EL

Edouard Laroche

75
Documents
Affiliation actuelle
  • Robotics, Data science and Healthcare technologies (ICube-RDH)

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Publications

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Model identification of a cable-based mechanical transmission for robotics using a Best Linear Approximation approach

Bassem Boukhebouz , Guillaume Mercère , Mathieu Grossard , Édouard Laroche

Control Engineering Practice, 2025, 164, pp.106457. ⟨10.1016/j.conengprac.2025.106457⟩

Article dans une revue hal-05112170v1

Modeling and control of a 3-DOF planar cable-driven parallel robot with flexible cables

Rima Saadaoui , Olivier Piccin , Gabriela Iuliana Bara , Édouard Laroche

Journal of Dynamic Systems, Measurement, and Control, 2025, 147 (5), pp.DS-24-1103. ⟨10.1115/1.4068250⟩

Article dans une revue hal-04979091v1

Adaptive cut-off frequency EMS tuning methodology applied on a long range UAV powered by a hybrid fuel-cell system

Thomas Pavot , Renaud Kiefer , Tedjani Mesbahi , Edouard Laroche

IEEE Transactions on Aerospace and Electronic Systems, 2025, ⟨10.1109/TAES.2025.3638319⟩

Article dans une revue hal-05388300v1
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Virtual reality hypnosis diminishes experimental cold pain and alters autonomic responses

Claire Terzulli , Chloé Chauvin , Cédric Champagnol Di-Liberti , Sylvain Faisan , Laurent Goffin et al.

Frontiers in Pain Research, 2023, 4, ⟨10.3389/fpain.2023.1237090⟩

Article dans une revue hal-04325483v1

Improvement of guided projectile maneuverability using airframe-controller optimization

Valentin Riss , Emmanuel Roussel , Edouard Laroche

AIAA Journal, 2023, ⟨10.2514/1.G007712⟩

Article dans une revue hal-04238098v1
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Effect of Virtual Reality Hypnosis on Pain Threshold and Neurophysiological and Autonomic Biomarkers in Healthy Volunteers: Prospective Randomized Crossover Study

Claire Terzulli , Meggane Melchior , Laurent Goffin , Sylvain Faisan , Coralie Gianesini et al.

Journal of Medical Internet Research, 2022, 24 (7), ⟨10.2196/33255⟩

Article dans une revue hal-03753878v1

Sector bounds in stability analysis and control design

Meng Xia , Pascal Gahinet , Neil Abroug , Craig Buhr , Edouard Laroche

International Journal of Robust and Nonlinear Control, 2020, 30 (18), pp.7857-7882. ⟨10.1002/rnc.5236⟩

Article dans une revue hal-04883664v1

Robust observers for a class of nonlinear systems using PEM fuel cells as a simulated case study

Mohamed Benallouch , Rachid Outbib , Mohamed Boutayeb , Edouard Laroche

IEEE Transactions on Control Systems Technology, 2018, 26 (1), pp.291-298. ⟨10.1109/TCST.2017.2658181⟩

Article dans une revue hal-01657855v1
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Accuracy-simplicity trade-off for small-scale helicopter models: a comparative study based on flight data

Emmanuel Roussel , Vincent Gassmann , Edouard Laroche

Control Engineering Practice, 2018, 73, ⟨10.1016/j.conengprac.2018.01.001⟩

Article dans une revue hal-03517739v1
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Model identification and vision-based H\(_\infty\) position control of 6-DoF cable-driven parallel robots

Ryad Chellal , Loïc Cuvillon , Edouard Laroche

International Journal of Control, 2016, 90 (4), ⟨10.1080/00207179.2016.1220623⟩

Article dans une revue hal-03517735v1

H -norm-based optimization for the identification of gray-box LTI state-space model parameters

Daniel Vizer , Guillaume Mercère , Olivier Prot , Edouard Laroche

Systems and Control Letters, 2016, 92, pp.34 - 41. ⟨10.1016/j.sysconle.2016.03.003⟩

Article dans une revue istex hal-01710306v1

Combining Analytic and Experimental Information for Linear Parameter-Varying Model Identifcation: Application to a Flexible Robotic Manipulator

