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Статті в журналах з теми "Poisson robotisé":
1
Hasse, Alexander, and Kristian Mauser. "Poisson Induced Bending Actuator for Soft Robotic Systems." Soft Robotics 7, no. 2 (April 1, 2020): 155–67. http://dx.doi.org/10.1089/soro.2018.0163.
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Schiemer, Jonas F., Karen Stumm, Karin H. Somerlik-Fuchs, Klaus-Peter Hoffmann, Jan Baumgart, and Werner Kneist. "Robotic Setup Promises Consistent Effects of Multilocular Gastrointestinal Electrical Stimulation: First Results of a Porcine Study." European Surgical Research 61, no. 1 (2020): 14–22. http://dx.doi.org/10.1159/000506799.
Анотація:
Background: Electrical stimulation (ES) of several gastrointestinal (GI) segments is a promising therapeutic option for multilocular GI dysmotility, but conventional surgical access by laparotomy involves a high degree of tissue trauma. We evaluated a minimally invasive surgical approach using a robotic surgical system to perform electromyographic (EMG) recordings and ES of several porcine GI segments, comparing these data to an open surgical approach by laparotomy. Materials and Methods: In 5 acute porcine experiments, we placed multiple electrodes on the stomach, duodenum, jejunum, ileum, and colon. Three experiments were performed with a median laparotomy and 2 others using a robotic platform. Multichannel EMGs were recorded, and ES was sequentially delivered with 4 ES parameters to the 5 target segments. We calculated pre- and poststimulatory spikes per minute (Spm) and performed a statistical Poisson analysis. Results: Electrode placement was achieved in all cases without complications. Increased technical and implantation time were required to achieve the robotic electrode placement, but invasiveness was markedly reduced in comparison to the conventional approach. The highest calculated (c)Spm values were found in the poststimulatory period of the small bowel with both the conventional and robotic approaches. Six of the 20 Poisson test results in the open setup reached statistical significance and 12 were significant in the robotic experiments. Conclusions: The robotic setup was less invasive, revealed more consistent effects of multilocular ES in several GI segments, and is a promising option for future preclinical and clinical studies of GI motility disorders.
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Refaai, Mohamad Reda A., M. N. Manjunatha, S. Radjarejesri, B. Ramesh, Ram Subbiah, and Nahom Adugna. "Nanorobots with Hybrid Biomembranes for Simultaneous Degradation of Toxic Microorganism." Advances in Materials Science and Engineering 2022 (September 23, 2022): 1–12. http://dx.doi.org/10.1155/2022/2391843.
Анотація:
Nanorobotics is a modern technological sector that creates robots with elements that are close to or near the nanoscale scale of such a nanometer. To be more specific, nanorobotics has been the nanotechnology approach to designing and creating nanorobots. Also, with the fast growth of robotics technology, developing biomaterials micro- or nanorobots, which convert biological concepts into a robotic device, grows progressively vital. This proposes the development, manufacturing, and testing of a dual–cell membrane–functionalized nanorobot for multifunctional biological threat component elimination, with a focus on the simultaneous targeted and neutralization of the pathogenic bacteria and toxins. Ultrasound-propelled biomaterials nanorobots comprised of the gold nanostructures wrapped in a combination of platelet (PL) and Red Blood Cell (RBC) layers were developed. Biohybrid micro- and nanorobots were small machines that combine biological and artificial elements. They may benefit from onboard actuators, detection, management, and deployment of a variety in medical functions. These hybrid cell walls consist of a variety of structural proteins involved in living organism RBCs and PLs, which provide nanorobots with either a quantity of the appealing biological functionality, with bonding and adhesion to the PL-adhering pathogenic organisms (for example, staphylococcus bacteria) but also neutralization of the pore-forming toxins (e.g., toxin). Furthermore, the biomaterials nanorobots demonstrated quick and efficient extended sonic propulsion for total blood with really no visible bacterial growth and mirrored the movements of genuine cell separation. This propulsion improved the robots’ bonding and detoxifying efficacy against infections and poisons. Overall, combining this diversified physiological activity of hybrid cellular tissue with the energy propulsion of such robotic systems contributed to the dynamic robotics scheme for effective separation and synchronous elimination of various living risks, a significant step towards to development of a broad-spectrum detoxifying robotic framework.
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Watson, Michael D., Sally J. Trufan, Nicole L. Gower, Joshua S. Hill, and Jonathan C. Salo. "Effect of Surgical Approach on Node Harvest in Robotic Gastrectomy." American Surgeon 85, no. 8 (August 2019): 794–99. http://dx.doi.org/10.1177/000313481908500827.
