Дисертації з теми "Robot continu"
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1
Mauzé, Benjamin. "Triskèle-Bot : étude et développement d'un robot parallèle continu pour le micro-positionnement." Thesis, Bourgogne Franche-Comté, 2021. http://www.theses.fr/2021UBFCD006.
Анотація:
Les robots parallèles continus (RPC) sont de nouvelles structures qui présentent un grand intérêt en termes de souplesse, d’espace de travail ou encore de miniaturisation, mais qui ne sont pas connus pour leur précision. Cette thèse étudie le potentiel des RPC pour le positionnement à haute précision demandant un espace de travail conséquent. Pour cela, un nouveau concept de RPC planaire à 3 degrés de liberté, nommé Triskèle-Bot, constitué d’une plateforme et de trois bras flexibles continument déformables actionnés en translations, est proposé. Pour étudier son comportement, un modèle géométrique directe et inverse sont établis à partir d’une résolution numérique d’un système d’équations aux dérivées partielles non-linéaires, fondées sur une modélisation de poutre de Kirchhoff, contraintes aux conditions limites. Un prototype est développé de manière à valider ces modèles tout en offrant une répétabilité intrinsèque et une manière innovante de mesurer les paramètres intrinsèques et extrinsèques au robot. Un protocole de mesure par vision est proposé pour réduire les nombreuses sources d’incertitudes inhérentes à l’échelle microscopique et obtenir, ainsi, des mesures de poses avec un bruit de mesure inférieur à la dizaine de nanomètres. Il est utilisé pour mesurer expérimentalement la répétabilité du Triskèle-Bot qui atteint 9,13 nanomètres en position et 0,71 microradians en orientation. Une étude de la justesse de pose, faisant suite à une stratégie originale d’étalonnage, est réalisée sur plusieurs trajectoires montrant des valeurs inférieures à 4 micromètres et 0,6 milliradians. L’ensemble de ces résultats démontre le potentiel des PCR pour des applications de micro-positionnementParallel Continuum Robots (PCR) are new structures that present great interest in terms of workspace or miniaturization, but they are not known for their precision. This thesis studies the potential of RPCs for high precision positioning requiring a consequent workspace. For this purpose, a new concept of planar RPC with 3 degrees of freedom called Triskèle-Bot, composed of a mobile platform and three flexible continuously deformable limbs driven by linear actuators, is proposed. To study its behavior, direct and inverse geometric models are created by a numerical resolution of a system of non-linear partial derivative equations (based on a Kirchhoff beam model) constrained to boundary conditions. A prototype is built to validate these models while offering intrinsic repeatability and an innovative way to measure the intrinsic and extrinsic parameters of the robot. A vision measurement protocol is proposed to minimize the numerous sources of uncertainty inherent to the microscopic scale, and thus obtain measurements of poses with less than ten nanometers of uncertainties. This protocol is used to experimentally measure the repeatability of the Triskele-Bot which reaches 9.13 nanometers in position and 0.71 microradians in orientation. A study of the robot’s accuracy, resulting from an original strategy of calibration, is performed on several trajectories exhibiting values lower than 4 micrometers and 0.6 milliradians. All these results demonstrate the potential of PCR for micro-positioning applications
2
Chiappa, Caroline. "Définition et mise en oeuvre d'une structure de commande numérique d'actionneur électrique : application à la motorisation d'un robot mobile." Toulouse, INPT, 1989. http://www.theses.fr/1989INPT053H.
Анотація:
Dans ce travail l'auteur definit la structure de commande d'un systeme electrique complexe base sur l'utilisation des techniques numeriques. La motricite de la plateforme est assuree par deux moteurs a courant continu non lies mecaniquement, alimentes par des bacheurs quatre quadrants fonctionnant a frequence et rapport cyclique variables. Chaque moteur est commande en couple par le controle du courant d'induit. Cette fonction est assuree par deux microprocesseurs 6809b associes a differents interfaces specialises, entierement programmables tel qu'un automate de commande rapprochee, un estimateur de courant moyen. Un microprocesseur 68000 prend en charge les regulations de vitesse de chaque machine a courant continu et la gestion sequentielle des phases d'initialisation, de protection et d'arret de la plateforme. Un certain nombre de ces protections fonctionnant selon le principe de l'arc reflexe sont integrees au systeme. Toute l'etude est accompagnee de resultats de simulation et de resultats experimentaux
3
Diezinger, Matyas. "Estimation de forces par vision dans les robots continus." Electronic Thesis or Diss., Bourgogne Franche-Comté, 2023. http://www.theses.fr/2023UBFCD061.
Анотація:
Dans le domaine de la robotique, la recherche sur les architectures flexibles et continûment déformables est en plein essor. Ces robots continus proposent des solutions adaptées à des domaines tels que la chirurgie, la navigation dans des environnements étroits ou la micromanipulation. Le développement de robots continûment déformables fait cependant face à plusieurs verrous scientifiques majeurs. En effet, la conception, la modélisation, la stabilité et le contrôle de robots déformables sont d'autant plus complexes qu'ils présentent un nombre infini de degrés de libertés et de configurations. Cette thèse propose plusieurs solutions pour améliorer la commande de robots continus en introduisant des techniques extéroceptives d'estimation de pose et de force. Les formes sont estimées par vision tandis que les forces sont estimées à partir des déformations en utilisant les lois de comportement des éléments déformables.La première méthode développée permet d'estimer les forces et moments appliqués au robot à partir des courbrures de ses jambes élastiques. La stéréovision est utilisée pour reconstruire une jambe de robot continu. Le nuage de points obtenu est ensuite transformé en une courbe orientée par un repère de Frenet de telle sorte que la courbure et la torsion soient connues en tous points. Les moments internes sont estimés à partir de ces courbures et torsions, connaissant les paramètres mécaniques de la jambe de robot. Finalement, l'équilibre statique de chaque section de la jambe en termes de moment donne un système redondant dont la résolution permet de remonter à la force et au moment externes. Cette méthode, validée en simulation puis expérimentalement sur des tiges encastrées libres donne des résultats très précis en regard des méthodes concurrentes de la littérature. Elle est également rapide car elle ne nécessite aucune optimisation, et prend en compte les grandes déformations. La validation montre cependant des limites sur les formes présentant des torsions importantes, et une grande dépendance aux bruits de mesure.La seconde méthode s'appuie sur l'asservissement virtuel d'un modèle numérique du robot grâce à un retour visuel de deux caméras, cette fois sans reconstruction 3D. Cette estimation de force est fondée sur l'utilisation d'un modèle à éléments finis de la jambe de robot. Le modèle fournit deux images, réalisées par des caméras virtuelles ayant les mêmes caractéristiques que les caméras réelles. Ces paires d'images réelles et virtuelles sont comparées au moyen d'un critère de similarité utilisant l'information mutuelle afin de quantifier leur ressemblance. L'estimation de la force se fait donc par optimisation en modifiant les forces et moments appliqués au modèle numérique jusqu'à maximiser le critère de similarité. Cette seconde méthode est également validée en simulation et expérimentalement, donnant des résultats satisfaisants dans les deux cas. L'asservissement visuel virtuel permet d'être moins dépendant aux bruits de mesure et d'obtenir des résultats cohérents dans tous les cas, au dépend cependant de la vitesse d'exécution.La seconde méthode a été appliquée à un robot parallèle continu conçu et fabriqué dans ce but. Ce robot, baptisé TriRod, est un robot à trois jambes flexibles fixées à des bras rigides actionnés en rotation. Le modèle numérique du TriRod a été développé avec l'outil de modélisation SOFA qui a permis d'estimer avec succès les variables d'actionnement puis les forces externes qui lui sont appliquées en utilisant le retour visuelIn the robotic research community, the field of flexible and continuously deformable robotics is very active. Continuum robotics offer advanced solutions for fields such as surgery, narrow spaces navigation and micromanipulation. However, the development of continuously deformable robots faces several major scientific challenges. Indeed, the design, modeling, stability and control of deformable robots are all the more complex as they present an infinite number of degrees of freedom and configurations. This thesis proposes several solutions to improve continuum robots control by introducing exteroceptive techniques of pose and force estimation. Shapes are estimated by vision, while forces are estimated from deformations using the behavior laws of deformable elements.The first method developed allows to estimate forces and moments applied to a robot by using the curvature of its elastic legs. Stereovision is used to reconstruct a continuous robot leg. The resulting point cloud is then transformed into an oriented curve using the Frenet frame, so that curvature and torsion are known at all points. Internal moments are estimated from these curvatures and torsions, knowing the mechanical parameters of the robot leg. Finally, the static equilibrium of moments of each section of the leg yields a redundant system, the resolution of which gives the external force and moment. This method, validated in simulation and then experimentally on cantilever rods, gives results that are highly accurate compared to concurrent methods from the literature. It is also fast as it does not require optimization, and handles large deformations. However, the validation shows limitations on shapes with significant torsion, and shows a high degree of dependence on measurement noise.The second method also relies on virtual servoing of a numerical model of the robot using visual feedback from two cameras, this time without 3D reconstruction. This force estimation is based on a finite element model of the robot leg. The model provides two images created with virtual cameras with the same parameters as the real ones. These pairs of real and virtual images are compared using a criterion based on mutual information to quantify their similarity. The force estimation is then performed by optimization. The forces and moments applied to the numerical model are modified until the similarity criterion is maximized. This second method has also been validated in simulation and experimentally, giving satisfactory results in both cases. The virtual visual servoing makes the method less dependent on measurement noise and gives consistent results in any situation, at the cost of a high execution time.As the second method was applied to a continuous parallel robot designed and manufactured for this purpose. This robot, named TriRod, is a robot with three flexible legs attached to rigid rotative arms. The numerical model of the TriRod was developed with the SOFA modelling tool that allowed to successfully estimate the actuation variables and then the external forces applied to it, using the visual feedback
4
Alric, Matthieu. "Conception et modélisation modulaire d'un robot bio-inspiré extensible pour l'accès aux tumeurs dans le cerveau." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2009. http://tel.archives-ouvertes.fr/tel-00724718.
Анотація:
Intégrés dans un projet de développement d'un système multit-robots de neurochirurgie mini-invasive pour l'ablation de tumeurs, ces travaux ont pour objectif la conception et modélisation d'un robot déployable dans le cerveau, selon des trajectoires curvilignes, sans espace libre autour de sa structure et sans guide naturel pour aider à sa progression. Après définition de la tâche de déploiement, un état de l'art recense un large panel de concepts et une évaluation sélectionne un concept continu bio-inspiré des trompes d'éléphant. La solution modulaire du robot est définie et modélisée géométriquement en associant une chaîne cinématique aux mobilités continues du robot. Une statégie de déploiement, reposant sur une succession ordonnée d'extensions/rétractions locales pour une élongation itérative du robot est formalisée pour le cas générique à N modules, puis validée par des plans de simulations de robots ayant 1 à 3 modules (erreur de suivi inférieure à un mm). Sur un modèle d'étude de gels d'agar (texture proche du cerveau), les efforts de pénétration du robot dans le cerveau sont estimés, puis la conception CAO et la programmation d'un démonstrateur à ressorts sont réalisées. Une interface homme/machine, simulant et commandant le robot, est programmée et des tests sont effectués pour valider certains aspects du déploiement. Un deuxième démonstrateur actionné pneumatiquement est à finaliser pour procéder à une étude comparative des deux prototypes. Même si des perspectives d'amélioration restent à explorer, les résultats obtenus sont encourageants. Un travail collaboratif entre spécialistes de différents domaines devrait conduire à l'optimisation de ce robot de déploiement.