Daniel Vizer , Guillaume Mercère , Olivier Prot , Edouard Laroche

Periodica Polytechnica Electrical Engineering and Computer Science, 2014, 58 (4), pp.133--148. ⟨10.3311/PPee.7503⟩

Article dans une revue hal-03206631v1

Modeling and compensation of dynamical effects in camera-based position measurement

E. Laroche , S. Kagami , L. Cuvillon

Robotics and Autonomous Systems, 2014, 62 (8), pp.1175--1186. ⟨10.1016/j.robot.2014.04.003⟩

Article dans une revue istex hal-05404644v1
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Flexible-Link Robot Control Using a Linear Parameter Varying Systems Methodology

Houssem Halalchi , Edouard Laroche , Gabriela Bara Iuliana

International Journal of Advanced Robotic Systems, 2014, 11 (3), pp.46. ⟨10.5772/57325⟩

Article dans une revue hal-03257395v1

GyroLock: Stabilizing the Heart With Control Moment Gyroscope (CMG)-From Concept to First In Vivo Assessments

Julien Gagne , Olivier Piccin , Edouard Laroche , Michele Diana , Jacques Gangloff

IEEE Transactions on Robotics, 2012, 28 (4), pp.942-954. ⟨10.1109/TRO.2012.2188162⟩

Article dans une revue hal-04299004v1

The cardiolock project: design of an active stabilizer for cardiac surgery

Wael Bachta , Pierre Renaud , Edourad Laroche , Édouard Laroche , Jacques Gangloff

Journal of Mechanical Design, 2011, 133 (7), pp.071002. ⟨10.1115/1.4004117⟩

Article dans une revue hal-03169899v1

Active stabilization for robotized beating heart surgery

Wael Bachta , Pierre Renaud , Edourad Laroche , Antonio Forgione , Jacques Gangloff et al.

IEEE Transactions on Robotics, 2011, 27 (4), pp.757-768. ⟨10.1109/TRO.2011.2137770⟩

Article dans une revue hal-03169900v1

Cardiolock: An active cardiac stabilizer. First in vivo experiments using a new robotized device

Wael Bachta , Pierre Renaud , Edouard Laroche , Antonello Forgione , Jacques Gangloff

Computer Aided Surgery, 2010, 13 (5), pp.243-254. ⟨10.3109/10929080802413129⟩

Article dans une revue hal-03926313v1

Identification of the induction motor in sinusoidal mode

Edouard Laroche , Mohamed Boutayeb

IEEE Transactions on Energy Conversion, 2010, 25 (1), pp.11-19. ⟨10.1109/TEC.2009.2035512⟩

Article dans une revue hal-00555308v1

An improved linear fractional model for robustness analysis of a winding system

Edouard Laroche , Dominique Knittel

Control Engineering Practice, 2005, unknown

Article dans une revue hal-00005510v1

Stratégie fréquentielle adaptative pour une alimentation hybride à base de pile à combustible, supercondensateurs et batteries pour un drone de grande endurance.

Thomas Pavot , Renaud Kiefer , Tedjani Mesbahi , Edouard Laroche

SGE 2023, Lille, France, 2023, Lille, France

Communication dans un congrès hal-04225550v1

Adaptive frequency control strategy for the propulsion management of a long-endurance drone using hybrid power sources

Thomas Pavot , Renaud Kiefer , Tedjani Mesbahi , Edouard Laroche

IMAV 2023, Aachen, Germany, 2023, Aachen, Germany

Communication dans un congrès hal-04225551v1

ACHILES2 : une maquette de projectile asservi en soufflerie pour la modélisation et la commande

Valentin Riss , Emmanuel Roussel , Edouard Laroche

6èmes journées des Démonstrateurs en Automatiquen 21-22 juin 2022, Angers, France, Jun 2022, Angers, France

Communication dans un congrès hal-04159535v1

Frequency based strategy for hybrid-powered unmannedaerial vehicle

Thomas Pavot , Martin Lefebvre , Renaud Kiefer , Tedjani Mesbahi , Edouard Laroche

13th International Micro Air Vehicle Conference, eptember 12 -16, 2022, Delft, Netherlands, Sep 2022, Delft, Netherlands. pp.6