Анотація:
There has been increasing utilization of minimally invasive surgical approaches. This study evaluates the effect of surgical approach on total lymph node harvest in gastrectomy. Patients undergoing gastrectomy for gastric adenocarcinoma between 2007 and 2018 were reviewed retrospectively. Data collected included age, gender, race, BMI, neoadjuvant therapy, tumor stage, surgical approach, and total number of lymph nodes harvested. The total number of harvested lymph nodes for open, laparoscopic, and robotic gastrectomy was compared using the Kruskal-Wallis test for univariate analysis and a Poisson regression model for multivariable analysis. One hundred four patients were identified. Median node harvest for open, laparoscopic, and robotic approaches were 16, 17, and 36, respectively. Multivariable analysis controlling for gender, BMI, pathological T stage, and year of operation demonstrates that surgical approach is statistically significantly associated with lymph node harvest ( F = 83.4, P < 0.0001). In multivariable analysis, robotic approach was associated with greater lymph node harvest than both open ( P < 0.0001) and laparoscopic ( P < 0.0001) approaches, whereas laparoscopic approach was associated with greater lymph node harvest than open ( P < 0.0001) approach. These data demonstrate that for patients undergoing gastrectomy for gastric adenocarcinoma at our institution, robotic approach is associated with greater lymph node harvest than both laparoscopic and open approaches.
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Liu, Wangyu, Zheng Liu, Zhengqiang Guo, Zhaoqi Chen, and Weigui Xie. "Application of Poisson’s ratio structures and decoupling algorithm for 3D force sensing." Measurement Science and Technology 35, no. 6 (March 12, 2024): 065105. http://dx.doi.org/10.1088/1361-6501/ad3018.
Анотація:
Abstract Flexible tactile electronic devices are extensively used in the fields of robotics, medical detection, and human-computer interaction. Monitoring contact parameters, including force magnitude, direction, and contact location, is particularly vital for skin-like tactile sensing devices. Herein, a 3D force sensor is designed based on porous structure with deliberately designed Poisson’s ratios. A genetic algorithm (GA) optimized back propagation neuronal network (BPNN) model is proposed to support the 3D force decoupling, which can greatly improve the decoupling accuracy. The introduction of the GA-BPNN significantly enhances decoupling accuracy compared to the initial neural network. Micro-porous structures with varied Poisson’s ratios are embedded into the sensing unit to achieve better sensibility. Significantly, this study underscores that the decoupling accuracy of the force components along the Z-axis can be further improved by substituting the solid unit with a designed porous structure unit featuring a specific Poisson’s ratio in an arrayed 3D force sensor.
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Vázquez-Arellano, Manuel, David Reiser, Dimitrios Paraforos, Miguel Garrido-Izard, and Hans Griepentrog. "Leaf Area Estimation of Reconstructed Maize Plants Using a Time-of-Flight Camera Based on Different Scan Directions." Robotics 7, no. 4 (October 11, 2018): 63. http://dx.doi.org/10.3390/robotics7040063.
Анотація:
The leaf area is an important plant parameter for plant status and crop yield. In this paper, a low-cost time-of-flight camera, the Kinect v2, was mounted on a robotic platform to acquire 3-D data of maize plants in a greenhouse. The robotic platform drove through the maize rows and acquired 3-D images that were later registered and stitched. Three different maize row reconstruction approaches were compared: reconstruct a crop row by merging point clouds generated from both sides of the row in both directions, merging point clouds scanned just from one side, and merging point clouds scanned from opposite directions of the row. The resulted point cloud was subsampled and rasterized, the normals were computed and re-oriented with a Fast Marching algorithm. The Poisson surface reconstruction was applied to the point cloud, and new vertices and faces generated by the algorithm were removed. The results showed that the approach of aligning and merging four point clouds per row and two point clouds scanned from the same side generated very similar average mean absolute percentage error of 8.8% and 7.8%, respectively. The worst error resulted from the two point clouds scanned from both sides in opposite directions with 32.3%.
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Kazerooni, H., Mark S. Evans, and J. Jones. "Hydrostatic Force Sensor for Robotic Applications." Journal of Dynamic Systems, Measurement, and Control 119, no. 1 (March 1, 1997): 115–19. http://dx.doi.org/10.1115/1.2801201.
Анотація:
This article presents a theoretical and experimental investigation of a new kind of force sensor which detects forces by measuring an induced pressure change in a material of large Poisson’s ratio. In this investigation, we develop mathematical expressions for the sensor’s sensitivity and bandwidth, and show that its sensitivity can be much larger and its bandwidth is usually smaller than those of existing strain-gage-type sensors. This force sensor is well-suited for measuring large but slowly varying forces. It can be installed in a space smaller than that required for existing sensors. This paper also discusses the effects of various parameters on the sensor’s performance and on failure modes. To verify the theoretical derivation, a prototype force sensor was designed and built. This prototype hydrostatic force sensor can measure the compressive forces up to 7200 lbf and tensile forces up to 3500 lbf.