5
Escande, Adrien. "Planification de points d'appui pour la génération de mouvements acycliques : application aux humanoïdes". Phd thesis, Université d'Evry-Val d'Essonne, 2008. http://tel.archives-ouvertes.fr/tel-00876535.
Анотація:
Un système tel qu'un humanoïde est sous-actionné et hyper-redondant. Il ne peut se mouvoir qu'à travers les interactions qu'il a avec son environnement, c'est-à-dire des contacts, et se déplace dans un espace de configuration de très grande dimension. Le besoin de rechercher des contacts pour assurer la locomotion implique que tout objet de l'environnement peut être considéré comme un support potentiel. En cela, on s'éloigne des hypothèses classiques de la planification de mouvement où les objets sont des obstacles a éviter. Ces objets prennent, dans le cadre d'un humanoïde, le double statu d'obstacle et support. L'objectif de nos travaux est de construire un planificateur de mouvement qui sache prendre en compte cette dualité. Nous proposons une approche qui travaille directement dans l'espace des contacts. Pour cela nous développons tout d'abord des outils qui permettent le passage entre l'espace contacts et celui des configurations : un générateur de posture qui permet la projection sur des sous-variétés de l'espace de configuration, et un nouveau type de volumes englobants, nommé S TP-BV, donnant la possibilité d'inclure l'évitement de collision dans la génération de posture. Nous détaillons ensuite l'architecture générale et les divers modules de notre planificateur de conctacts avant d'en montrer les résultats en simulation puis sur un robot HRP-2.
6
Ali, Shaukat. "Newton-Euler approach for bio-robotics locomotion dynamics : from discrete to continuous systems." Phd thesis, Ecole des Mines de Nantes, 2011. http://tel.archives-ouvertes.fr/tel-00669588.
Анотація:
This thesis proposes a general and unified methodological framework suitable for studying the locomotion of a wide range of robots, especially bio-inspired. The objective of this thesis is twofold. First, it contributes to the classification of locomotion robots by adopting the mathematical tools developed by the American school of geometric mechanics.Secondly, by taking advantage of the recursive nature of the Newton-Euler formulation, it proposes numerous efficient tools in the form of computational algorithms capable of solving the external direct dynamics and the internal inverse dynamics of any locomotion robot considered as a mobile multi-body system. These generic tools can help the engineers or researchers in the design, control and motion planning of manipulators as well as locomotion robots with a large number of internal degrees of freedom. The efficient algorithms are proposed for discrete and continuous robots. These methodological tools are applied to numerous illustrative examples taken from the bio-inspired robotics such as snake-like robots, caterpillars, and others like snake-board, etc.
7
Cores, Vitor Finotto. "Robô contínuo telescópico para tarefas em alturas elevadas." Universidade de São Paulo, 2009. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-07082009-102547/.
Анотація:
Observando-se as diversas aplicações de robôs na área de serviços é possível perceber uma crescente busca por manipulação de ferramentas em lugares elevados utilizando dispositivos robóticos, visto que tais tarefas exigem a utilização de diversos equipamentos de segurança e apresentam um alto risco à presença humana. Os exemplos mais comuns desse tipo de tarefa são: inspeção de: máquinas de grande porte, tanques de armazenamento, silos, postes, linhas de transmissão e distribuição de energia elétrica, etc. Com o intuito de aplicar robôs a essas tarefas, e consequentemente aumentar a segurança e eficiência dessas operações, foi realizado, primeiramente neste trabalho, um estudo sobre as classes de robôs manipuladores existentes. Para tanto adotou-se uma classificação que separa os robôs de acordo com o número de juntas, o que gera uma divisão em três diferentes grupos, robôs discretos, robôs do tipo serpente e robôs contínuos. Ao analisar as três classes, observa-se que os robôs contínuos possuem mais graus de liberdade que os outros grupos, apresentando como estrutura uma coluna vertebral continuamente deformável, que em oposição aos tradicionais manipuladores robóticos elo/junta/elo, possuem mecanismos mais simplificados, controle menos complexo devido ao menor número de atuadores e podem interagir com obstáculos encontrados em seu ambiente sem criar grandes forças de contato. Ao utilizar configurações extrínsecas, ou seja, posicionando os atuadores fora da estrutura do robô, e transmitindo o movimento utilizando cabos, é possível construir robôs com alta isolação elétrica, o que é de grande utilidade para operações que envolvem tarefas nas proximidades de redes elétricas de alta tensão. Apesar das diversas vantagens, não foram encontradas na literatura aplicações de robôs contínuos na realização de tarefas em alturas elevadas. Levando em consideração as vantagens oferecidas pelos robôs contínuos, este trabalho propõe o estudo e a aplicação de um robô do tipo contínuo que possua uma arquitetura mais adequada para realizar trabalhos a alturas elevadas. Com o intuito de demonstrar as vantagens oferecidas por essa arquitetura, será realizado um estudo de caso no qual o objeto a ser inspecionado são as cruzetas de madeira em postes de distribuição de energia elétrica. Em uma segunda etapa, elabora-se o projeto mecânico do robô contínuo proposto, onde são detalhados os mecanismos propostos e são feitas simulações utilizando o método dos elementos finitos para analisar o comportamento da estrutura quando submetida a carregamentos. Em uma terceira etapa, adotando-se uma estratégia de controle seqüencial é elaborado o projeto de controle. Em uma ultima etapa, com o intuito de analisar o funcionamento do robô é construído um protótipo, com o qual são feitos os testes.Among several applications of robots in the service field, it is possible to percept an increasing interest in manipulate tools in higher positions using automatic devices, due to the fact that such activities are high risked operations and demands the use of several safety equipments. The most common examples of this kind of activity are the inspection of machines, silos, electrical distribution poles, etc. With the aim of apply robots to these activities and increase the safety and efficiency in these operations, as a first step in this work is done the study of different kinds of manipulators. Adopting a classification based on the number of joints, it is possible to separate robots in three different classes: discrete robots, snake-like robots and continuum robots. By analyzing these classes, it is possible to say that continuum robots have more degrees of freedom than the robots of others groups; Compared with the classic discrete robots, continuum robots have simplified mechanisms, simpler control scheme due to the small number of actuators and, in the case of an obstacle, they can contour the obstacle without generating high contact forces. By positioning the actuators out of the robot structure and transferring the motion using cables, i.e., adopting an extrinsic actuation, it is possible to build continuum robots with high electric insulation that is important in applications in which the robot must work near of an electrical distribution network. Despite these advantages, no previous works concerning the use of continuum robots to work in higher positions were found in the literature. Considering the advantages offered by continuum robots, this work proposes a study and application of a continuum robot that uses a more suitable architecture to work in higher positions. Aiming to demonstrate the advantages provided by this architecture, It will be used a case study, in which, the object to be inspected is the wood cross-arms of an electrical poles used in the electrical distribution networks. In a second step, it is done the mechanical project of the robot, where the proposed mechanisms are explained and structural simulations using the finite element method are performed in order to analyze how the structure would react to loads. In a third step, by adopting a strategy of sequential control, it is done the control project. In the last step, with the aim of analyze the robot in practical situation, a prototype is built, which is used to perform the tests.
8
Chikhaoui, Mohamed Taha. "Nouveaux concepts de robots à tubes concentriques à micro-actionneurs à base de polymères électro-actifs." Thesis, Besançon, 2016. http://www.theses.fr/2016BESA2035/document.
Анотація:
L’utilisation de systèmes robotiques pour la navigation dans des zones confinées pose des défis intéressants sur les thèmes de conception, de modélisation et de commande, particulièrement complexes pour les applications médicales. Dans ce contexte, nous introduisons un nouveau concept de robots continus, fortement prometteurs pour des applications biomédicales, dont la forme complexe, la dextérité et la capacité de miniaturisation constituent des avantages majeurs pour la navigation intra corporelle. Parmi cette classe, les robots à tubes concentriques (RTC), qui constituent notre point de départ, sont améliorés grâce à un actionnement embarqué innovant. Nos travaux s’articulent autour de deux thématiques aux frontières de l’état de l’art. D’une part, nous avons proposé une modélisation générique et conduit une analyse cinématique approfondie de robots continus basés sur l’architecture des RTC standards et ceux avec changement de courbure de leurs tubes dans deux variantes : courbures unidirectionnelle et bidirectionnelle. D’autre part, leur commande cartésienne en pose complète est introduite avec une validation expérimentale sur un prototype développé de RTC standard, ainsi que les simulations numériques d’une loi de commande comprenant la gestion de la redondance des RTC à changement de courbure. D’autre part, nous avons effectué la synthèse, la caractérisation et la mise en œuvre de micro-actionneurs souples basés sur les polymères électro-actifs (PEA), intégrés pour la première fois dans un robot continu.Ainsi, l’asservissement visuel d’un prototype de robot télescopique souple est proposé avec des précisions atteignant 0.21 mm sur différentes trajectoiresMajor challenges need to be risen in order to perform navigation in confined spaces with robotic systems in terms of design, modeling, and control, particularly for biomedical applications. Indeed,the complex shape, dexterity, and miniaturization ability of continuum robots can help solving intracorporeal navigation problems. Within this class, we introduce a novel concept in order to augment the concentric tube robots (CTR) with embedded actuation. Our works hinge on two majorcutting-edge thematics. On the one hand, we address modeling and kinematics analysis of standard CTR as well as variable curvature CTR with their two varieties : single and double bending directions.Furthermore, we perform the experimental validation of Cartesian control of a CTR prototype, anda task hierarchy based control law for redundancy resolution of CTR with variable curvatures. Onthe other hand, we develop the synthesis, the characterization, and the integration of soft microactuatorsbased on electro-active polymers (EAP) for the first time in a continuum robot. Thus, thevisual servoing of a telescopic soft robot is performed with precisions down to 0.21 mm following different trajectories
9
Scheuer, Alexis. "Planification de chemins à courbure continue pour robot mobile non-holonome." Phd thesis, Grenoble INPG, 1998. http://tel.archives-ouvertes.fr/tel-00001746.
Анотація:
Le travail présenté dans cette thèse vise à améliorer la planification de chemins pour un robot similaire à une voiture. Ainsi, seul l'aspect géométrique du mouvement est considéré (les vitesses sont ignorées) et le robot est soumis à deux contraintes qui limitent ses déplacements : sa direction instantanée de déplacement reste parallèle à son axe principal, et son rayon de braquage est minoré. Les travaux antérieurs sur ce sujet n'ont donné lieu qu'à des solutions produisant des chemins (dits chemins de Dubins) formés d'arcs de cercles de rayon minimum reliés tangentiellement par des segments. Ces chemins sont localement optimaux, mais la discontinuité de leur courbure ne permet pas à un véhicule de les suivre correctement (le véhicule doit s'arrêter à chaque discontinuité pour réorienter ses roues directrices). C'est pourquoi on a développé une approche qui permet de produire des chemins ayant un profil de courbure continu et une dérivée bornée de la courbure (cette dernière contrainte correspond au fait que la vitesse de rotation du volant du véhicule est elle aussi bornée). La contribution majeure de cette thèse est donc de définir des chemins respectant ces contrain tes, tout en étant très proches des chemins de Dubins localement optimaux. Ce mémoire de thèse est constitué de trois parties. La première s'appuie sur une analyse de l'existant en matière de planification de chemins en robotique mobile, pour fixer précisément les caractéristiques du problème de planification abordé (en termes de commandabilité du robot et de nature des chemins optimaux) et pour justifier l'approche choisie. La seconde partie du mémoire de thèse présente une première approche de planification de chemins à courbure continue, dans laquelle seule la contrainte de continuité de la courbure est ajoutée au problème classique de planification de chemins sans manoeuvre. La dernière partie du mémoire de thèse reprend dans son intégralité le problème énoncé dans la première partie, et propose une solution sous-optimale. Dans les parties deux et trois, un planificateur local (non complet) est d'abord défini, puis un planificateur global (complet) est construit à partir de ce planificateur local. Les résultats obtenus sont illustrés par des expérimentations en simulation et sur véhicule.
