k
(209) }klh;n ] _~ {}kaul¢}kpx^ {m_K}vpx{{mlHh}no_¤hv_¤4_)}j#}lH{9n ] lkmy_6kcr_6{a;lzjjm_)kmpr_6{t] ¼µ±F_)jj_ k_6n lkmy_Rhv_,4_)vjF{_RºÉlpukm_ I © lH}k _){Or_6{lYqHpukC\ |%_)~ noqIh}hv_6nojv_t~ _){O|}4qY¹ ujpu_)kC_)jlY_6n%;h#n lkmy_);k lY«HlHhHjR}h¦noqIh}hv_6noj_6}k |v_
(210) {mqHkmjpu_ Õc± ÕÓ noqH`9}ljpxvu_
(211) lY_)n³no_)u}p¿|v_){ ;lzjjm_)kmpr_6{t¼ b}¼R¾µ© lzupu`#_6hHjlzjmprqIh¬|v^ _6{³`#qHj_);km{B|v_aºÉk_)puh wW|}qHh}nar_#ºÉlprjB^ |v_;qIvqHpuk³|%_t~ ºÉk_)puh}_)k,u_9µ_ ~ ] pxnt}r_Hw&hv_ ;_6vj{m_BºÉlzpxk_c© l}lkmjpxk |v_6{ }lzjmj_)kmpu_){)¼&±F_){ |v_6kmh}p _6k_6{Rhv_
(212) |vqpu_6hIj,}l{B_)¹ jmkm_c|F_)~ ntqHh}h}_)nojv_t~ _6{ `K_)¹ `#_c{p¿D© qHh¤vjpuupu{m_
(213) }hv_
(214) lrpx`#_)hIjmljpuqHhK_o½vjv_6~ kpu_);k_³;qI}k u_){ h Y
(215) }|;{t¼ Æ;¼R¾@l¢{_6vr_¤;qI{m{mpxvprupujv_~ | © lYHqpxke] }h_t~ jmlja|%_o~ ºÉkm_tpxhF_®~ }lh;|¯r_6{alrpx`#_)hIjpuqHh;{e{mqHhIjantqH}Ì%_t~ _){a}lk _o½v_)`9vu_c;qI}k |%_6~ vxlno_6kµu_Bµ_ ~ pxnt}r_³_)hKr_
(216) 4qH;{m{lhIjtw_6{j |v_cnoqI}4_)kRxla}}pu{{mlHh}no_ noqH;K|v_ ;qHpuh}yÍF_)h¦`9lzpxhIj_6h}lhIjR_)hº»qIh}nW_~ u_
(217) ;qIvjqIh¦|v_cnoqH`9`9lh;|v_c`#lHhv_tur_
(218) |}_){%ºÉkm_tpxh}{t¼
(219). . . ,+ ! # & $ + #%$ c #)(o!#" ¾Oln ] lY¹ uh}_e|v_#jmklnojmprqIh²{m_anoqI`9;qI{ _#|v_#}Å ljmkm_ £m£ `#qHj_);kiskqIv_){ noqIhIjmkYq¹ xlv£u_){{v_6~ }\lkm_)`9`#_)hIj)¼ ¾@_){c`#qjm_)}k{
(220) |v_jkmlHnojmpr^ qIh¢|v_j«4_Ê ;)ÑH§ ±% (ª{mqHhIjBº»qH}khvpx{
(221) }lHkc, RÀÓ ¼¿fx{c{qIhHj `#qv|vpr¶ _6~ {%;lk kl}4qHkmj l#nt_)½ _)~ vpx}lhIjRu_){RqHprj}km_tjjm_){ |v_cyHqrºIÏ 2 rno_qI}kmqkmlHjmqHhIkjR|;ll_)~h}jv{R_#~ uk_)_6{R;Ê*qIvÕcpuh% _a~Ô Ó|v_a\ ºÉ{ l&ntÌ· l^qHh }}l®^ pu{º»{mqIlHh}h}nonojm_¬prqI_)h}~ yHhvlz_)uk_YÍ _)w h¢ÆHÒTqujm{c4qH}k³upu`#puj_6k=© puhIj_6h}{mprjv_#~ |;. !
(222) . . . . 243 5\ 276.
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