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Serpen, Gursel, and Jayanta Debnath. "Design and performance evaluation of a parking management system for automated, multi-story and robotic parking structure." International Journal of Intelligent Computing and Cybernetics 12, no. 4 (November 11, 2019): 444–65. http://dx.doi.org/10.1108/ijicc-02-2019-0017.
Анотація:
Purpose The purpose of this paper is to present design and performance evaluation through simulation of a parking management system (PMS) for a fully automated, multi-story, puzzle-type and robotic parking structure with the overall objective of minimizing customer wait times while maximizing the space utilization. Design/methodology/approach The presentation entails development and integration of a complete suite of path planning, elevator scheduling and resource allocation algorithms. The PMS aims to manage multiple concurrent requests, in real time and in a dynamic context, for storage and retrieval of vehicles loaded onto robotic carts for a fully automated, multi-story and driving-free parking structure. The algorithm suite employs the incremental informed search algorithm D* Lite with domain-specific heuristics and the uninformed search algorithm Uniform Cost Search for path search and planning. An optimization methodology based on nested partitions and Genetic algorithm is adapted for scheduling of a group of elevators. The study considered a typical business day scenario in the center of a metropolis. Findings The simulation study indicates that the proposed design for the PMS is able to serve concurrent storage-retrieval requests representing a wide range of Poisson distributed customer arrival rates in real time while requiring reasonable computing resources under realistic scenarios. The customer waiting times for both storage and retrieval requests are within acceptable bounds, which are set as no more than 5 min, even in the presence of up to 100 concurrent storage and retrieval requests. The design is able to accommodate a variety of customer arrival rates and presence of immobilized vehicles which are assumed to be scattered across the floors of the structure to make it possible for deployment in real-time environments. Originality/value The intelligent system design is novel as the fully automated robotic parking structures are just in the process of being matured from a technology standpoint.
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Li, Yue, Stelian Coros, and Bernhard Thomaszewski. "Neural Metamaterial Networks for Nonlinear Material Design." ACM Transactions on Graphics 42, no. 6 (December 5, 2023): 1–13. http://dx.doi.org/10.1145/3618325.
Анотація:
Nonlinear metamaterials with tailored mechanical properties have applications in engineering, medicine, robotics, and beyond. While modeling their macromechanical behavior is challenging in itself, finding structure parameters that lead to ideal approximation of high-level performance goals is a challenging task. In this work, we propose Neural Metamaterial Networks (NMN)---smooth neural representations that encode the nonlinear mechanics of entire metamaterial families. Given structure parameters as input, NMN return continuously differentiable strain energy density functions, thus guaranteeing conservative forces by construction. Though trained on simulation data, NMN do not inherit the discontinuities resulting from topo-logical changes in finite element meshes. They instead provide a smooth map from parameter to performance space that is fully differentiable and thus well-suited for gradient-based optimization. On this basis, we formulate inverse material design as a nonlinear programming problem that leverages neural networks for both objective functions and constraints. We use this approach to automatically design materials with desired strain-stress curves, prescribed directional stiffness and Poisson ratio profiles. We furthermore conduct ablation studies on network nonlinearities and show the advantages of our approach compared to native-scale optimization.
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Duits, Remco, Erik J. Bekkers, and Alexey Mashtakov. "Fourier Transform on the Homogeneous Space of 3D Positions and Orientations for Exact Solutions to Linear PDEs." Entropy 21, no. 1 (January 8, 2019): 38. http://dx.doi.org/10.3390/e21010038.
Анотація:
Fokker–Planck PDEs (including diffusions) for stable Lévy processes (including Wiener processes) on the joint space of positions and orientations play a major role in mechanics, robotics, image analysis, directional statistics and probability theory. Exact analytic designs and solutions are known in the 2D case, where they have been obtained using Fourier transform on S E ( 2 ) . Here, we extend these approaches to 3D using Fourier transform on the Lie group S E ( 3 ) of rigid body motions. More precisely, we define the homogeneous space of 3D positions and orientations R 3 ⋊ S 2 : = S E ( 3 ) / ( { 0 } × S O ( 2 ) ) as the quotient in S E ( 3 ) . In our construction, two group elements are equivalent if they are equal up to a rotation around the reference axis. On this quotient, we design a specific Fourier transform. We apply this Fourier transform to derive new exact solutions to Fokker–Planck PDEs of α -stable Lévy processes on R 3 ⋊ S 2 . This reduces classical analysis computations and provides an explicit algebraic spectral decomposition of the solutions. We compare the exact probability kernel for α = 1 (the diffusion kernel) to the kernel for α = 1 2 (the Poisson kernel). We set up stochastic differential equations (SDEs) for the Lévy processes on the quotient and derive corresponding Monte-Carlo methods. We verified that the exact probability kernels arise as the limit of the Monte-Carlo approximations.
Дисертації з теми "Poisson robotisé":
1
Israilov, Sardor. "De l'identification basée apprentissage profond à la commande basée modèle." Electronic Thesis or Diss., Université Côte d'Azur, 2024. http://www.theses.fr/2024COAZ4003.