10
Iqbal, Muhammad Sohail. "Continuum robot modeling with guaranteed approach." Thesis, Paris Est, 2010. http://www.theses.fr/2010PEST1027.
Анотація:
Contrairement aux robots conventionnels, les robots continuums ne possèdent ni de liaisons discrètes, ni de corps rigides. Leur courbure est continue, similaire à celle des trompes ou des tentacules animales. Le développement de ce type de robots pour les applications médicales soulève plusieurs problèmes : optimisation de la conception, modélisation cinématique, choix des capteurs et commande en temps réel. Les techniques actuelles pour la modélisation des robots continuums ne tiennent pas compte les incertitudes inhérentes au système. La prise en compte de ces incertitudes est d'une importance cruciale pour la certification de tels robots utilisés pour les gestes chirurgicaux. Dans cette thèse, nous considérons un micro robot continuum à 3 actionneurs. Ce robot a été développé au laboratoire LISSI pour le traitement des anévrismes de l'aorte abdominale par chirurgie mini-invasive. Dans ce type de chirurgie, il est important de disposer d'un modèle cinématique garanti du robot continuum prenant en compte différents types d'incertitudes. Pour traiter ce problème, nous utilisons les techniques d'analyse par intervalles. Ces techniques permettent de résoudre des problèmes d'optimisation globale sous contraintes tout en prenant en compte des incertitudes aussi bien aléatoires que systématiques. La contribution de cette thèse porte sur la proposition d'un modèle cinématique d'un robot continuum prenant en compte des incertitudes liées à différents facteurs comme les erreurs d'arrondis, les erreurs paramétriques et les erreurs dues aux hypothèses de modélisation. Tout d'abord, nous développons les modèles géométriques direct et inverse du robot continuum sous forme de solutions de formes fermées. Ces solutions sont utilisées pour caractériser les différentes propriétés du robot comme la manipulabilité. Pour calculer la cinématique inverse garantie et optimale, nous appliquons une version améliorée de l'algorithme par séparation et évaluation (Branch and Bound). En considérant l'orientation du robot, la cinématique inverse est ramenée à la formulation et à la résolution par intervalles d'un problème d'optimisation sous contraintes. Les approches proposées sont validées par des simulations. Les résultats de cette thèse constituent un cadre général pour la modélisation garantie de la classe des robots continuums dont la forme est décrite par des actionneurs en flexion continueUnlike conventional robots, continuum robots do not contain any rigid link or any rotational joint but present a continuous bending in the structure through smooth motion. Development of this class of robot for their medical application presents a common set of problems : optimization of design, kinematic modeling, sensing choice, and their control in real time. Existing techniques for the modeling of continuum robots do not take system uncertainties into account. A proper handling of these uncertainties becomes of crucial importance for the certification of such robots used as medical devices. For our research, we consider a continuum robot that has been developed for the treatment of aortic aneurysm by Minimal Invasive Surgery (MIS), in LISSI Lab. In the context of MIS, it is very important to develop a guaranteed kinematic model of robot taking into account the different types of un-certainties. To handle this problem, we use the techniques of interval analysis. These techniques are capable of performing the global optimization and solving CSPs while taking into account the different uncertainties ; no matter, whether these uncertainties are random or systematic. Contribution of this thesis is proposal of a continuum robot's kinematic model that can take system uncertainties due to different factors such as rounding errors, parametric errors, and errors due to modeling assumptions. Initially, we develop the forward and inverse kinematics of the continuum robot in closed-form formulas. These derived formulas are used for the characterization of different properties of the robot such as manipulability. To find optimized guaranteed kinematics, we retained and applied an enhanced version of branch and bound algorithm. The inverse kinematics was formulated and resolved as a constrained optimization problem for robot's orientation. The proposed approaches are validated through simulations. The results of this thesis give rise to a general framework that is valid to handle the system uncertainties for the entire class of continuum robot that are shaped by continuously bending actuators
11
Thorapalli, Muralidharan Seshagopalan, and Ruihao Zhu. "Continuum Actuator Based Soft Quadruped Robot." Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-286348.
Анотація:
Quadruped robots can traverse a multitude of terrains with greater ease when compared to wheeled robots. Traditional rigid quadruped robots possess severe limitations as they lack structural compliance. Most of the existing soft quadruped robots are tethered and are actuated using pneumatics, which is a low grade energy source and lacks viability for long endurance robots. The work in this thesis proposes the development of a continuum actuator driven quadruped robot which can provide compliance while being un-tethered and electro-mechanically driven. In this work, continuum actuators are developed using mostly 3D printed parts. Additionally, the closed loop control of continuum actuators for walking is developed. Linear Quadratic Regulator (LQR) and pole placement based methods for controller synthesis were evaluated and LQR was determined to be better when minimizing the actuator effort and deviation from set-point. These continuum actuators are composed together to form a quadruped. Gait analyses on the quadruped were conducted and legs of the quadruped were able to trace the gaits for walking and galloping.Fyrfotarobotar kan lättare korsa en mängd olika terränger jämfört med hjulrobotar. Traditionella styva fyrfotarobotar har kraftiga begränsningar då de saknar strukturell följsamhet. De flesta befintliga mjuka fyrbenta robotar är kopplade till en eller flera kablar och drivs av pneumatik, vilket är en lågkvalitativ energikälla och lämpar sig inte för robotar med lång uthållighet. Arbetet i denna avhandling föreslår utvecklingen av en continuum ställdonsdriven fyrfotarobot, som ger följsamhet samtidigt som den ¨ar frånkopplad och elektromekaniskt driven. I detta arbete framställs continuum ställdon med mestadels 3D-printade delar. Dessutom utvecklas dessa ställdons slutna kontrolloop för gång. Linjärkvadratisk regulator (LQR) och metoder baserade på polplacering utvärderades för styrsyntes, och det fastställdes att LQR presterade bättre när man minimerar ställdonets ansträngning samt avvikelse från referensvärde. Continuum ställdon sammansattes för att bilda en fyrbent robot. Gånganalyser utfördes på roboten och dess ben kunde följa gång- och galopprörelser.
12
Zaccaria, Federico. "Contributions à l'analyse de la performance des robots parallèles continus." Electronic Thesis or Diss., Ecole centrale de Nantes, 2023. http://www.theses.fr/2023ECDN0045.
Анотація:
Les robots parallèles continus (RPCs) sont des manipulateurs utilisant plusieurs tiges flexibles disposées en parallèle et connectées à une plateforme rigide. Les RCPs promettent des capacités de charge et une précision plus élevée queles robots sériels continus, tout en gardant une grande flexibilité. Puisque le risque de blessure lors d’un contact accidentel entre un humain et un CPR devrait être réduit, les RCPs peuvent être utilisés dans des tâches collaboratives à grande échelle ou dans de tâches de chirurgie robotique assistée. Différentes architectures de RCP existent, mais la conception du prototype est rarement basée sur des considérations de performance, et la réalisation de RCPs est principalement à partir d’intuitions en utilisant d’architectures de manipulateurs parallèles rigides. Les thèmes de recherche de cette thèseportent sur l’analyse des performances des RCPs, et sur les outils nécessaires à une telle évaluation, ainsi que sur les algorithmes de calcul de leur espace de travail. En particulier, les stratégies de calcul de l’espace de travail pour les RCPs sont essentielles pour l’´évaluation de la performance, car l’espace de travail peut être utilisé comment un indice deperformance, par exemple pour des outils de conception optimale. Deux nouveaux algorithmes de calcul de l’espace de travail sont proposés dans ce manuscrit, le premier se concentrant sur le calcul du volume de l’espace de travail et la certification de ses résultats numériques, et le second sur le calcul des bords de l’espace de travail uniquement. Enraison de la nature ´élastique des RCPs, un indicateur de performance essentiel pour ces robots est la stabilité de leurs configurations d’équilibre. Cette thèse propose la validation expérimentale de l’´évaluation de la stabilité des équilibres sur un prototype réel, démontrant les limites de certaines hypothèses couramment utilisées. De plus, un indice de performance mesurant la distance à l’instabilité est proposé dans ce manuscrit. Contrairement à la majorité des approches existantes, l’avantage évident de l’indice proposé est une signification physique bien définiContinuum parallel robots (CPRs) are manipulators employing multiple flexible beams arranged in parallel and connected to a rigid endeffector. CPRs promise higher payload and accuracy than serial CRs while keeping great flexibility. As the risk of injury during accidental contact between a human and a CPR should be reduced, CPRs may be used in large-scalecollaborative tasks or assisted robotic surgery. There exist various CPR designs, but the prototype conception is rarely based on performance considerations, and the CPRs realization in mainly based on intuitions or rigid-link parallel manipulators architectures. This thesis focuses on the performance analysis of CPRs, and the tools needed for such evaluation, such as workspace computation algorithms. In particular, workspace computation strategies for CPRs are essential for the performance assessment, since the CPRs workspace may be used as a performance index or it can serve for optimal-design tools. Two new workspace computation algorithms are proposed in this manuscript, the former focusing on the workspace volume computation and the certification of its numerical results, while the latter aims at computing the workspace boundary only. Due to the elastic nature of CPRs, a key performance indicator for these robots is the stability of their equilibrium configurations. This thesis proposes the experimental validation of the equilibrium stability assessment on a real prototype, demonstrating limitations of some commonly used assumptions. Additionally, a performance index measuring the distance to instability is originally proposed in this manuscript. Differently from themajority of the existing approaches, the clear advantage of the proposed index is a sound physical meaning; accordingly, the index can be used for a more straightforward performance quantification, and to derive robot specifications
13
Stråle, Petra. "”Fuck society” : - Mr. Robot som samtida dystopi." Thesis, Örebro universitet, Institutionen för humaniora, utbildnings- och samhällsvetenskap, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-55119.
Анотація:
TITLE: ”Fuck society” SUB-HEADING: Mr. Robot som samtida dystopi. AUTHOR: Petra Stråle. EXAMINER: Johan Nilsson. LEVEL: BA Thesis.SUBJECT: Media and communication science. INSTITUTE: Department of Humanities, Education and Social Sciences University of Örebro.PURPOSE: The thesis purpose is to examine how the television series Mr. Robot can be viewed as an dystopian work of fiction that depicts our present society. METHOD: Content analysis. RESULT: The results indicates that the television series Mr. Robot can not be categorized as a classical dystopia, but does, however, contain dystopian elements and is connected to different forms of dystopia, like the critical dystopia and the proto-dystopia.
14
Sherrod, Vallan Gray. "Design Optimization for a Compliant,Continuum-Joint, Quadruped Robot." BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/7766.
