Academic literature on the topic 'Algorithmes inspirés de la robotique'
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Journal articles on the topic "Algorithmes inspirés de la robotique"
Dubos, Camille, Thibault Boulanger, Jonathan Rochet, and Grégory Charrier. "Shearographie: De la maquette numérique à l’inspection robotisée." e-journal of nondestructive testing 28, no. 9 (September 2023). http://dx.doi.org/10.58286/28523.
Full textDissertations / Theses on the topic "Algorithmes inspirés de la robotique"
Meyer, Cédric. "Théorie de vision dynamique et applications à la robotique mobile." Paris 6, 2013. http://www.theses.fr/2013PA066137.
Full textThe recognition of objects is a key challenge in increasing the autonomy of robots and their performances. Although many techniques of object recognition have been developed in the field of frame-based vision, none of them hold the comparison against human perception in terms of performance, weight and power consumption. Neuromorphic engineering models biological components into artificial chips. It recently provides an event-based camera inspired from a biological retina. The sparse, asynchronous, scene-driven visual data generated by these sensors allow the development of computationally efficient bio-inspired artificial vision. I focus in this thesis on studying how event-based acquisition and its accurate temporal precision can change object recognition by adding precise timing in the process. This thesis first introduces a frame-based object detection and recognition algorithm used for semantic mapping. It then studies quantitatively what are the advantages of using event-based acquisition using mutual information. It then inquires into low level event-based spatiotemporal features in the context of dynamic scene to introduce an implementation of a real-time multi-kernel feature tracking using Gabor filters or any kernel. Finally, a fully asynchronous time-oriented architecture of object recognition mimicking V1 visual cortex is presented. It extends the state of the art HMAX model in a pure temporal implementation of object recognition
Sarrabezolles, Louise. "Formalization and Simulation of Bio-Inspired On-chip Dynamic Attractors for Low Power Computer Vision." Thesis, Institut polytechnique de Paris, 2020. http://www.theses.fr/2020IPPAE001.
Full textHigh performance in real-time is one of today's challenge of embedded Computer Vision. The study of the human vision models inspires several solutions. The bio-inspired method used by the BVS-Tech component caught the attention of the community with its hardware characteristics and its application in different industrial projects. However, the lack of mathematical formalization and simulation of the method does not allow to analyse it on academical databases.This thesis focused on the understanding, the formalization and the reproduction of the method. The mathematical model and the simulator produced allowed to validate the concept on artificial images, to analyse its behaviour and performances in a specific application. The promising results shows, however, the strong influence of several parameters. Two extensions of the method have recently been proposed: the automatic adaptation of the feature inputs and the prediction integration
Kachurka, Viachaslau. "Contribution à la perception et l’attention visuelle artificielle bio-inspirée pour acquisition et conceptualisation de la connaissance en robotique autonome." Thesis, Paris Est, 2017. http://www.theses.fr/2017PESC1072/document.
Full textDealing with the field of "Bio-inspired Perception", the present thesis focuses more particularly on Artificial Visual Attention and Visual Saliency. A concept of Artificial Visual Attention, inspired from the human mechanisms, providing a model of such artificial bio-inspired attention, was developed, implemented and tested in the context of autonomous robotics. Although there are several models of visual saliency, in terms of contrast and cognition, there is no hybrid model integrating both mechanisms of attention: the visual aspect and the cognitive aspect.To carryout such a model, we have explored existing approaches in the field of visual attention, as well as several approaches and paradigms in related fields (such as object recognition, artificial learning, classification, etc.).A functional architecture of a hybrid visual attention system, combining principles and mechanisms derived from human visual attention with computational and algorithmic methods, was implemented, explained and detailed.Another major contribution of this doctoral work is the theoretical modeling, development and practical application of the aforementioned Bio-inspired Visual Attention model, providing a basis for the autonomy of assistance-robotic systems.The carried out studies and experimental validation of the proposed models confirmed the relevance of the proposed approach in increasing the autonomy of robotic systems within a real environment
Brilhault, Adrien. "Vision artificielle pour les non-voyants : une approche bio-inspirée pour la reconnaissance de formes." Toulouse 3, 2014. http://thesesups.ups-tlse.fr/2630/.