Анотація:
La nage des poissons reste un sujet complexe qui n'est pas encore totalement compris en raison de son aspect interdisciplinaire qui mêle la biologie et dynamique des fluides. Au fil des millénaires, les organismes naturels ont perfectionné leur biologie pour naviguer efficacement dans leur environnement et s'adapter à tout type de situations. Tout au long de l'histoire, l'humanité s'est inspirée de la nature pour innover et développer des systèmes biomimétiques. Le poisson robotique, en particulier, trouve nombres d'applications dans le monde réel et son contrôle doit encore être optimisé. L'apprentissage par renforcement profond a donné d'excellents résultats dans le contrôle des systèmes robotiques, dont la dynamique est trop complexe pour être entièrement modélisée et analysée. Dans cette thèse, nous avons exploré de nouvelles voies de contrôle d'un poisson biomimétique via l'apprentissage par renforcement afin de maximiser efficacement la force de poussée et la vitesse de déplacement. Cependant, pour comprendre pleinement ces nouveaux algorithmes basés sur les données, nous avons d'abord étudié l'application de ces méthodes sur une référence standard de la théorie du contrôle, le pendule inversé sur un chariot. Nous avons démontré que l'apprentissage par renforcement profond pouvait contrôler le système sans aucune connaissance préalable du système, en obtenant des performances comparables aux méthodes traditionnelles de la théorie du contrôle basée sur un modèle. Dans le troisième chapitre, nous nous concentrons sur la nage ondulatoire d'un poisson robotique avec différents objectifs et sources d'information de contrôle. Nos études indiquent que la force de poussée d'un poisson robotique peut être optimisée en utilisant des données provenant à la fois de capteurs de force et d'une caméra comme retour d'information pour la commande. Nos résultats démontrent qu'une commande carrée avec une fréquence particulière maximise la poussée et nous la rationalisons en utilisant le principe du maximum de Pontryagin. Un modèle approprié est établi qui montre un excellent accord entre la simulation et les résultats expérimentaux. Ensuite, nous nous concentrons sur la maximisation de la vitesse d'un poisson robotique à la fois dans plusieurs environnements virtuels et dans des expériences utilisant des données visuellesFish swimming remains a complex subject that is not yet fully understood due to the inter-section of biology and fluid dynamics. Through years of evolution, organisms in nature have perfected their biological mechanisms to navigate efficiently in their environment and adaptto particular situations. Throughout history, mankind has been inspired by nature to innovateand develop nature-like systems. Biomimetic robotic fish, in particular, has a number of appli-cations in the real world and its control is yet to be optimized. Deep Reinforcement Learning showed excellent results in control of robotic systems, where dynamics is too complex to befully modeled and analyzed. In this thesis, we explored new venues of control of a biomimetic fish via reinforcement learning to effectively maximize the thrust and speed. However, to fully comprehend the newly-emerged data-based algorithms, we first studied the application of these methods on a standard benchmark of a control theory, the inverted pendulum with a cart. We demonstrated that deep Reinforcement Learning could control the system without any prior knowledge of the system, achieving performance comparable to traditional model-based con-trol theory methods. In the third chapter, we focus on the undulatory swimming of a roboticfish, exploring various objectives and information sources for control. Our studies indicate that the thrust force of a robotic fish can be optimized using inputs from both force sensors and cameras as feedback for control. Our findings demonstrate that a square wave control with a particular frequency maximizes the thrust and we rationalize it using Pontryagin Maximum Principle. An appropriate model is established that shows an excellent agreement between simulation and experimental results. Subsequently, we concentrate on the speed maximization of a robotic fish both in several virtual environments and experiments using visual data. Once again, we find that deep Reinforcement Learning can find an excellent swimming gait with a square wave control that maximizes the swimming speed
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Tapia, Siles Silvia Cecilia. "Robotic locomotion in turbulent flow." Paris 6, 2011. http://www.theses.fr/2011PA066414.
Анотація:
Certains poissons utilisent les turbulences de leur milieu pour réduire les coûts énergétiques liés à la nage. Par exemple, les truites ont la capacité de synchroniser leur allures par rapport à la succession stéréotypée de vortex caractérisant une allée de Karman (Karman vortex street). Les truites peuvent ainsi garder une position stationnaire à contre-courant en consommant très peu d'énergie ou réduire, de 4 à 6 fois, la force nécessaire pour nager à l'intérieur d'un banc, en exploitant les allées de Karman induites par les poissons les devançant. En s'inspirant du comportement des poissons, notre travail a porté sur les méthodes de contrôle d'une telle locomotion pour des robots poissons. Dans ce cadre, nos principales les contributions sont les suivantes : Un modèle cinématique simplifié d'allée de Karman. Ce modèle donne les repères cinématiques pour modéliser les contrôleurs. L'approche présentée est basée sur des concepts de stabilité de l'allée de Karman. Le modèle proposé est une segmentation cinématique d'une allée de Karman stable. La génération et le contrôle biomimétiques de mouvements rythmiques de nage semi-passive. Trois contrôleurs sont proposés afin de fusionner le système Environnement-Corps-Control avec des approches différentes de contrôle : Approche externe. On essaye d’imiter le mouvement du poisson en ajustant les articulations pour suivre l’ondulation désirée. Approche bio inspiré. On utilise le modèle d'un Central Pattern Generator pour générer les mouvements. Approche conceptuelle. On utilise des oscillateurs Adaptatifs en Fréquence pour apprendre la fréquence du KVS
3
Chemtob, Yohann. "Collective behaviour of zibrafish and robot groups in a constrained environment." Thesis, Université de Paris (2019-....), 2020. http://www.theses.fr/2020UNIP7017.