Анотація:
Legged robots have the potential to cover terrain not accessible to wheel-based robots and vehicles. This makes them better suited to perform tasks, such as search and rescue, in real-world unstructured environments. Pneumatically-actuated, compliant robots are also more suited than their rigid counterparts to work in real-world unstructured environments with humans where unintentional contact may occur. This thesis seeks to combine the benefits of these two type of robots by implementing design methods to aid in the design choice of a 16 degree of freedom (DoF) compliant, continuum-joint quadruped. This work focuses on the design optimization, especially the definition of design metrics, for this type of robot. The work also includes the construction and closed-loop control of a four-DoF continuum-joint leg used to validate design methods.We define design metrics for legged robot metrics that evaluate their ability to traverse unstructured terrain, carry payloads, find stable footholds, and move in desired directions. These design metrics require a sampling of a legged-robot's complete configuration space. For high-DoF robots, such as the 16-DoF in evaluated in this work, the evaluation of these metrics become intractable with contemporary computing power. Therefore, we present methods that can be used to simplify and approximate these metrics. These approximations have been validated on a simulated four-DoF legged robot where they can tractably be compared against their full counterparts.Using the approximations of the defined metrics, we have performed a multi-objective design optimization to investigate the ten-dimensional design space of a 16-DoF compliant, continuum-joint quadruped. The design variables used include leg link geometry, robot base dimensions, and the leg mount angles. We have used an evolutionary algorithm as our optimization method which converged on a Pareto front of optimal designs. From these set of designs, we are able to identify the trade-offs and design differences between robots that perform well in each of the different design metrics. Because of our approximation of the metrics, we were able to perform this optimization on a supercomputer with 28 cores in less than 40 hours.We have constructed a 1.3 m long continuum-joint leg from one of the resulting quadruped designs of the optimization. We have implemented configuration estimation and control and force control on this leg to evaluate the leg payload capability. Using these controllers, we have conducted an experiment to compare the leg's ability to provide downward force in comparison with its theoretical payload capabilities. We then demonstrated how the torque model used in the calculation of payload capabilities can accurately calculate trends in force output from the leg.
15
Allouche, Jean-Marc. "Etude de la problématique, méthologies et concepts d'un système de navigation autonome d'un véhicule : application au contrôle continu de route." Université Paul Cézanne (Aix-Marseille). Faculté des sciences et techniques de Saint-Jérôme, 1992. http://www.theses.fr/1992AIX30064.
16
Escande, Coralie. "Towards modeling of a class of bionic manipulator robots." Thesis, Lille 1, 2013. http://www.theses.fr/2013LIL10171/document.
Анотація:
Ce travail concerne une catégorie de robot mobile manipulateur omnidirectionnel bionique, en l’occurence le RobotinoXT qui dispose d’un manipulateur bionique CBHA monté sur un robot mobile omnidirectionnel, nommée Robotino. D’abord, nous avons proposé un modèle cinématique direct de ce système en utilisant une méthode nommée « arc geometry ». Celle-ci a été validée grâce à un banc d’expérimentation en ayant recours à une technique de trilatération. Pour atteindre cet objectif, les capteurs ont été calibrés. Concernant le problème de calibration des paramètres constants du modèle, il a été résolu en développant un algorithme d’optimisation incluant une méthode nommée SQP, validée via un manipulateur industriel à bras rigides. Puis, nous avons proposé un modèle cinématique inverse du CBHA en supposant que chaque vertèbre de celui-ci est assimilée à un robot parallèle. Ce modèle a été validé par les mesures réelles obtenues avec le manipulateur industriel, permettant la définition de l’espace de travail du robot. Enfin, nous avons implémenté une boîte à outils qui englobe les modèles développés dans ce travailThis work deals with a particular class of mobile omnidrive-bionic manipulator robot namely RobotinoXT. It contains a bionic manipulator Compact Bionic Handling Assistant (CBHA) mounted over a mobile omnidrive robot Robotino. We first proposed a forward kinematic model of such a system by using an “arc geometry” method which was validated through a test bench using a trilateration technique. To achieve this purpose, the sensors were calibrated. For the model’s constant parameters calibration problem, this latter was resolved by developing an optimization algorithm which incorporates a SQP method, validated via an industrial manipulator with rigid links. Then, we proposed an inverse kinematic model of the CBHA by assuming that each backbone of it, is assimilated to a parallel robot. This model was validated by real measurements obtained with the industrial manipulator, allowing defining the robot workspace. Finally, we implemented a toolbox which encompasses the models developed in this work
17
Santoso, Junius. "Toward Deployable Origami Continuum Robot: Sensing, Planning, and Actuation." Digital WPI, 2019. https://digitalcommons.wpi.edu/etd-dissertations/582.
Анотація:
Continuum manipulators which are robot limbs inspired by trunks, snakes, and tentacles, represent a promising field in robotic manipulation research. They are well known for their compliance, as they can conform to the shape of objects they interact with. Furthermore, they also benefit from improved dexterity and reduced weight compared to traditional rigid manipulators. The current state of the art continuum robots typically consists of a bulky pneumatic or tendon-driven actuation system at the base, hindering their scalability. Additionally, they tend to sag due to their own weight and are weak in the torsional direction, limiting their performance under external load. This work presents an origami-inspired cable-driven continuum manipulator module that offers low-cost, light-weight, and is inherently safe for human-robot interaction. This dissertation includes contributions in the design of the modular and torsionally strong continuum robot, the motion planning and control of the system, and finally the embedded sensing to close the loop providing robust feedback.
18
Mondou, Damien. "Gestion adaptative des contenus numériques : proposition d’un framework générique par apprentissage et re-scénarisation dynamique." Thesis, La Rochelle, 2019. http://www.theses.fr/2019LAROS029.
Анотація:
Cette thèse a pour objectif de proposer une architecture répondant aux problématiques de conception, de supervision, de pilotage et d’adaptation d’une expérience interactive. Nous proposons donc un framework complet destiné à faciliter la phase de modélisation d’un système interactif et garantissant une souplesse suffisante pour atteindre les objectifs de complexité, d’extensibilité, d’adaptabilité et d’amélioration par apprentissage automatique. Pour cela, le modèle formel, CIT, basé sur deux couches de description a été introduit. Le processus de supervision dynamique consiste à contrôler l’expérience interactive au regard du modèle formel, basé sur des réseaux d’automates temporisés à entrées/sorties. Deux plateformes logicielles, CELTIC (Common Editor for Location Time Interaction and Content) et EDAIN (Execution Driver based on Artificial INtelligence), implémentant respectivement le modèle CIT et le moteur de supervision de l’activité ont été développés au cours de cette thèseThis thesis aims to propose an architecture that addresses the design, supervision, management and adaptation of an interactive experience. We therefore propose a complete framework to facilitate the modeling phase of an interactive system and guarantee sufficient flexibility to achieve the objectives of complexity, scalability, adaptability and improvement through automatic learning. For this purpose, the formal model, CIT, based on two layers of description was introduced. The dynamic supervision process consists in controlling the interactive experience with regard to the formal model, based on networks of timed input/output automata. Two softwares, CELTIC (Common Editor for Location Time Interaction and Content) and EDAIN (Execution Driver based on Artificial INtelligence), implementing the CIT model and the activity supervision engine respectively, were developed during this thesis
19
Grenier, Martin. "Transmission à variation continue pour articulation robotique." Thesis, Université Laval, 2012. http://www.theses.ulaval.ca/2012/29394/29394.pdf.
20
Madrid, Marconi Kolm 1962. "Controle de trajetorias continuas por seccionamento em sub-trajetorias usando inteligencia artificial num robo multi-tarefas." [s.n.], 1994. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260367.
Анотація:
Orientador: Alvaro Geraldo Badan PalharesTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica
Made available in DSpace on 2018-07-19T08:09:45Z (GMT). No. of bitstreams: 1 Madrid_MarconiKolm_D.pdf: 18861386 bytes, checksum: d4434157e0bde8939db9aae9036e3a2a (MD5) Previous issue date: 1994
Resumo: Este trabalho de tese propõe uma técnica para a realização do planejamento e o controle de trajetórias espaciais de robôs através de uma abordagem que utiliza conhecimentos da inteligência artificial, como alternativa para realizar este tipo de tarefa, em tempo-real, mesmo que se utilizem sistemas eletrônicos de controle que não tenham grande capacidade computacional. Esta é uma técnica numérica que não exije o conhecimento da modelagem cinemática inversa do robô, daí a sua enorme vantagem computacional perante as técnicas clássicas de abordagem do problema, e até onde nossas pesquisas ch~garam, ela demostrou-se muito eficiente para o rastreamento veloz e preciso, tanto de trajetórias simples como de trajetórias definidas por equações de grande complexidade matemática. Além de intrinsicamente dar grande capacidade de recuperação do rastreamento frente à eventuais perturbações que o robô possa sofrer em sua estrutura física durante os movimentos. O estudo de tal assunto situa-se na área da Programação Heurística da Inteligência Artificial, e mais especificamente, ela utiliza algoritmos de busca que visam encontrar pelo menos uma solução de configuração estrutural do robô para rastrear trajetórias completas definidas dentro do seu volume de trabalho. Criamos uma filosofia para o gerenciamento da operação de robôs através de um modelo de interface homem-máquina traduzi da para um pacote de software apto para ser processado por um hardware eletrônico de dois níveis hierárquicos, que permite a realização do planejamento, da simulação, da execução, e da análise do desempenho dos robôs na execução de tarefas. Situamos o problema do planejamento e controle de trajetórias através de comentários sobre os assuntos envolvidos por esta área da robótica, baseados em pesquisas bibliográficas atualizadas, e através de nossa perspectiva para propor soluções. Apresentamos resultados de simulações que demonstram as potencialidades da técnica proposta, através da utilização do pacote de software criado, com comentários conclusivos baseados na utilização das características de um robô cuja construção evoluiu juntamente com este trabalho. E apresentamos novas perspectivas futuras de trabalho nesta linha de pesquisa
Abstract: Not informed.
Doutorado
Doutor em Engenharia Elétrica
21
Quach, Lucian. "Application of gestural guided continuum robots in orthopaedic surgery." Thesis, Queensland University of Technology, 2021. https://eprints.qut.edu.au/208080/1/Lucian_Quach_Thesis.pdf.
Анотація:
This thesis describes the design and control of snake like concentric tube robots for the purposes of minimally invasive, orthopaedic arthroscopic procedures, although similarities can be drawn in multiple surgical contexts. It analyses multiple aspects of delivering the technology, including different forms of robot hardware, the role of robots in surgery and different control modalities including gesture recognition. A prototype tube robot developed by the Australian Centre for Robotic Vision is tested and end user feedback provided to further refine its development.
22
Dang, Thi-Hai-Ha. "D'émotion et de GRACE : vers un modèle computationnel unifié des émotions : application à l'écoute musicale d'un robot danseur." Thesis, Evry-Val d'Essonne, 2012. http://www.theses.fr/2011EVRY0023/document.