Communication dans un congrès hal-03797752v1

H\(_\infty\) Control of a Planar 3-DOF Flexible-Cable Manipulator

Rima Saadaoui , Edouard Laroche , Gabriela Bara Iuliana , Olivier Piccin

10th IFAC Symposium on Robust Control Design ROCOND 2022, Kyoto, Japan, août 2022, Aug 2022, Kyoto, Japan

Communication dans un congrès hal-03799528v1
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Concurrent Airframe-Controller Optimization of a Guided Projectile fitted with Lifting Surfaces

Valentin Riss , Emmanuel Roussel , Edouard Laroche

2022 AIAA SciTech Forum, 3-7 janv. 2022, San Diego, CA, USA, Jan 2022, San Diego, United States

Communication dans un congrès hal-03398233v1

Energy Management Strategy with Adaptive Cut-off Frequency for Hybrid Energy Storage System in Electric Vehicles

Yasser Ghoulam , Thomas Pavot , Lakhdar Mamouri , Tedjani Mesbahi , Sylvain Durand et al.

IEEE Vehicle Power and Propulsion Conference (VPPC’2022), 1-4 November 2022, Merced, CA, USA, Nov 2022, Merced, United States

Communication dans un congrès hal-03935560v1

$\mathcal{H}_{\infty}$ Synthesis for a Planar Flexible Cable-Driven Robot

Rima Saadaoui , Gabriela Bara Iuliana , Hassan Omran , Olivier Piccin , Edouard Laroche

European Control Conference 2021, 29 juin - 02 juillet 2021, en ligne, 2021, En ligne, France

Communication dans un congrès hal-03247222v1

H\(_\infty\) Synthesis for a Planar Flexible Cable-Driven Robot

Rima Saadaoui , Gabriela Bara Iuliana , Hassan Omran , Olivier Piccin , Edouard Laroche

European Control Conference 2021, Rotterdam, Netherlands, juillet 2021, Jul 2021, Rotterdam, Netherlands. ⟨10.23919/ECC54610.2021.9654926⟩

Communication dans un congrès hal-03799520v1

Shaping multisine excitation for closed-loop identification of a flexible transmission

Bassem Boukhebouz , Guillaume Mercère , Mathieu Grossard , Édouard Laroche

19th IFAC Symposium on System Identification, IFAC, Jul 2021, Padova, Italy. pp.643-648, ⟨10.1016/j.ifacol.2021.08.433⟩

Communication dans un congrès hal-04362780v1

Attitude Control of a Fin-Stabilized Projectile on a Three-Axis Gimbal in Wind Tunnel

Valentin Riss , Emmanuel Roussel , Edouard Laroche

28th Mediterranean Conference on Control and Automation, Sep 2020, Saint-Raphaël, France

Communication dans un congrès hal-05508252v1
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Identification of single flexible-joint robot dynamics: a nonparametric approach

Bassem Boukhebouz , Guillaume Mercère , Mathieu Grossard , Xavier Lamy , Edouard Laroche

28th Mediterranean Conference on Control and Automation (MED'2020), Mediterranean Control Association (MCA), Sep 2020, Saint-Raphaël, France. pp.357-362, ⟨10.1109/MED48518.2020.9182999⟩

Communication dans un congrès hal-04362768v1
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Experimental versus computational determination of the dynamical model of a glider

Ana Carolina dos Santos Paulino , Antoine Murie , Thomas Pavot , Martin Lefebvre , Renaud Kiefer et al.

11th INTERNATIONAL MICRO AIR VEHICLE COMPETITION AND CONFERENCE, 2019, MADRID, SPAIN, Oct 2019, Madrid, Spain

Communication dans un congrès hal-03013433v1

Assumed-Mode-Based Dynamic Model for Cable Robots with Non-straight Cables

Jorge Ivan Ayala Cuevas , Édouard Laroche , Olivier Piccin

Third International Conference on Cable-Driven Parallel Robots, 2017, Laval (Québec), Canada. pp.15-25, ⟨10.1007/978-3-319-61431-1_2⟩

Communication dans un congrès hal-05483942v1

Controller tuning strategy for quadrotor MAV carrying a cable-suspended load

Néstor Alonso Santos Ortiz , Edouard Laroche , Renaud Kiefer , Sylvain Durand

International Micro Air Vehicle Conference and Flight Competition, Toulouse, France, septembre 2017, Sep 2017, Toulouse, France