Анотація:
Le mouvement collectif est un phénomène observable dans tout le règne animal et notamment chez les poissons. Néanmoins, malgré un grand nombre d’études sur le sujet, les mécanismes de prises de décisions durant ces évènements collectifs sont encore mal compris.Dans cette thèse, nous avons cherché à mieux comprendre les déplacements collectifs en étudiant plus précisément les prises de décision, l’organisation et la cohésion de groupe de poissons sociaux. Nos travaux utilisent le poisson-zèbre (Danio rerio), qui est un modèle d’étude dans différents domaines de recherche. Pour analyser la cohésion au sein de groupes de différentes tailles ainsi que l’organisation du leadership, nous avons développé un environnement contraint spécifique composé de deux chambres reliées par un couloir. Le comportement collectif des poissons-zèbres en environnement contraint a ensuite été décrit dans un modèle stochastique multicontextuel. Nous avons également développé un agent robotique afin de déterminer l'importance de l’aspect et du comportement pour s'intégrer de manière autonome au sein d'un groupe de poissons. Enfin, après son intégration au groupe, nous avons utilisé ce robot poisson biomimétique et autonome pour tester nos hypothèses sur les différentes règles à l’œuvre dans les mouvements collectifs en influant sur les mouvements du groupe de poisson.Nous sommes parvenus aux résultats suivants. Dans un environnement contraint, les poissons utilisent les chambres comme zones de repos et transitent fréquemment d'une zone à l'autre. Nous avons observé que la taille des groupes de poissons a une influence sur la forme et la proportion de ces transitions. La taille des groupes modifie également la cohésion entre les individus et leur utilisation de l’espace. Nous avons étudié plus précisément les prises de décision lors des transitions, et tout particulièrement le fonctionnement du leadership. Nous avons fait apparaître que le leadership est partagé entre tous les individus d’un groupe, avec néanmoins des modalités de partage hétérogènes entre les différents groupes étudiés. Le modèle stochastique développé à partir de ces différents résultats simule correctement le comportement de groupe de poisson dans un environnement contraint, en utilisant des valeurs de paramètre différentes en fonction de la position de l'agent. Nous avons réussi à intégrer un robot poisson, autonome et biomimétique, au sein de groupe de poisson-zèbre. L'utilisation du modèle stochastique pour guider le robot a mis en évidence l'importance d'un comportement biomimétique dans le phénomène de reconnaissance d'un conspécifique. Enfin, nous avons modulé le comportement du poisson-zèbre avec le robot poisson en provoquant des départs collectifs ainsi qu'en biaisant de manière significative la répartition des poissons entre les deux salles. Ces succès nous permettent de valider les hypothèses émises sur le leadership et la cohésion chez les poissons sociauxCollective movement can be observed throughout the animal kingdom, particularly in fish. Yet, despite many studies on the subject, the decision-making mechanisms of these collective events remain poorly understood.In this thesis, we want to better understand collective movement by studying more precisely the decision-making process, the organisation and the cohesion of groups of social fish. Our study focuses on the zebrafish (Danio rerio), a model used in different areas of research. To highlight those behaviours, we have developed a specific constrained environment composed of two rooms connected by a corridor. Cohesion on groups of different sizes and the organisation of leadership have been examined. The collective behaviour of zebrafish in a constrained environment was then described throughout a multi-contextual stochastic model. We have also developed a robotic agent to determine the importance of aspect and behaviour in conspecific recognition. Finally, after its integration into the group, we influenced the movements of the fish group with this biomimetic and autonomous fish robot to test our hypotheses on the different rules underlying collective movements.We have achieved the following results. In a constrained environment, fish use the rooms as resting areas and frequently move from one area to another. We observed that the size of fish groups influences the structure and proportion of these transitions. Group size also changes the cohesion between individuals and their spatial distribution. We studied more precisely the decision-making process during transitions, and in particular the mechanics of leadership. We have shown that leadership is shared among all individuals in a group, with heterogeneous sharing modalities between the different groups studied. The stochastic model developed from these results correctly simulates fish group behaviour in a constrained environment, using different parameter values according to the position of the agent. We have succeeded in integrating an autonomous and biomimetic fish robot into a group of zebrafish. The use of the stochastic model to drive the robot has highlighted the importance of biomimetic behaviour in the process of recognising a conspecific. Finally, we modulated the behaviour of the zebrafish with the fish robot by inducing collective departures as well as significantly biasing the distribution of fish between the two rooms. These positive results allow us to validate the hypotheses about leadership and cohesion among social fish
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Porez, Mathieu. "Modèle dynamique analytique de la nage tridimensionnelle anguilliforme pour la robotique." Phd thesis, Nantes, 2007. https://archive.bu.univ-nantes.fr/pollux/show/show?id=b35b23ba-3371-4f6b-9b34-d4e9b084b999.