Анотація:
Les psychologues (comme A. Damasio, K. R. Scherer, P. Ekman) ont montré que l’émotion est un élément essentiel dans la prise de décision, dans l’évolution des capacités d’apprentissage et de création, dans l’interaction sociale. Il est donc naturel de s'intéresser à l'expression d'émotions dans le cadre de l'interaction homme-machine. Nous avons proposé dans un premier temps le modèle GRACE, modèle générique des émotions pour les applications computationnelles. Nous nous sommes basés en particulier sur la théorie psychologique de K. R. Scherer, qui cherche à produire une théorie des processus émotionnels qui soit modélisable et calculable. La pertinence de notre modèle a été vérifiée et validée via une comparaison avec différents modèles computationnels existants. Si le modèle GRACE est générique, nous nous sommes attachés à montrer qu’il pouvait s’instancier dans un contexte particulier, en l’occurrence l’interaction homme-robot utilisant la modalité musicale. Nous nous sommes intéressés pour cela d’une part à la conception d’un module d’analyse du contenu émotionnel d’une séquence musicale, d’autre part à la conception de mouvements émotionnellement expressifs pour un robot mobile. Du point de vue de l’analyse musicale, la contribution principale de la thèse porte sur la proposition d’un ensemble réduit d’indicateurs musicaux et sur la validation du module d’analyse sur une base de données de grande taille conçue par un expert en musicologie. Du point de vue de la robotique, nous avons pu montrer expérimentalement qu’un robot avec des capacités expressives très limitées (déplacements, mouvements de caméra) pouvait néanmoins exprimer de manière satisfaisante un ensemble réduit d’émotions simples (joie, colère, tristesse, sérénité)Emotion, as psychologists argue (like A. Damasio, K. R. Scherer, P. Ekman), is an essential factor for human beings in making decision, learning, inventing things, and interacting with others. Based on this statement, researchers in Human-Machine Interaction have been interested in adding emotional abilities to their applications. With the same goal of studying emotional abilities, we propose, in our work, a model of emotions named GRACE, which helps in modelling emotions in computational applications. We based our model on the work of psychologist Klaus R. Scherer, who intensively searches to form a generic model of emotion applicable to computational domain (like informatics, robotics, etc.). We demonstrate the pertinence of our model by comparing it to other existing models of emotions in the field of informatics and robotics. In this thesis, we also worked on the instantiation of GRACE, in particular the components Cognitive Interpretation and Expression. These two components have been developed to be applied in the context of interacting with users using music. To develop Cognitive Interpretation, we worked on the extraction of emotional content in musical excerpts. Our contribution consists in proposing a reduced number of musical features to efficiently extract the emotional content in music, and in validating them via a learning system with a large database designed by a musicologist. For Expression, we have worked on the design of emotional moves of a mobile robot. Through very limited moves (moves in space, camera moves), we have shown that with dance-inspired motions, the robot could efficiently convey basic emotions (i.e. happiness, sadness, anger, serenity) to people
23
Ramos, Josue Junior Guimarães. "Geração de trajetorias continuas para robos manipuladores : aspectos cinematicos e computacionais." [s.n.], 1986. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260691.
Анотація:
Orientador: Clesio TozziTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica
Made available in DSpace on 2018-07-15T13:54:52Z (GMT). No. of bitstreams: 1 Ramos_JosueJuniorGuimaraes_D.pdf: 7860772 bytes, checksum: 6b6bd9992e12ba624bb8873987ce8459 (MD5) Previous issue date: 1986
Resumo: Uma das ferramentas para a automação em modernos sistemas de manufatura é o robô manipulador. Em diferentes tarefas de um robô manipulador como soldagem a arco, aplicação de adesivos, corte de peças, etc, é necessário que este execute diferentes formas de movimentos como retas, curvas. Neste sentido são necessárias técnicas para a realização destes movimentos. O princípio envolvido nestas técnicas é a transformação de movimentos do manipulador no espaço de trabalho para movimentos de cada uma das articulações do robô manipulador. O principal objetivo deste trabalho é tratar os aspectos cinemáticos e computacionais relacionados com a geração de trajetórias de robô manipuladores. Os principais aspectos tratados são: a problemática da transformação de uma posição e orientação espacial para os valores de cada articulação que satisfazem tal condição (transformada inversa), com aplicações a vários manipuladores, incluindo casos de degeneração e casos em que não se obtém uma solução analítica ... Observação: O resumo, na íntegra, poderá ser visualizado no texto completo da tese digital
Abstract: The robot rnanipulator ia a tool for the autornation in modern rnanufacturing systerns. In diferent robot tasks like arc welding, glueing, cutting, etc, the robot must execute diferent rnovernenta like straight lines, circles, etc. So, it is necessary the knowledge of technics to realize this kind of rnovernent.The principIe involved in these technics is the tranaformation of manipulator movements from the workspace to each manipulator joints. The rnain objective of this work is to treat kinernatics and computational features related to the trajectory generation for robot manipulators.This work contains: the transforrnation from a apatial position and orientation to each joint value that obtains the position (the Inverse Kinematics Problem), and the application to different manipulators, including degenerated situations and cases where it is not possible to obtain an analitical solution; the Inverse and direct Jacobian: methods to obtain and realationship between the orientation representaion and its dimension; the the presentation of technics for trajetory generation and their simulation and results obtained, including the proposition or variations; the controlers; presentation of the informatics structure ot some robots controlers; and, the characteristics description and results obtained with the implemmentationn of a controller for a robot arm with two degrees of freedom
Doutorado
Doutor em Engenharia Elétrica
24
Zaccaria, Federico. "Geometrico-static modelling of continuum parallel robots." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
Анотація:
In this thesis, we explore three methods for the geometrico-static modelling of
continuum parallel robots. Inspired by biological trunks, tentacles and snakes, continuum robot designs can reach confined spaces, manipulate objects in complex
environments and conform to curvilinear paths in space. In addition, parallel continuum manipulators have the potential to inherit some of the compactness and
compliance of continuum robots while retaining some of the precision, stability and
strength of rigid-links parallel robots.
Subsequently, the foundation of our work is performed on slender beam by applying the Cosserat rod theory, appropriate to model continuum robots.
After that, three different approaches are developed on a case study of a planar
parallel continuum robot constituted of two connected flexible links. We solve the
forward and inverse geometrico-static problem namely by using (a) shooting methods
to obtain a numerical solution, (b) an elliptic method to find a quasi-analytical
solution, and (c) the Corde model to perform further model analysis.
The performances of each of the studied methods are evaluated and their limits
are highlighted.
This thesis is divided as follows. Chapter one gives the introduction on the
field of the continuum robotics and introduce the parallel continuum robots that is
studied in this work. Chapter two describe the geometrico-static problem and gives
the mathematical description of this problem. Chapter three explains the numerical
approach with the shooting method and chapter four introduce the quasi-analytical
solution. Then, Chapter five introduce the analytic method inspired by the Corde
model and chapter six gives the conclusions of this work.
25
Morales, Bieze Thor. "Contribution to the kinematic modeling and control of soft manipulators using computational mechanics." Thesis, Lille 1, 2017. http://www.theses.fr/2017LIL10112/document.
Анотація:
Ce travail apporte de nouvelles méthodes pour la modélisation cinématique et le contrôle de manipulateurs continus et déformables, fondées sur la méthodes des éléments finis. À la différence des manipulateurs rigides, les manipulateurs continus et déformables engendrent leurs mouvements en se déformant, c'est pourquoi la méthode proposée prend en compte les déformations mécaniques pour mieux décrire la cinématique de ce genre de robots. Cette méthode n'apporte pas de solution analytique, mais une approximation numérique, par des méthodes dérivées de la mécanique numérique. La méthodologie est appliquée à un manipulateur continu, appelé "Compact Bionic Handling Assistant (CBHA)". Une stratégie de commande en boucle fermée, fondée sur l'allocation du contrôle, est également présentée. Les modèles et contrôleurs sont validés expérimentalementThis work provides new methods for the kinematic modeling and control of soft, continuum manipulators based on the Finite Element Method. Contrary to the case of rigid manipulators, soft and continuum manipulators generate their motion by deformation, therefore, the proposed methodology accounts for the deformation mechanics to better describe the kinematics of these type of robots. This methodology does not produce analytic solutions, instead, a numerical approximation is provided by methods derived from Computational Mechanics. The methodology is applied to a continuum manipulator, namely, the Compact Bionic Handling Assistant (CBHA). A closed-loop control scheme based on control allocation is also presented. The models and controller are validated experimentally
26
Kliś, Piotr. "Prognozowanie użytkowości krów na podstawie informacji z okresu okołoporodowego, rejestrowanych przez roboty udojowe." Rozprawa doktorska, Uniwersytet Technologiczno-Przyrodniczy w Bydgoszczy, 2021. http://dlibra.utp.edu.pl/Content/3217.
Анотація:
Celem badań była ocena możliwości wykorzystania informacji rejestrowanych przez automatyczny system doju (AMS) z okresu okołoporodowego krów do prognozowania ich użytkowości. Analizą objęto wyniki z 18055 dojów 524 krów rasy polskiej holsztyńskofryzyjskiej odmiany czarno-białej, które wycieliły się w 2016-2017. Dane liczbowe opracowano statystycznie z wykorzystaniem procedury MIXED, FREQ, CORR oraz Enterprise Miner 15.1 z pakietu SAS
27
Parseghian, Allen S. 1971. "Control of a simulated, three-dimensional bipedal robot to initiate walking, continue walking, rock side-to-side, and balance." Thesis, Massachusetts Institute of Technology, 2000. http://hdl.handle.net/1721.1/86619.
28
Vieira, Antonieta do Lago. "Desenvolvimento e implementação de controle de trajetoria continua em robo industrial de alto desempenho." [s.n.], 1996. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260368.
Анотація:
Orientador: Alvaro Geraldo Badan PalharesTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica
Made available in DSpace on 2018-07-21T14:48:40Z (GMT). No. of bitstreams: 1 Vieira_AntonietadoLago_D.pdf: 7176913 bytes, checksum: a11b266229b05cb5c490d05fef4ee376 (MD5) Previous issue date: 1996
Resumo: O presente trabalho apresenta o estudo do controle da trajetória da ponta do braço mecânico de um robô industrial, com três graus de liberdade: base deslizante, ombro e cotovelo. O trabalho mostra, também, o estudo do mecanismo diferencial, visando a sua aplicação no punho desse robô. O objetivo do controle de trajetória e do mecanismo diferencial é de dotar o robô com movimentos coordenados, que é o ponto de partida para os movimento orgânicos. O estudo do controle de trajetória inclui o desenvolvimento e a implantação de uma estratégia de controle autônoma e hierárquica para trajetórias contínuas, planares e espaciais, da ponta do braço mecânico. As características fundamentais dessa estratégia de controle de trajetória são as seguintes: - As trajetórias são expressas em forma analítica por uma equação matemática que as define; - o rastreamento da trajetória é baseado em uma lei de controle e o seu erro é corrigido através da função objetivo; - A velocidade tangencial é mantida constante. Obteve-se um avanço tecnológico considerável com o uso dessa estratégia de controle, em relação à técnica industrial atual, onde o rastreamento da trajetória da ponta do braço mecânico não é baseado numa lei de controle. O estudo do mecanismo diferencial é feito através do modelamento dos mecanismos de acionamentos, com duas e com três engrenagens e da análise dos movimentos rígido ou complacente que surgem quando esses mecanismos são acionados...Observação: O resumo, na íntegra, poderá ser visualizado no texto completo da tese digital
Abstract: This work proposes the study of the trajectory control of the extremity of the industrial robot mechanical arm, with three degrees of freedom: sliding base, shoulder and elbow. The work also shows the investigation of a differential mechanism, considering its application in the robot wrist. The objectives of the trajectory control and of the differential mechanism is to supply the robot with coordinated motions, which is the departing point for the organic motions. The study of trajectory control of the mechanical arm includes development and implementation of an autonomous and hierarchical control strategy for plainer and spatial continuous trajectories of the mechanical arm. The main characteristics in that trajectory control strategy are the following: - The trajectories are expressed in an analytical form defined by a mathematical equation; - The trajectory tracing is based in the control law, and its error is corrected by the objective function; - The tangential velocity is maintained constant throughout the movement. A great advance in technology was achieved with the use of that control strategy, in relation to the actual industrial technique, where the trajectory tracing of the mechanical arm cannot be based in a control law. The study of the differential mechanism was reached by modeling of driving mechanisms with two and three gears and the analysis of the rigid and compliant motions that arise when these mechanisms are driven...Note: The complete abstract is available with the full electronic digital thesis or dissertations
Doutorado
Doutor em Engenharia Elétrica
29
Su, Hao. "Force Sensing and Teleoperation of Continuum Robot for MRI-Guided Surgery." Digital WPI, 2013. https://digitalcommons.wpi.edu/etd-dissertations/156.