Full textMore than 315 million people worldwide suffer from visual impairments, with several studies suggesting that this number will double by 2030 due to the ageing of the population. Given the variety of its causes, the volume of people affected, and its consequences on quality of life, visual impairment constitutes a major current health issue. To compensate for the loss of sight, the two main holistic approaches consist of sensorial substitution and neuroprosthetics. Sensorial substitution devices provide visual information through different sensory modalities (i. E. Audition or touch). Neuroprostheses reproduce images acquired by a video camera at the surface of the visual structure implanted (retina, LGN, or visual cortex), respecting their spatial configuration: each electrode corresponds to a given pixel. Unfortunately, current implants still suffer from very low resolution: each image is transmitted via a matrix of only a few dozen electrodes, rendering these systems unsuitable for everyday use. Sensory substitution devices are subject to the same limitations: the amount of information needed to process a natural visual scene is far too important in relation to the output interface resolutions (both auditive and tactile, or through microstimulation). Thus the current holistic systems at present are unable to provide sufficient aid in navigating complex visual environments, and are rarely implemented outside the context of laboratory research. To overcome these obstacles, we propose the use of artificial vision in order to pre-process visual scenes and provide the user with relevant information. We have validated this approach through the development of a novel assistive device for the blind called 'Navig'. Through shape recognition and spatialized sounds synthesis, this system is able to restore visuomotor loops, allowing users to locate and grab objects of interest. With navigation being one of the most challenging tasks for the visually impaired, we also developed guidance features relying on satellite positioning as well as an adapted geographic information system. Given that GPS accuracy in urban areas remains too low to safely guide blind pedestrians, we developed a new positioning method combining GNSS, inertial sensors and the visual detection of geolocalized landmarks. The use of artificial vision succeeded in reducing the average positioning error, and as a result provides accurate navigational markers to guide visually impaired users. To enhance the performance of the visual module, a key component of the system, we further developed a novel bio-inspired multi-resolution algorithm for pattern recognition based on the Spikenet library. It uses latency-based coding of visual information, oriented edge representations and several other mechanisms which essentially mimick the activations of the primary visual cortex. Compared to the original monoscale algorithm, our new architecture captures a far broader spectrum of spatial frequencies. Low-resolution processing allows for improved tolerance to image degradations and deformations, while higher and more discriminative frequencies maintain optimal selectivity. Through our cascaded scheme, combining detections at different resolutions, we significantly reduced processing time. Indeed, a first pass is used to filter objects of interest, and only a few candidates are then tested at a higher resolution
Craye, Céline. "Intrinsic motivation mecanisms for incremental learning of visual saliency." Electronic Thesis or Diss., Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLY006.
Full textConceiving autonomous perceptual systems, such as robots able to accomplish a set of tasks in a safe way, without any human assistance, is one of the biggest challenge of the century. To this end, the developmental robotics suggests to conceive robots able to learn by interacting directly with their environment, just like children would. This thesis is exploring such possibility while restricting the problem to the one of localizing objects of interest (or salient objects) within the robot’s environment.For that, we present in this work a mechanism able to learn visual saliency directly on a robot, then to use the learned model so as to localize salient objects within their environment. The advantage of this method is the creation of models dedicated to the robot’s environment and tasks it should be asked to accomplish, while remaining flexible to any change or novelty in the environment.Furthermore, we have developed exploration strategies based on intrinsic motivations, widely used in developmental robotics, to enable efficient learning of good quality. In particular, we adapted the IAC algorithm to visual saliency leanring, and proposed an extension, RL-IAC to allow an efficient exploration on mobile robots.In order to verify and analyze the performance of our algorithms, we have carried out various experiments on several robotics platforms, including a foveated system and a mobile robot, as well as publicly available datasets
Melnyk, Artem. "Perfectionnement des algorithmes de contrôle-commande des robots manipulateur électriques en interaction physique avec leur environnement par une approche bio-inspirée." Thesis, Cergy-Pontoise, 2014. http://www.theses.fr/2014CERG0745/document.