Анотація:
Le travail présenté dans ce manuscrit est consacré à l'élaboration d'un modèle dynamique de la nage pour la commande du futur "Robot Anguille" du projet ROBEA-CNRS du même nom. Dans l'absolu, le calcul des interactions entre un corps déformable et le fluide sur lequel il s'appuie pour se déplacer, est un problème complexe nécessitant l'intégration des équations de Navier-Stokes couplées aux équations non-linéaires de la dynamique du corps soumis à des transformations finies. Poursuivant des objectifs de commande pour la robotique, la solution proposée dans ce travail est basée sur la fusion de deux théories: celle du "corps mince" issue de la mécanique des fluides et celle des "poutres Cosserat" de la mécanique du solide. La première théorie permet de remplacer l'écoulement 3-D autour du poisson par la stratification "tranche par tranche" d'écoulements plans, transverses à l'axe principal du corps de l'animal. Quant à la seconde, elle assimile le poisson à l'assemblage continu de sections rigides modélisant ses vertèbres ou, dans un contexte plus technologique, les plate-formes parallèles de notre robot bio-mimétique. Sur la base de cette modélisation, le travail présenté a pour but d'établir les dynamiques de la tête et des vertèbres du poisson afin d'élaborer in fine un algorithme de simulation numérique basé sur le "formalisme de Newton-Euler" de la robotique, ici étendu aux robots locomoteurs continus. Finalement, le modèle élaboré réalise une généralisation du modèle de Lighthill au cas de la nage tridimensionnelle d'un corps élancé autopropulsé. Outre ce résultat purement analytique, le simulateur qui en résulte nous a permis de mettre au point des allures jamais étudiées jusqu'alors. Qui plus est, il tourne en "temps réel", tout en maintenant un bon niveau de précision (i. E. Inférieur à 10%) comparé à la référence basée sur la résolution numérique des équations de Navier-StokesThe presented work in this thesis is devoted to the development of a dynamic model for the anguilliform swim suited to the real time control of the future biomimetic "Eel-like robot" of the ROBEA-CNRS project of the same name. The computation of the interactions between a deformable body and the fluid, in which it moves, is a complex problem requiring the integration of the Navier-Stokes equations and the non-linear dynamic equations of the body enduring finished transformations. Pursuing goals of control for robotic, the suggested solution is based on the fusion of two theories: the Slender Body Theory of the fluid mechanic and Cosserat Beam Theory of the solid mechanic. The first theory models the 3-D flow around fish by the stratification "slices by slices" of the bidimensional flows and transverse with the principal axis of the animal's body. Basing on the second theory, the fish is modeled by a continuous assembly of rigid sections that represents the animal's vertebrae or the eel-like robot's rigid platforms. On the basis of this model,the purpose of the presented work is to establish the dynamics of the head and the vertebrae of fish in order to work out a numerical algorithm based on the "Newton-Euler formalism". Finally, the obtained simulator works in real time with a good level of precision (i. E. Lower than 10\%) compared with the numerical computations of the Navier-Stokes equations
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Porez, Mathieu. "Modèle dynamique analytique de la nage tridimensionnelle anguilliforme pour la robotique." Phd thesis, Université de Nantes, 2007. http://tel.archives-ouvertes.fr/tel-00630940.