Анотація:
Percutaneous needle placement, a minimally invasive procedure performed dozens of millions in the U.S. each year, relies on dedicated skill and long-term training due to difficult control of needle trajectory inside tissue and mental registration of images to locations inside the patient. Inaccurate needle placement may miss cancer tumors during diagnosis or eradicate healthy tissue during therapy. MRI provides ideal procedure guidance with the merit of excellent soft tissue contrast and volumetric imaging for high spatial resolution visualization of targets and surgical tool. However, manual insertion in the bore of an MRI scanner has awkward ergonomics due to difficult access to the patient, making both training and intervention even harder.
To overcome the challenges related to MRI electromagnetic compatibility and mechanical constraints of the confined close-bore, a modular networked robotic system utilizing piezoelectric actuation for fully actuated prostate biopsy and brachytherapy is developed and evaluated with accuracy study. To enhance manipulation dexterity, two kinds of steerable continuum needle robots are developed. The asymmetric tip needle robot performs needle rotation and translation control to minimize tissue deformation, and increase steering dexterity to compensate placement error under continuous MRI guidance. The MRI-guided concentric tube robot is deployed to access delicate surgical sites that are traditionally inaccessible by straight and rigid surgical tools without relying on tissue reaction force. The master-slave teleoperation system with hybrid actuation is the first of its kind for prostate intervention with force feedback. The teleoperation controller provides the feel and functionality of manual needle insertion. Fabry- Perot interferometer based fiber optic force sensor is developed for the slave manipulator to measure needle insertion force and render proprioception feedback during teleoperation.
30
Fryziel, Laurent. "Modélisation et calibrage pour la commande d'un micro-robot continuum dédié à la chirurgie mini-invasive." Phd thesis, Université Paris-Est, 2010. http://tel.archives-ouvertes.fr/tel-00597719.
Анотація:
Dans cette thèse, nous nous sommes intéressés à l 'étude d'un micro-robot destiné à la mise en oeuvre d'une technique de chirurgie mini-invasive pour le traitement des anévrismes de l'artère aorte abdominale. Ce micro-robot placé à l'extrémité d'un cathéter, rendant ce dernier actif, permettra la navigation à l'intérieur de l'artère en évitant les contacts avec les parois de celle-ci. Le système sera destiné à l'apprentissage du geste chirurgical et à l'assistance du chirurgienpendant l'opération. De par sa structure et ses propriétés physiques, le micro-robot, pouvantêtre composé de plusieurs modules élémentaires, entre dans la catégorie des robots continuum. Dans notre étude, un module élémentaire est considéré comme étant un robot parallèle. Lesmodèles géométriques et cinématiques inverses ont alors été établis en utilisant les techniques dela robotique parallèle. L'approche de modélisation proposée permet de faire ressortir explicitement du modèle les paramètres géométriques du micro-robot. Une étude sur l'identificationde ces paramètres a été effectuée par le calibrage du modèle géométrique inverse. Des résultatsde simulation sont présentés validant d'une part les modèles développés et d'autre part la méthode de calibrage proposée. Afin de mettre nos modèles en situation, nous avons développé unsimulateur tridimensionnel intégrant le modèle d'un segment de l'artère, le modèle du micro-robotet un syntaxeur à retour de force. La mise en place d'une navigation active, planifiée etguidée dans ce simulateur permet de contraindre les gestes du chirurgien lors de la navigation du micro-robot à l'intérieur de l'artère
31
Piper, Allison. "Root Length Affects Soluble Carbon and Phosphorus in a Rotational Cropping System." Fogler Library, University of Maine, 2005. http://www.library.umaine.edu/theses/pdf/PiperA2005.pdf.
32
Melih, Kathy, and n/a. "Audio Source Separation Using Perceptual Principles for Content-Based Coding and Information Management." Griffith University. School of Information Technology, 2004. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20050114.081327.
Анотація:
The information age has brought with it a dual problem. In the first place, the ready access to mechanisms to capture and store vast amounts of data in all forms (text, audio, image and video), has resulted in a continued demand for ever more efficient means to store and transmit this data. In the second, the rapidly increasing store demands effective means to structure and access the data in an efficient and meaningful manner. In terms of audio data, the first challenge has traditionally been the realm of audio compression research that has focused on statistical, unstructured audio representations that obfuscate the inherent structure and semantic content of the underlying data. This has only served to further complicate the resolution of the second challenge resulting in access mechanisms that are either impractical to implement, too inflexible for general application or too low level for the average user. Thus, an artificial dichotomy has been created from what is in essence a dual problem. The founding motivation of this thesis is that, although the hypermedia model has been identified as the ideal, cognitively justified method for organising data, existing audio data representations and coding models provide little, if any, support for, or resemblance to, this model. It is the contention of the author that any successful attempt to create hyperaudio must resolve this schism, addressing both storage and information management issues simultaneously. In order to achieve this aim, an audio representation must be designed that provides compact data storage while, at the same time, revealing the inherent structure of the underlying data. Thus it is the aim of this thesis to present a representation designed with these factors in mind. Perhaps the most difficult hurdle in the way of achieving the aims of content-based audio coding and information management is that of auditory source separation. The MPEG committee has noted this requirement during the development of its MPEG-7 standard, however, the mechanics of "how" to achieve auditory source separation were left as an open research question. This same committee proposed that MPEG-7 would "support descriptors that can act as handles referring directly to the data, to allow manipulation of the multimedia material." While meta-data tags are a part solution to this problem, these cannot allow manipulation of audio material down to the level of individual sources when several simultaneous sources exist in a recording. In order to achieve this aim, the data themselves must be encoded in such a manner that allows these descriptors to be formed. Thus, content-based coding is obviously required. In the case of audio, this is impossible to achieve without effecting auditory source separation. Auditory source separation is the concern of computational auditory scene analysis (CASA). However, the findings of CASA research have traditionally been restricted to a limited domain. To date, the only real application of CASA research to what could loosely be classified as information management has been in the area of signal enhancement for automatic speech recognition systems. In these systems, a CASA front end serves as a means of separating the target speech from the background "noise". As such, the design of a CASA-based approach, as presented in this thesis, to one of the most significant challenges facing audio information management research represents a significant contribution to the field of information management. Thus, this thesis unifies research from three distinct fields in an attempt to resolve some specific and general challenges faced by all three. It describes an audio representation that is based on a sinusoidal model from which low-level auditory primitive elements are extracted. The use of a sinusoidal representation is somewhat contentious with the modern trend in CASA research tending toward more complex approaches in order to resolve issues relating to co-incident partials. However, the choice of a sinusoidal representation has been validated by the demonstration of a method to resolve many of these issues. The majority of the thesis contributes several algorithms to organise the low-level primitives into low-level auditory objects that may form the basis of nodes or link anchor points in a hyperaudio structure. Finally, preliminary investigations in the representations suitability for coding and information management tasks are outlined as directions for future research.
33
Louste, Christophe. "Conception d'une méthode de planification de déplacement pour robot mobile selon la méthode des milieux continus appliquée aux fluides visqueux incompressibles." Montpellier 2, 1999. http://www.theses.fr/1999MON20196.
Анотація:
Le travail presente dans cette these vise a ameliorer la planification de chemins pour robots mobiles evoluant sur terrains accidentes. Nous avons developpe une methode de planification originale basee sur les proprietes d'ecoulement des fluides visqueux qui construit des routes garantissant la securite du robot. Dans ce memoire de these, nous montrons que les fluides visqueux incompressibles s'ecoulent, de maniere naturelle, sous formes de canaux (routes) qui contournent les obstacles, evitent les impasses et circulent par toutes les issues possibles. Nous traitons le probleme de la construction de routes : entre deux points de l'espace (depart, arrivee), mais egalement dans le cas de missions a objectifs multiples, sur des espaces plan. Nous utilisons les forces de frottements exterieures pour optimiser la construction des routes en fonction des criteres de mission (recherche de la route la plus courte, minimiser la depense d'energie d'un vehicule,) mais egalement pour construire des routes a partir terrains reels en tenant compte de la denivellation et de la nature du sol. Nous comparons les resultats obtenus avec les chemins calcules par un algorithmes genetiques. Enfin, pour respecter les contraintes cinematiques des vehicules, nous minorons le rayon de courbure des routes construites grace a une variation locale de la viscosite. Nous tenons compte de la contrainte exercee par le milieu au moyen l'exemple d'une particule navigant dans le courant. Les resultats obtenus sont illustres par des simulations de planification.
34
Jia, Xue Jing. "Physicochemical properties and pharmacological activities of polysaccharides from Rhynchosia minima root." Thesis, University of Macau, 2018. http://umaclib3.umac.mo/record=b3952494.
35
Kosuta, Sonja A. "Movement of copper from in-ground root control fabrics." Thesis, McGill University, 1998. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=21582.
Анотація:
Copper hydroxide-treated surfaces are commonly used to control roots in horticultural production systems, although the particulars of Cu movement from the treated surface are largely unknown. The rate and temporal pattern of Cu mobility from in-ground Cu-treated growing baskets, and the fate of this Cu, was studied. In a field experiment involving Acer platanoides, an alternative Cu formulation consisting of Cu metal powder was determined to move slightly more slowly from the basket fabric than Cu(OH)2 over the first season while providing adequate root control. Addition of Glomus intraradices inoculum to the basket system increased the mobility of Cu metal and had no effect on Cu(OH) 2. This suggests that VAM fungi can actively solubilize Cu metal. These results also confirm that the chemistry of the Cu, possibly in addition to the chemistry of the resin, determines Cu movement from the treated surface. The fate of Cu from in-ground baskets planted with Acer jinnala was elucidated in a second field experiment. After one field season, the majority of Cu initially on the basket fabric had been deposited in the soil both in- and outside the basket. While Cu recovered in leachate represented only a tiny fraction of basket Cu, the concentration of Cu in leachate exceeded acceptable limits in the majority of samples. This indicates that the use of Cu(OH) 2-treated baskets in the field may have a negative impact on groundwater quality.
36
Bailly, Yan. "Modélisation et commande d'un micro-robot hybride : application à la pose d'endoprothèses aortiques en chirurgie mini-invasive." Phd thesis, Université Paris XII Val de Marne, 2004. http://tel.archives-ouvertes.fr/tel-00010033.