Communication dans un congrès hal-04234111v1

Controller design point selection for linearized gain scheduling

Sebastian Fleischmann , Spilios Theodoulis , Edouard Laroche , Elmar Wallner , Jean-Philippe Harcaut

American Control Conference, May 2017, Seattle, United States

Communication dans un congrès hal-05508238v1

Continuation for stability domain determination with application to a cable-driven parallel robot

Quentin Peyron , Isabelle Charpentier , Edouard Laroche

IFAC 2017 World Congress, Toulouse, France The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017, Jul 2017, Toulouse, France. ⟨10.1016/j.ifacol.2017.08.972⟩

Communication dans un congrès hal-03968878v1

Nonlinear Modeling of Miniature Helicopters - A Comparative Study Based on Flight Data

Emmanuel Roussel , Vincent Gassmann , Edouard Laroche

World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France

Communication dans un congrès hal-05494150v1
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Robust Range-Only Mapping via Sum-of-Squares Polynomials

Lionel Génevé , Adlane Habed , Edouard Laroche , Olivier Kermorgant

IFAC 2017 World Congress, Jul 2017, Toulouse, France. ⟨10.1016/j.ifacol.2017.08.1598⟩

Communication dans un congrès hal-01689833v1
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Limits of Trilateration-Based Sensor Placement Algorithms

Lionel Génevé , Édouard Laroche , Olivier Kermorgant

Sensors Applications Symposium (SAS), Mar 2017, Glassboro, United States. ⟨10.1109/sas.2017.7894120⟩

Communication dans un congrès hal-01689857v1

Modelling and Identification of a Coaxial Birotor UAV from Scarce Flight Data

E. Roussel , V. Gassmann , E. Laroche

European Control Conference, 2016, Aalborg, Denmark

Communication dans un congrès hal-05397451v1

A Systematic LPV/LFR Modelling Approach Optimized for Linearised Gain Scheduling Control Synthesis

S. Fleischmann , S. Theodoulis , E. Laroche , E. Wallner , J-P. Harcaut

AIAA SciTech 2016, 2016, Manchester, CA, United States

Communication dans un congrès hal-05397643v1

Human force augmentation: Optimal control parameters tuning using structured H∞ synthesis

N. Abroug , X. Lamy , E. Laroche

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2016, Daejeon, South Korea. pp.702-709, ⟨10.1109/IROS.2016.7759129⟩

Communication dans un congrès cea-01813722v1

A benchmark on the identification of a flexible serial manipulator using a camera

Edouard Laroche , Loïc Cuvillon , Daniel Vizer , Guillaume Mercère

Proc. IFAC Symposium on System Identification (SYSID 2015), Oct 2015, Beijing, China. ⟨10.1016/j.ifacol.2015.12.343⟩

Communication dans un congrès hal-04195578v1

Transforming series elastic actuators into Variable Stiffness Actuators thanks to structured H∞ control

N. Abroug , E. Laroche

2015 European Control Conference (ECC), Jul 2015, Linz, Austria. pp.734-740, ⟨10.1109/ECC.2015.7330630⟩

Communication dans un congrès cea-01841681v1
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A Composite Beacon Initialization for EKF Range-Only SLAM

Lionel Génevé , Olivier Kermorgant , Edouard Laroche

IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany

Communication dans un congrès hal-01219746v1

Comparison of a gradient-based algorithm and a proximity control algorithm for gray-box LTI model identification

Daniel Vizer , Guillaume Mercère , Edouard Laroche , Olivier Prot , Bálint Kiss

Proc. IEEE International Symposium on Computational Intelligence and Informatics (CINTI 2015), Nov 2015, Budapest, Hungary. ⟨10.1109/CINTI.2015.7382940⟩

Communication dans un congrès hal-04195564v1

Gray-box LPV model identification of a 2-DoF surgical robotic manipulator by using an H_∞-norm-based local approach

Daniel Vizer , Guillaume Mercère , Edouard Laroche

Proc. IFAC Workshop on Linear Parameter Varying Systems (LPVS 2015), Oct 2015, Grenoble, France

Communication dans un congrès hal-04195575v1

Structured H\( _\infty \) framework for impedance minimization on robot arm with compliant actuation