Full textAutomated production lines integrate robots which are isolated from workers, so there is no physical interaction between a human and robot. In the near future, a humanoid robot will become a part of the human environment as a companion to help or work with humans. The aspects of coexistence always presuppose physical and social interaction between a robot and a human. In humanoid robotics, further progress depends on knowledge of cognitive mechanisms of interpersonal interaction as robots physically and socially interact with humans. An illustrative example of interpersonal interaction is an act of a handshake that plays a substantial social role. The particularity of this form of interpersonal interaction is that it is based on physical and social couplings which lead to synchronization of motion and efforts. Studying a handshake for robots is interesting as it can expand their behavioral properties for interaction with a human being in more natural way. The first chapter of this thesis presents the state of the art in the fields of social sciences, medicine and humanoid robotics that study the phenomenon of a handshake. The second chapter is dedicated to the physical nature of the phenomenon between humans via quantitative measurements. A new wearable system to measure a handshake was built in Donetsk National Technical University (Ukraine). It consists of a set of several sensors attached to the glove for recording angular velocities and gravitational acceleration of the hand and forces in certain points of hand contact during interaction. The measurement campaigns have shown that there is a phenomenon of mutual synchrony that is preceded by the phase of physical contact which initiates this synchrony. Considering the rhythmic nature of this phenomenon, the controller based on the models of rhythmic neuron of Rowat-Selverston, with learning the frequency during interaction was proposed and studied in the third chapter. Chapter four deals with the experiences of physical human-robot interaction. The experimentations with robot arm Katana show that it is possible for a robot to learn to synchronize its rhythm with rhythms imposed by a human during handshake with the proposed model of a bio-inspired controller. A general conclusion and perspectives summarize and finish this work
Denarie, Laurent. "Robotics-inspired methods to enhance protein design." Phd thesis, Toulouse, INPT, 2017. http://oatao.univ-toulouse.fr/18677/1/Denarie.pdf.
Full textCraye, Céline. "Intrinsic motivation mecanisms for incremental learning of visual saliency." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLY006/document.
Full textConceiving autonomous perceptual systems, such as robots able to accomplish a set of tasks in a safe way, without any human assistance, is one of the biggest challenge of the century. To this end, the developmental robotics suggests to conceive robots able to learn by interacting directly with their environment, just like children would. This thesis is exploring such possibility while restricting the problem to the one of localizing objects of interest (or salient objects) within the robot’s environment.For that, we present in this work a mechanism able to learn visual saliency directly on a robot, then to use the learned model so as to localize salient objects within their environment. The advantage of this method is the creation of models dedicated to the robot’s environment and tasks it should be asked to accomplish, while remaining flexible to any change or novelty in the environment.Furthermore, we have developed exploration strategies based on intrinsic motivations, widely used in developmental robotics, to enable efficient learning of good quality. In particular, we adapted the IAC algorithm to visual saliency leanring, and proposed an extension, RL-IAC to allow an efficient exploration on mobile robots.In order to verify and analyze the performance of our algorithms, we have carried out various experiments on several robotics platforms, including a foveated system and a mobile robot, as well as publicly available datasets
Cambier, Nicolas. "Bio-inspired collective exploration and cultural organisation." Thesis, Compiègne, 2019. http://www.theses.fr/2019COMP2511.