Анотація:
Pour améliorer le traitement endovasculaire des anévrysmes de l'aorte, nous préconisons d'adjoindre aux cathéters existants un nouveau micro-robot qui leurs confère une compliance active. Ce nouvel outil, nommé MALICA (Multi Active LInk CAtheter), est un robot hybride à déformation continue. Nous établissons son modèle statique direct sous forme analytique généralisable à un empilement de plusieurs robots. Son expression permet ensuite de calculer le modèle différentiel. Une étude de ses caractéristiques géométriques est alors menée (volume de travail, dextérité). Grâce à l'optimisation sous contraintes d'une fonction objective, nous parvenons à résoudre le modèle statique inverse de MALICA qui gère sa redondance intrinsèque. Nous mettons finalement en œuvre une commande en orientation par modèle variationnel d'un micro-robot. Nous évaluons ses performances dans différents cas de suivi de trajectoires et pour différents critères d'optimisation (courbure, énergie).
37
Reitano, Paul, and n/a. "From preservice to inservice teaching: a study of conceptual change and knowledge in action." Griffith University. School of Cognition, Language and Special Education, 2004. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20041110.134020.
Анотація:
It is argued in this thesis that pedagogical content knowledge is an essential knowledge base for effective teaching, and that its development may not depend on years of experience. The longitudinal study traced the knowledge growth of novice social science teachers, especially pedagogical content knowledge, over their final year of study and first year as practising teachers, and sought to answer the following questions: 1. What is the conceptual structure of effective social science teaching held by preservice and novice teachers? 2. To what extent is pedagogical content knowledge a component of this conceptual structure? 3. What is the importance of pedagogical content knowledge to preservice and novice teachers' conceptions of good practice? The study adopts the theoretical framework of Shulman's (1987) categorization of teacher knowledge. At a minimum, this includes general pedagogical knowledge components of (1)behaviour management, (2) teaching strategies, (3) personal beliefs, and (4)classroom communication; content knowledge; curriculum knowledge; knowledge of learners and learning; knowledge of educational contexts; educational ends, goals, and purposes and values; and, pedagogical content knowledge. The participants were ten preservice teachers in the final year of their Bachelor of Education (Secondary) studies. Four participants were post-graduate students: two held Bachelor of Applied Science degrees; one a Bachelor of Arts; and the other a Bachelor of Behavioural Science degree. Methods used to identify the participants' knowledge bases were a concept map of "effective social science teaching", a Think Aloud Protocol of the concept map, and video stimulated recall based on a lesson taught by the participant. Three sets of data were elicited during the phases of the study; at the end of the first semester in their final year of study; at the conclusion of that year; and after six months of independent teaching. A case study was constructed for each participant using an interpretive approach. The convergence of the data at each phase of the data collection provided the identification of each participant's knowledge base of teaching. The participants' conceptual structures of social science teaching over time indicated both consistency and change over time. Educational ends, goals, purposes and values and knowledge of learners and learning became significant components of the participants' conceptual structures on realization of teaching practice. The data showed that behaviour management was an important component of their conceptual structure of teaching throughout their development as social science teachers. Pedagogical content knowledge was also a consistent focus of participants' conceptual structure and indeed, on realization of independent teaching practice, most participants' pedagogical content knowledge showed greater links to other aspects of effective teaching than previously. The findings of the study indicate that pedagogical content knowledge does not develop only with experience, and that it can exist as a key component of effective teaching at the novice stage of their teaching. The study showed that novice teachers had a substantive as well as a procedural understanding of pedagogical content knowledge, and that they focused more on goals and purposes of learning and knowing the learner after they began teaching practice.
38
Rydelius, Evelina. "Min artificiella kärlek : Om att leva tillsammans med en artificiell individ, och om hur relationen representeras i och av filmad media." Thesis, Linköpings universitet, Institutionen för kultur och samhälle, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-177366.
Анотація:
It's known that advanced technologies with their own artificial intelligence (AI) are gaining a bigger part in our daily lives. This AI can be found in phones, in smart homes, and in cars. Furthermore, it can be found in anthropomorphic robots seen in healthcare and in the entertainment industry as two of many examples. These advanced robots have also taken their steps into our friendships, and our romantic and/or sexual lives, in which humans develop parasocial relationships to the robot, creating human-robot relationships. The media has taken a great interest in those relationships, which I’ll call “technosexual relationships”, in which a human is romantically and/or sexually involved with an artificial individual. Oftentimes the artificial individual takes the shape of a so called “sex doll/robot”, which makes the phenomenon of technosexual relationships somewhat controversial to many. Media representations of those relationships are of growing interest, as there’s public curiosity regarding the subject. By also observing how the artificial individual has been framed throughout its history in myths and popular culture in the form of tv-series and films, it becomes obvious that the idea of the artificial individual as a partner and/or lover is viewed as something negative and sometimes even dangerous, a view that has proven difficult to let go off. In this thesis, by asking three research questions and doing a media content analysis, I’m looking to answer how technosexuality “is being allowed” to exist in and by filmed media - focusing on five previously filmed interviews with technosexual persons and their artificial partner(s). The questions, inspired by Stuart Hall’s representation theory, are as follows: (1) How does the technosexual person speak about themselves?, (2) How does the media frame the technosexual person and the relationship during the interview?, (3) Does the conversation change from being about artificial sexuality as an individual phenomenon, to whether society's view on relationships and sexuality are going through a reformation? Results indicate that the technosexual person speaks of themselves as someone who simply prefers a partner that’s predictable and safe, and they usually speak of how they are happier now, in being together with their artificial partner. Furthermore, we can see that the media, to a certain extent, is allowing for the technosexual person and their artificial partner to tell their own story, but that some media producers are trying to manipulate the story being told by editing the story into angled contexts. Finally, we can see that technosexuality is an individual phenomenon that, much by the help of globalized media representation, has begun disrupting and challenges what earlier has been known as “the normal” human sexuality, splitting society into groups of “for” or “against” artificial relationships and their possible part in our understanding of what relationships and sexuality can be.
39
Singh, Inderjeet. "Curve based approach for shape reconstruction of continuum manipulators." Thesis, Lille 1, 2018. http://www.theses.fr/2018LIL1I042/document.
Анотація:
Ce travail de thèse propose une nouvelle méthode de modélisation et de reconstruction de la forme d’une classe de manipulateurs continuum, basée sur la géométrie des courbes. Les Hodographes Pythagoriens (courbes HP) sont utilisées pour reconstruire des formes optimales pour ce type de robots, par une optimisation des énergies potentielles de flexion et de torsion. Cette méthode nous permis de déduire la cinématique optimale des bras manipulateurs continuum. La validation de la méthode proposée a été réalisée sur le robot dit trompe d’éléphant ‘Compact Bionic Handling Assistant (CBHA)’. Une calibration a été réalisée sur la méthode de reconstruction afin d’améliorer les performances en terme de précision et de prendre en considération les incertitudes dues à la structure du bras manipulateur. La méthode proposée est également testée dans le cas de la préhension, en s’appuyant sur une approche qualitative à base de réseaux de neurones. De plus, l'approche HP est étendue à la modélisation des structures de robots hétérogènes avec plusieurs sections. Ce dernier a été validé pour une chaîne cinématique fermée, composée de deux manipulateurs CBHA, manipulant conjointement une corde flexibleThis work provides a new methodology to reconstruct the shape of continuum manipulators using a curve based approach. Pythagorean Hodograph (PH) curves are used to reconstruct the optimal shape of continuum manipulators using minimum potential energy (bending and twisting energy) criteria. This methodology allows us to obtain the optimal kinematics of continuum manipulators. The models are applied to a continuum manipulator, namely, the Compact Bionic Handling Assistant (CBHA) for experimental validation under free load manipulation. The calibration of the PH-based shape reconstruction methodology is performed to improve its accuracy to accommodate the uncertainties due to the structure of the manipulator. The proposed method is also tested under the loaded manipulation after combining it with a qualitative Neural Network approach. Furthermore, the PH-based methodology is extended to model multi-section heterogeneous bodies. This model is experimentally validated for a closed loop kinematic chain formed using two CBHA manipulating jointly a rope
40
Kumor, Łukasz Aleksander. "Analiza wpływu zagęszczania kolejnych warstw zasypowych na stan nasypu budowlanego." Rozprawa doktorska, Uniwersytet Technologiczno-Przyrodniczy w Bydgoszczy, 2014. http://dlibra.utp.edu.pl/Content/627.
41
Lakhal, Othman. "Contribution to the modeling and control of hyper-redundant robots : application to additive manufacturing in the construction." Thesis, Lille 1, 2018. http://www.theses.fr/2018LIL1I061/document.
Анотація:
La technologie de fabrication additive a été identifiée comme l'une des innovations numériques majeures qui a révolutionné non seulement le domaine de l'industrie, mais aussi celui de la construction. D'un point de vue de recherche, la fabrication additive reste un sujet d’actualité. C’est un procédé automatisé de dépôt de matériaux couche par couche afin d'imprimer des maisons ou des structures de petites dimensions pour un montage sur site. Dans la fabrication additive, l'étape de dépôt des matériaux est généralement suivie d'une étape de contrôle de la qualité d'impression. Cependant, le contrôle de qualité des objets imprimés ayant des surfaces funiculaires est parfois complexe à réaliser avec des robots rigides, ne pouvant atteindre des zones mortes. Dans cette thèse, un manipulateur souple et hyper-redondant a été modélisé et commandé cinématiquement, placé comme un effecteur d'un manipulateur rigide et mobile, afin d'effectuer une inspection des structures imprimées par des techniques de la fabrication additive. En effet, les manipulateurs souples peuvent fléchir et du coup suivre la forme géométrique de surfaces funiculaires. Ainsi, une approche hybride a été proposée pour modéliser la cinématique du robot souple et hyper-redondant, combinant une approche analytique pour la génération des équations cinématiques et une méthode qualitative à base des réseaux de neurones pour la résolution de ces dernières. Les performances de l'approche proposée sont validées à travers des expériences réalisées sur le robot "compact bionic handling arm" (cbha)Additive manufacturing technology has been identified as one of the major digital innovations that has revolutionized not only industry, but also building. From a research point of view, additive manufacturing remains a very relevant topic. It is an automated process for depositing materials layer by layer to print houses or small structures for on-site assembly. In additive manufacturing processes, the deposition of materials is generally followed by a printing quality control step. However, the geometry of structures printed with funicular surfaces is sometimes complex, as robots with rigid structures cannot reach certain areas of the structure to be inspected. In this thesis, a flexible and highly redundant manipulator equipped with a camera is attached to the end-effector of a mobile manipulator robot for the quality inspection process of the printed structures. Indeed, soft manipulators can bend along their surounded 3D objects; and this inherent flexibility makes them suitable for navigation in crowded environments. As the number of controlled actuators is greater than the dimension of the workspace, this thesis can be summarized as a trajectory tracking of hyper-redundant robots. In this thesis, a hybrid approach that combines the advantages of model-based approaches and learning-based approaches is developed to model and solve the kinematics of soft and hyper-redundant manipulators. The principle is to develop mathematical models with reasonable assumptions, and to improve their accuracy through learning processes. The performance of the proposed approach is validated by performing a series of simulations and experiments applied to the compact bionic handling arm (cbha) robot
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Silva, Nilton Cardoso da. "Seleção de atuadores e acionamento integrada a modelagem de manipuladores roboticos industriais." [s.n.], 1998. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260538.
