Manufacturing of a Schwarz P pattern by multi axis WAAM


With the rise of additive manufacturing, Schwarz infill patterns have been increasingly used for producing lightweight parts or improving heat exchange efficiency. Currently, metallic patterns are fabricated almost exclusively using powder bed-based processes despite the advantages of directed energy deposition (DED) technologies, namely, low cost and large dimensional capability. In this study, a framework based on isoheight layers is used to allow multi-axis manufacturing of a Schwarz-P pattern by wire arc additive manufacturing (WAAM).

  • S. Campocasso, M. Chalvin, U. Bourgon, V. Hugel, M. Museau. Manufacturing of a Schwarz-P pattern by multi-axis WAAM. CIRP Annals – Manufacturing Technology, Vol. 72/1, pp. 377-380, 2023. ⟨hal-04156463⟩

Validity of the catenary model for moving submarine cables with negative buoyancy – Workshop IROS 2022



In the field of underwater robotics, tethers are the dominant method used to provide real time communication with underwater vehicles. Estimating their shape is a key element in preventing entanglements and limiting their mechanical effects on the vehicles. In addition, the tether shape constrains the pose of the vehicle at its attachment point, and could thus be used for vehicle localization purposes given an accurate tether model. This work focuses on a simple model of flexible non-rigid hanging cables, namely the catenary model, and presents an experimental evaluation of the validity of this model to approximate the shape of dynamically moving underwater tethers with negative buoyancy using motion tracking.

  • Juliette Drupt, Claire Dune, Andrew I. Comport, Vincent Hugel. Validity of the catenary model for moving submarine cables with negative buoyancy. 3rd workshop on RObotic MAnipulation of Deformable Objects: challenges in perception, planning and control for Soft Interaction (ROMADO-SI),, Oct 2022, Kyoto, Japan. – Best Paper ⟨hal-03841238⟩

Interview de Nicolas et Mathieu lors de leur mission à Girona


Nicolas et Mathieu étaient à Girona en mars pour faire des expérimentation dans les bassins du CIRS (Centre d’Investigació en Robòtica Submarina). Ces installations sont mises à disposition des chercheurs étrangers dans le cadre du projet EUMarineRobots.

A cette occasion, ils ont répondu aux questions de nos collègues espagnoles.