Full textAutomatically-controlled artificial systems have recently been used in numerous settings including environmental monitoring and explorations, with great success. In such cases, the use of multiple robots could increase efficiency, although we should ensure that their communication and organisation strategies are robust, exible, and scalable. These qualities can be ensured through decentralisation, redundancy (many/all robots perform the same task), local interaction, and simplistic rules, as is the case in swarm robotics. One of the key components of swarm robotics is local interaction or communication. The later has, so far, only been used for relatively simple tasks such as signalling a robot's preference or state. However, communication has more potential because the emergence of meaning, as it exists in human language, could allow robots swarms to tackle novel situations in ways that may not be a priori obvious to the experimenter. This is a necessary feature for having swarms that are fully autonomous, especially in unknown environments. In this thesis, we propose a framework for the emergence of meaningful communications in swarm robotics using language games as a communication protocol and probabilistic aggregation as a case study. Probabilistic aggregation can be a prerequisite to many other swarm behaviours but, unfortunately, it is extremely sensitive to experimental conditions, and thus requires specific parameter tuning for any setting such as population size or density.With our framework, we show that the concurrent execution of the naming game and of probabilistic aggregation leads, in certain conditions, to a new clustering and labelling behaviour that is controllable via the parameters of the aggregation controller. Pushing this interplay forward, we demonstrate that the social dynamics of the naming game can select efficient aggregation parameters through environmental pressure. This creates resilient controllers as the aggregation behaviour is dynamically evolved online according to the current environmental setting
Tomic, Marija. "Manipulation robotique à deux mains inspirée des aptitudes humaines." Thesis, Ecole centrale de Nantes, 2018. http://www.theses.fr/2018ECDN0017/document.
Full textThe number of humanoid robots has increased in recent years to be able to collaborate with humans or replace them in tedious tasks. The objective of this thesis is to transfer to humanoid robots, skills or human competences, in particular for movements involving coordination between the two arms. In the first part of the thesis, a process of conversion from a human movement to a robot movement, with the aim of imitation is proposed. Since humans have much more freedom than a humanoid robot, identical movements cannot be produced, the characteristics (body lengths) canal so be different. Our conversion process takes into account the recording of marker locations attached to human bodies and joints to improve the imitation processes. The second part of the thesis aims at analyzing the strategies used by humans to generate movement. Human movements are assumed to be optimal and our goal is to find criteria minimized during manipulations. We hypothesize that this criterion is a combination of classical criteria used in robotics and we look for the weights of each criterion that best represents human movement. In this way, an optimal kinematic control approach can then be used to generate movements of the humanoid robot
Books on the topic "Algorithmes inspirés de la robotique"
K, Agarwal Pankaj, Kavraki Lydia, and Mason Matthew T, eds. Robotics: The algorithmic perspective : the Third Workshop on the Algorithmic Foundations of Robotics. Wellesley, Mass: A K Peters, 1998.
Find full textR, Donald Bruce, Lynch Kevin, and Rus Daniela, eds. Algorithmic and computational robotics: New directions : the fourth Workshop on the Algorithmic Foundations of Robotics. Natick, Mass: AK Peters, 2001.
Find full textM, Hoffmann Christoph, ed. Advances in computing research. Greenwich, Conn: JAI Press, 1992.
Find full text(Editor), Bruce R. Donald, Kevin M. Lynch (Editor), and Daniela Rus (Editor), eds. Algorithmic and Computational Robotics: New Directions. AK Peters, Ltd., 2001.
Find full textHoffmann, Christoph M. Advances in Computing Research: Issues in Robotics and Nonlinear Geometry : 1992 (Advances in Computing Research). JAI Press, 1992.
Find full textA, Vasuki. Nature-Inspired Optimization Algorithms. Taylor & Francis Group, 2020.
Find full textA, Vasuki. Nature-Inspired Optimization Algorithms. Taylor & Francis Group, 2020.
Find full textA, Vasuki. Nature-Inspired Optimization Algorithms. Taylor & Francis Group, 2022.
Find full textA, Vasuki. Nature-Inspired Optimization Algorithms. Taylor & Francis Group, 2020.
Find full textNature-Inspired Optimization Algorithms. Taylor & Francis Group, 2020.
Find full textBook chapters on the topic "Algorithmes inspirés de la robotique"
SAUDUBRAY, Frédéric. "Vers une agriculture algorithmique…" In Algorithmes et Société, 119–28. Editions des archives contemporaines, 2021. http://dx.doi.org/10.17184/eac.4560.
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