Анотація:
Le travail présenté dans ce manuscrit est consacré à l'élaboration d'un modèle dynamique de la nage pour la commande du futur "Robot Anguille" du projet ROBEA-CNRS du même nom. Dans l'absolu, le calcul des interactions entre un corps déformable et le fluide sur lequel il s'appuie pour se déplacer, est un problème complexe nécessitant l'intégration des équations de Navier-Stokes couplées aux équations non-linéaires de la dynamique du corps soumis à des transformations finies. Poursuivant des objectifs de commande pour la robotique, la solution proposée dans ce travail est basée sur la fusion de deux théories : celle du "corps mince" issue de la mécanique des fluides et celle des "poutres Cosserat" de la mécanique du solide. La première théorie permet de remplacer l'écoulement 3-D autour du poisson par la stratification "tranche par tranche" d'écoulements plans, transverses à l'axe principal du corps de l'animal. Quant à la seconde, elle assimile le poisson à l'assemblage continu de sections rigides modélisant ses vertèbres ou, dans un contexte plus technologique, les plate-formes parallèles de notre robot bio-mimétique. Sur la base de cette modélisation, le travail présenté a pour but d'établir les dynamiques de la tête et des vertèbres du poisson afin d'élaborer in fine un algorithme de simulation numérique basé sur le "formalisme de Newton-Euler" de la robotique, ici étendu aux robots locomoteurs continus. Finalement, le modèle élaboré réalise une généralisation du modèle de Lighthill au cas de la nage tridimensionnelle d'un corps élancé autopropulsé. Outre ce résultat purement analytique, le simulateur qui en résulte nous a permis de mettre au point des allures jamais étudiées jusqu'alors. Qui plus est, il tourne en "temps réel", tout en maintenant un bon niveau de précision (i.e. inférieur à 10%) comparé à la référence basée sur la résolution numérique des équations de Navier-Stokes.
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Matar, Younes. "Etude expérimentale de la nage anguilliforme : application à un robot biomimétique." Phd thesis, Ecole des Mines de Nantes, 2013. http://tel.archives-ouvertes.fr/tel-00821185.
Анотація:
Pour améliorer les performances des robots sous marins, l'une des approches poursuivie par les roboticiens, appelée biomimétisme, consiste à imiter ou à s'inspirer des systèmes vivants pour concevoir des robots de nouvelle génération. C'est dans ce contexte que s'est récemment déroulé un projet européen nommé ANGELS, dont l'objectif est la réalisation d'un robot bio-inspiré de l'anguille. Ce travail expérimental s'inscrit dans ce projet et est consacré à l'étude de la nage du robot. Les expériences ont été réalisées dans un canal hydraulique conçu pour cette étude. Dans un premier temps, nous avons caractérisé par traitement d'images les allures (i.e. les lois de déformation du corps) adoptées par une anguille nageant soit dans un écoulement uniforme frontal ou dans un courant traversier. Cette étude a donné lieu à l'établissement d'un modèle mathématique corrélatif de la déformation du corps de l'anguille dans ces conditions de nage. Dans un second temps, afin d'étudier les effets de la déformation du corps sur l'écoulement latéral, produit lors de la nage, des expériences par PIV ont été réalisées sur différents modèles de cylindres elliptiques rigides. Ces résultats nous ont permis de mieux comprendre et de valider une approche théorique permettant de calculer la force de propulsion en réponse à la loi de déformation du corps. Enfin, des expériences portant sur la nage anguilliforme dans un écoulement de type allée de von-Kàrmàn ont été réalisées en vue d'étudier les interactions hydrodynamiques et en particulier les mécanismes d'extraction de l'énergie de l'écoulement incident. Ces expériences ont été réalisées avec une anguille et un robot anguilliforme. Les expériences menées sur le robot montrent que pour une même loi de déformation du corps, la force de propulsion générée, en comparaison avec le cas de l'écoulement uniforme, peut sous certaines conditions être augmentée de près de 30 ont, quant à elles, permis de mettre clairement en évidence une modification de l'allure de nage de l'anguille lorsqu'elle est placée dans une allée de von-Kàrmàn. L'analyse qualitative de cette nouvelle allure nous a conduit à proposer un mode particulier d'extraction d'énergie de l'écoulement.
Книги з теми "Poisson robotisé":
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STAMPER, JUDITH BAUER. BT-DECEPTICON POISON#6 (Transformers, No 6). Ballantine Books, 1986.
Частини книг з теми "Poisson robotisé":
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Pahlajani, Chetan D., Indrajeet Yadav, Herbert G. Tanner, and Ioannis Poulakakis. "Decision-Making Accuracy for Sensor Networks with Inhomogeneous Poisson Observations." In Distributed Autonomous Robotic Systems, 177–90. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-73008-0_13.
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Nasiri, Simin. "Auxetic Grammars: An Application of Shape Grammar Using Shape Machine to Generate Auxetic Metamaterial Geometries for Fabricating Sustainable Kinetic Panels." In Computational Design and Robotic Fabrication, 114–24. Singapore: Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-99-8405-3_10.
Анотація:
AbstractAuxetic materials are materials with a peculiar mechanical behavior compared to other regular materials. Its main difference exists in its reaction to tension. Most materials exhibit a positive Poisson’s ratio [1], that is, they laterally shrink when stretched or expand when compressed. On the contrary, auxetic materials exhibit a negative Poisson’s ratio (NPR), that is, they laterally expand when stretched or laterally shrink when compressed [2]. In this paper, the significance and role of geometry in auxetic materials’ behavior will be investigated. For this purpose, we will be using shape grammar rules with a strong generative tool called Shape Machine [3] to create auxetic geometries with their complex behavior out of simple rules. These geometries’ applications can be fabricating sustainable kinetic panels for buildings to interact with and adapt to the environment.