N. Abroug , E. Laroche

IEEE Multi-Conference on Systems and Control, 2014, Antibes, France

Communication dans un congrès hal-05403432v1

An H\( _\infty \) Methodology for Position Control of 6-DoF Cable-Driven Parallel Robots

R. Chellal , E. Laroche , L. Cuvillon

European Control Conference, 2014, Strasbourg, France

Communication dans un congrès hal-05403700v1

A Kinematic Vision-Based Position Control of a 6-DoF Cable-Driven Parallel Robot

R. Chellal , L. Cuvillon , E. Laroche

Second International Conference on Cable-Driven Parallel Robots, 2014, Duisburg, Germany

Communication dans un congrès hal-05403484v1

Towards DAE Methodology for the Control of Cable-Driven Parallel Robots

C. Cvetanovic , E. Laroche

IEEE Multi-Conference on Systems and Control, 2014, Antibes, France

Communication dans un congrès hal-05403431v1

Linear fractional LPV model identification from local experiments: an $H_{\infty}$-based optimization technique

Daniel Vizer , Guillaume Mercère , Olivier Prot , Edouard Laroche , Marco Lovera

IEEE Conference on Decision and Control, Dec 2013, Florence, Italy. pp.4559-4564, ⟨10.1109/CDC.2013.6760594⟩

Communication dans un congrès hal-00940057v1

Asservissement visuel cinématique d'un robot parallèle à câbles à 6 ddl

R. Chellal , L. Cuvillon , E. Laroche , J. Gangloff

JD MACS, 2013, Strasbourg, France

Communication dans un congrès hal-05394892v1

LPV/LFR model identification from local experiments: an H-infinity-based optimization technique

D. Vizer , G. Mercere , E. Laroche , O. Prot , M. Lovera

Conference on Decision and Control (CDC), 2013, Florence, Italy

Communication dans un congrès hal-05395084v1

Analytical Modelling and Grey-box Identification of a Flexible Arm using a Linear Parameter-varying Model

Guillaume Mercère , E. Laroche , O. Prot

IFAC Symposium on System Identification, 2012, Brussels, Belgium. pp.1251-1256, ⟨10.3182/20120711-3-BE-2027.00070⟩

Communication dans un congrès hal-04364702v1

GyroLock - first in vivo experiments of active heart stabilization using Control Moment Gyro (CMG)

Julien Gagne , Olivier Piccin , Edouard Laroche , Michele Diana , Jacques Gangloff

2011 IEEE International Conference on Robotics and Automation (ICRA), May 2011, Shanghai, China. pp.404-410, ⟨10.1109/ICRA.2011.5980003⟩

Communication dans un congrès hal-04828896v1
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Exploitation de l'effet gyroscopique pour la stabilisation active de l'épicarde

Julien Gagne , Olivier Piccin , Édouard Laroche , Jacques Gangloff

CFM 2011 - 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France

Communication dans un congrès hal-03422627v1

Unknown input estimation using reduced-order observers for a class of nonlinear systems

Mohamed Benallouch , Mohamed Boutayeb , Rachid Outbib , Edouard Laroche

10th European Control Conference, ECC'09, Aug 2009, Budapest, Hungary. pp.CD-ROM

Communication dans un congrès hal-00440516v1

A New Scheme on Robust Unknown Input Nonlinear Observer for PEM Fuel Cell Stack System

Mohamed Benallouch , Rachid Outbib , Mohamed Boutayeb , Edouard Laroche

3rd IEEE Multi-conference on Systems and Control (MSC 2009), Jul 2009, Saint Petersburg, Russia. pp.CD-ROM

Communication dans un congrès hal-00440641v1

Input recovery for a class of nonlinear multimodel system: An LMI approach

Yunjie Hua , Mohamed Boutayeb , Iula Bara , Edouard Laroche

16th Mediterranean Conference on Control and Automation, MED'08, Jun 2008, Ajaccio, France. pp.CDROM

Communication dans un congrès hal-00343963v1

A result on state estimation of nonlinear systems with application to fuel cell stacks

Mohamed Benallouch , Rachid Outbib , Mohamed Boutayeb , Edouard Laroche

17th IFAC World Congress, Jul 2008, Seoul, South Korea. pp.CDROM

Communication dans un congrès hal-00344061v1
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Continuous-time model identification of robot flexibilities for fast visual servoing

Luc Cuvillon , Edouard Laroche , Hugues Garnier , Jacques Gangloff , Michel de Mathelin

14th IFAC Symposium on System Identification (SYSID'2006), Mar 2006, Newcastle, Australia. pp.1264-1269

Communication dans un congrès hal-00109104v1

Induction Machine Parameter Estimation Errors due to Model Uncertainties

Edouard Laroche , Sandrine Moreau

Proc. European Conference on Power Electronics and Applications (EPE 2003), Sep 2003, Toulouse, France

Communication dans un congrès hal-03759378v1
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Control-Oriented Modeling of a Planar Cable-Driven Parallel Robot with Non-Straight Cables

Rima Saadaoui , Olivier Piccin , Hassan Omran , Gabriela Bara Iuliana , Edouard Laroche

10th European Nonlinear Dynamics Conferences ENOC22, Lyon, France, juillet 2022, Jul 2022, Lyon, France. 2022

Poster de conférence hal-03799514v1

Linear fractional LPV model identification from local experiments using an H_infty-based glocal approach

Daniel Vizer , Guillaume Mercère , Edouard Laroche , Olivier Prot

M. Lovera. Control-oriented modelling and identification : theory and practice, The Institution of Engineering and Technology, pp.189-213, 2015, ⟨10.1049/PBCE080E_ch9⟩

Chapitre d'ouvrage hal-01313923v1

LPV modeling and identification of a 2-DOF flexible robotic arm from local experiments using an H\( _\infty \) based glocal approach, chapter 16

D. Vizer , G. Mercere , E. Laroche , O. Prot

Marco Lovera. Control-oriented modelling and identification: theory and practice, The Institution of Engineering and Technology, pp.365 -385, 2015, 978-1-84919-614-7

Chapitre d'ouvrage hal-05391256v1

Linear fractional LPV model identification from local experiments using an H\(_\infty\)-based glocal approach, chapter 9

D. Vizer , G. Mercere , E. Laroche , O. Prot

Marco Lovera. Control-oriented modelling and identification: theory and practice, The Institution of Engineering and Technology, pp.189-214, 2015, 978-1-84919-614-7

Chapitre d'ouvrage hal-05391257v1

Beating Heart Surgery: Active Compensation for Minimally Invasive Coronary Artery Bypass Grafting

J. Gagne , W. Bachta , P. Renaud , O. Piccin , E. Laroche et al.

M. Garbey. Computational Surgery and Dual Training, Springer, pp.203--210, 2014

Chapitre d'ouvrage hal-05404433v1

Beating Heart Surgery: Active Compensation for Minimally Invasive Coronary Artery Bypass Grafting

Julien Gagne , Wael Bachta , Pierre Renaud , Olivier Piccin , Edouard Laroche et al.

Computational Surgery and Dual Training, Springer New York, 8 p-8 p, 2014, 978-1-4614-8647-3

Chapitre d'ouvrage hal-05473266v1

Commande robuste des robots manipulateurs à flexibilités structurelles, chapter 11

H. Halalchi , L. Cuvillon , G. Mercere , E. Laroche

M. Grossard, S. Régnier et N. Chaillet. Structures flexibles - Applications à la manipulation robotique multi-échelle, Traité IC2, Hermès, pp.359--389, 2013, Systèmes automatisés

Chapitre d'ouvrage hal-05391139v1

Identification of Induction Motor in Sinusoidal Mode

E. Laroche , J-P. Louis

Electrical Actuators: Identification and Observation, pp.1--48, 2013

Chapitre d'ouvrage hal-05391148v1

Robust control of robotic manipulators with structural flexibilities, chapter 10

H. Halalchi , L. Cuvillon , G. Mercere , E. Laroche

Mathieu Grossard, Stéphane Régnier; Nicolas Chaillet. Flexible Robotics, Wiley, pp.349--382, 2013, Robotics, 978-1-84821-520-7

Chapitre d'ouvrage hal-05391140v1
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Identification et Commande Robuste de Systèmes Électromécaniques

Edouard Laroche

Automatique / Robotique. Université Louis Pasteur - Strasbourg I, 2007

HDR tel-00354139v1