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Chen, Tony G., Billie C. Goolsby, Guadalupe Bernal, Lauren A. O’Connell, and Mark R. Cutkosky. "Feed Me: Robotic Infiltration of Poison Frog Families." In Biomimetic and Biohybrid Systems, 293–302. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-39504-8_20.
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Ramachandra, Krishna, Catherine Jiayi Cai, Seenivasan Lalithkumar, Xinchen Cai, Zion Tszho Tse, and Hongliang Ren. "Tunable stiffness using negative Poisson's ratio toward load-bearing continuum tubular mechanisms in medical robotics." In Control Theory in Biomedical Engineering, 317–58. Elsevier, 2020. http://dx.doi.org/10.1016/b978-0-12-821350-6.00012-3.
Тези доповідей конференцій з теми "Poisson robotisé":
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Park, Chonhyon, Jia Pan, and Dinesh Manocha. "Poisson-RRT." In 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014. http://dx.doi.org/10.1109/icra.2014.6907541.
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Al-Allaq, Aiman, Nebojsa Jaksic, Bahaa Ansaf, Jude DePalma, and Trung Duong. "Modified Nernst-Plank-Poisson Model for IPMC With Back-Relaxation Effects." In ASME 2019 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/imece2019-10084.
Анотація:
Abstract The ionic polymer–metal composite (IPMC) is a new practical engineering material that, it has a wide range of capabilities in both dry and liquid environments. IPMC is a new candidate for diaphragms in micropump devices, micro and Nano robotic applications. IPMCs are regarded as a capable actuator for transportable applications, however, the unique combination of electrochemical and mechanical properties that they possess, such as back-relaxation, restraint their use in real-life applications. There have a lot of attempts to understand and model the IPMCs properties and build a whole prototype that can be used, with certainty, in different robotic, control, and medical applications, yet, till now, it seems that the dehydration and back-relaxation are still not modeled properly. The Nernst-Plank-Poisson was chosen to be the base model for the IPMC behavior, we were able to create a new model that truly represent the back-relaxation effects that occur in IPMCs, we’ve called the new model as modified NPP model. The modification used captured data from our experimental work Our modified analytical NPP (Nernst-Plank-Poisson) model was the verified using MATLAB & Simulink, which showed that the model, and the controller design for it was able to first compensate the loss of position of the IPMC due to back-relaxation, and then track the desired position input signals with great accuracy. The model and designed controller can be utilized in verity of robotic applications.
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Vizzo, Ignacio, Xieyuanli Chen, Nived Chebrolu, Jens Behley, and Cyrill Stachniss. "Poisson Surface Reconstruction for LiDAR Odometry and Mapping." In 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2021. http://dx.doi.org/10.1109/icra48506.2021.9562069.
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Hess, Jurgen, Maximilian Beinhofer, Daniel Kuhner, Philipp Ruchti, and Wolfram Burgard. "Poisson-driven dirt maps for efficient robot cleaning." In 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2013. http://dx.doi.org/10.1109/icra.2013.6630880.
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Barabash, Oleg, Andrii Musienko, Andriy Makarchuk, Salanda Ivanna, Dmytro Obidin, and Oleg Ilin. "Abel-Poisson Partial Sums in Signal Theory." In 2024 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA). IEEE, 2024. http://dx.doi.org/10.1109/hora61326.2024.10550475.
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Petrouš, Matej, Evženie Suzdaleva, and Ivan Nagy. "Modeling of Passenger Demand using Mixture of Poisson Components." In 16th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS - Science and Technology Publications, 2019. http://dx.doi.org/10.5220/0007831306170624.
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Uglickich, Evženie, Ivan Nagy, and Matej Petrouš. "Prediction of Multimodal Poisson Variable using Discretization of Gaussian Data." In 18th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS - Science and Technology Publications, 2021. http://dx.doi.org/10.5220/0010575006000608.
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Uglickich, Evženie, Ivan Nagy, and Matej Petrouš. "Prediction of Multimodal Poisson Variable using Discretization of Gaussian Data." In 18th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS - Science and Technology Publications, 2021. http://dx.doi.org/10.5220/0010575000002994.
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Choudhury, Sanjiban, Sebastian Scherer, and Andrew Bagnell. "Theoretical Limits of Speed and Resolution for Kinodynamic Planning in a Poisson Forest." In Robotics: Science and Systems 2015. Robotics: Science and Systems Foundation, 2015. http://dx.doi.org/10.15607/rss.2015.xi.005.
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Qian, Huimin, Jun Zhou, Xinbiao Lu, and Xinye Wu. "Human activities recognition based on poisson equation evaluation and bidirectional 2DPCA." In 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV). IEEE, 2014. http://dx.doi.org/10.1109/icarcv.2014.7064404.