Анотація:
Orientadores: João Mauricio Rosario, Alvaro Geraldo Badan PalharesTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
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Resumo: Esta tese apresenta um estudo do processo de seleção de atuadores para juntas de manipuladores rígidos com n graus de liberdade, integrado à automatização da modelagem dinâmica utilizando as equações de Euler Lagrange. Os programas computacionais desenvolvidos foram implementados no ambiente do MATHEMATICA TM, que contém bibliotecas de funções básicas que agilizaram o desenvolvimento da programação. O enfoque principal deste trabalho concentra-se na seleção de atuadores considerando critérios dinâmicos, térmicos e cinemáticos. Este processo culmina com a especificação analítica ideal do motor e redutor para cada junta, conforme o tipo de acionamento (Direto, indireto reduzido e indireto não reduzido) e a carga atuaante sobre a junta durante a realização de uma tarefa previamente especificada para o manipulador desejado. A proposta do tema desta tese destaca-se porque modifica os parâmetros fisicos e geométricos da equação dinâmica utilizando dois procedimentos internos: a fusão dos parâmetros dos atuadores e dos elos, considerando-os como um objeto único, e a compatibilização do formato dos parâmetros fisicos com o formato exigido pelo ambiente de programação. Estes parâmetros dependem das operações típicas da seleção e redistribuição dos atuadores e das modificações dos tipos de acionamento das juntas que são aspectos inerentes das fases de projeto e redimensionamento de manipuladores. Finalmente, são apresentados os principais resultados das simulações mostrando o comportamento dinâmico a partir de perfis cinemáticos previamente estabelecidos para um manipulador planar cuja garra se desloca através de um segmento de reta, revelando as alterações da intensidade dos esforços para os diferentes posicionamentos dos atuadores, conforme os tipos de acionamento específicos
Abstract: This thesis is a study of the actuators selection process for joints of rigid manipulators with generic degrees of fTeedom, integrated into the automation of dynamic modeling using Euler-Lagrange equations. The program that executes these processes is based on the MATHEMATICA TM, which contains libraries that provide the development of the programation. The main focus of this work is on actuators selection, while considering the dynamics, thermics and kinematics criterion. This process culminates with the ideal analytic specification of the motor and reducer for each joint, according to the drive type: (direct, indirect reduced and indirect unreduced), and the load that acts on the joint during the execution of a task previously specified for desired manipulator. The proposal of this work theme destach because it modifies the physical and geometric parameters of the dynamic equation, using two intemal processes: the fusion of the actuators and links parameters considering them as a single object, and the compatibilization of physical parameters format with the one demanded by the programming environrnent. These parameters depend on typical operations such as selection and redistribution of the actuators and also on the modifications of joint drives, that are inherent aspects of the project phases and of the manipulators redimensioning. Finally, the main results of the simulations are presented showing the dynamic behavior to the cinematic profiles previously established for a planne manipulator, whose end-effector moves through a straight line segment, showing the alterations of the effort intensity for different actuators positioning, according to specific drives
Doutorado
Automação
Doutor em Engenharia Elétrica
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Haskell, Rosemary Erin. "Plant foliar phosphorus and silicon content changes in response to root fungal communities and silicon enrichment." Thesis, University of York, 2017. http://etheses.whiterose.ac.uk/19415/.
Анотація:
Arbuscular mycorrhizal fungi (AMF) are plant root symbionts that supply limiting nutrients, largely phosphorus (P), to plants in exchange for carbon. Silicon (Si) is an important defence element for plants and several reports have observed a relationship between AMF colonisation and Si uptake. It is unknown how diverse soil microbial communities affect foliar Si and P concentrations, and whether improvements in foliar Si concentrations due to AMF colonisation are observed in field conditions. This is the first study to document the dual effects of AMF and Si application in a non-crop species (Brachypodium sylvaticum) and the effect of different microbial communities, on plant uptake and deposition of Si and P. An initial glasshouse experiment used a single species AMF inoculum in combination with a Si enrichment treatment to investigate the effect on foliar Si and P concentration. The results showed that AMF improved the uptake of Si and P compared to non-colonised plants, but that different mechanisms for uptake are likely. Introducing microbial communities isolated from agricultural and woodland environments as inocula in a controlled environment showed that microbial diversity alters the efficacy of Si and P supply, and that improvements in the supply of these were not directly related to AMF colonisation. Finally, B. sylvaticum plants from woodland were sampled across two years. The results of this sampling did not show any benefit of AMF on Si and P uptake, but did reveal significant differences in P concentration over time irrespective of fungal colonisation. Comparisons between studies using high throughput sequencing demonstrates that the methods commonly used in mycorrhizal studies may be overlooking important interactions with un-recorded organisms in the soil and roots of experimental plants. Ecologically relevant studies incorporating long-term repeated sampling are required to fully understand how microbial communities can improve Si and P nutrition in plants.
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Cosme, Marco Paulo Rebeca. "Effects of interaction between arbuscular mycorrhizal fungi, rhizobacteria, soil phosphorus and plant cytokinin content on tobacco growth." Master's thesis, ISA, 2010. http://hdl.handle.net/10400.5/15193.
Анотація:
Mestrado em Engenharia Florestal e dos Recursos Naturais - Instituto Superior de AgronomiaA rizosfera é uma zona importante em termos de actividade e diversidade microbiana, onde ocorrem associações benéficas entre plantas e microorganismos, e é fundamental na produção agrícola. Ao proliferarem num meio complexo e heterogéneo como o solo, as raízes desenvolvem-se de forma estruturada, mas flexível, por forma a optimizar suas funções. Factores endógenos, como fisiologia e genética da planta, bem como factores exógenos abióticos e bióticos são elementos determinantes. Neste estudo proponho testar a hipótese de que os efeitos dos microorganismos do solo sobre o crescimento da planta estão associados a efeitos sobre a morfologia radicular e dependentes dos níveis endógenos de fitohormonas e disponibilidade de nutrientes no solo. Uma experiência factorial foi instalada na estufa, com a presença ou ausência de Glomus intraradices ou Pseudomonas fluorescens, com dois regimes de fertilização de fósforo, e com a linhagem selvagem de tabaco (Nicotiana tabacum) ou a transgénica 35S:CKX2 com teor de citoquinina reduzido. Os efeitos dos microorganismos sobre a biomassa alternaram entre o negativo, neutro ou positivo, dependendo da linhagem, do regime de fertilização e a presença de microorganismos, e explicam-se parcialmente com alterações na morfologia da raiz. A micorrização aumentou na linhagem 35S:CKX2 ou em presença de P. fluorescens-------------------------------------------------ABSTRACT - The rhizosphere is an important zone for microbial activity and diversity, where several beneficial associations between roots and microorganism occur, and is fundamental in terms of defining terrestrial food production. When growing in a complex and heterogeneous medium such as soil, roots develop in a structured but flexible manner to optimize their functions. Endogenous factor, such as plant physiology and genetics, as well as abiotic and biotic exogenous factors are important determinants. In the present study I hypothesized that the effects of soil microorganisms on root morphology are associated with plant growth and differ depending on endogenous phytohormone levels and soil nutrient availability. A full factorial experiment was set up in the greenhouse, with presence or absence of Glomus intraradices or Pseudomonas fluorescens, with two phosphorus amendments, and with the tobacco wild type (Nicotiana tabacum) or the 35S:CKX2 transgenic line with reduced cytokinin content. The effects of microorganisms on plant biomass changed from negative to neutral and positive depending on plant type, phosphorus amendment and microorganism presence, and are partially explained by alteration on root morphology. Mycorrhization was enhanced in the 35S:CKX2 mutant or in presence of P. fluorescens
N/A
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Razjigaev, Andrew. "Developing a macro-micro teleoperation system with snake robots for minimally invasive surgeries." Thesis, Queensland University of Technology, 2022. https://eprints.qut.edu.au/235042/1/Andrew_Razjigaev_Thesis.pdf.
Анотація:
Surgeons currently face the burden of poor instrument control, ergonomics and visualisation in minimally invasive surgery. Bioinspired snake-like robots, evolution algorithms, 3D printing and autonomous vision systems are innovations that can revolutionise surgery. It can benefit patients with personalised treatment and reduce the burden on hospital staff. This thesis utilises these innovations to develop a macro-micro robotic platform for knee arthroscopy with a (micro) steerable snake-like end-effector attached to a (macro) RAVEN II arm. Extensive experimentation with a phantom demonstrated the superiority of the robotic prototype in reachable dexterity and teleoperated control over conventional rigid instruments.
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Misra, Rabindra Kumar. "Root growth and phosphorus uptake in relation to soil structure and strength /." Title page, table of contents and summary only, 1986. http://web4.library.adelaide.edu.au/theses/09PH/09phm6781.pdf.
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Lüscher, Christian. "Action potential propagation through embryonic dorsal root ganglion cells in a slice culture of the spinal cord of the rat /." [S.l.] : [s.n.], 1993. http://www.ub.unibe.ch/content/bibliotheken_sammlungen/sondersammlungen/dissen_bestellformular/index_ger.html.
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Cogrel, Benjamin. "Sélection contextuelle de services continus pour la robotique ambiante." Thesis, Paris Est, 2013. http://www.theses.fr/2013PEST1079/document.
Анотація:
La robotique ambiante s'intéresse à l'introduction de robots mobiles au sein d'environnements actifs où ces derniers fournissent des fonctionnalités alternatives ou complémentaires à celles embarquées par les robots mobiles. Cette thèse étudie la mise en concurrence des fonctionnalités internes et externes aux robots, qu'elle pose comme un problème de sélection de services logiciels. La sélection de services consiste à choisir un service ou une combinaison de services parmi un ensemble de candidats capables de réaliser une tâche requise. Pour cela, elle doit prédire et évaluer la performance des candidats. Ces performances reposent sur des critères non-fonctionnels comme la durée d'exécution, le coût ou le bruit. Ce domaine applicatif a pour particularité de nécessiter une coordination étroite entre certaines de ses fonctionnalités. Cette coordination se traduit par l'échange de flots de données entre les fonctionnalités durant leurs exécutions. Les fonctionnalités productrices de ces flots sont modélisées comme des services continus. Cette nouvelle catégorie de services logiciels impose que les compositions de services soient hiérarchiques et introduit des contraintes supplémentaires pour la sélection de services. Cette thèse met en évidence la présence d'un important couplage non-fonctionnel entre les performances des instances de services de différents niveaux, même lorsque les flots de données sont unidirectionnels. L'approche proposée se concentre sur la prédiction de la performance d'une instance de haut-niveau sachant son organigramme à l'issue de la sélection. Un organigramme regroupe l'ensemble des instances de services sollicitées pour réaliser une tâche de haut-niveau. L'étude s'appuie sur un scénario impliquant la sélection d'un service de positionnement en vue de permettre le déplacement d'un robot vers une destination requise. Pour un organigramme considéré, la prédiction de performance d'une instance de haut-niveau de ce scénario introduit les exigences suivantes : elle doit (i)être contextuelle en tenant compte, par exemple, du chemin suivi pour atteindre la destination requise, (ii) prendre en charge le remplacement d'une instance de sous-service suite à un échec ou, par extension, de façon opportuniste. En conséquence, cette sélection de services est posée comme un problème de prise de décision séquentielle formalisé à l'aide de processus de décision markoviens à horizon fini. La dimensionnalité importante du contexte en comparaison à la fréquence des déplacements du robot rend inadaptées les méthodes consistant à apprendre directement une fonction de valeur ou une fonction de transition. L'approche proposée repose sur des modèles de dynamique locaux et exploite le chemin de déplacement calculé par un sous-service pour estimer en ligne les valeurs des organigrammes disponibles dans l'état courant. Cette estimation est effectuée par l'intermédiaire d'une méthode de fouille stochastique d'arbre, Upper Confidence bounds applied to TreesAmbient robotics aims at introducing mobile robots in active environments where the latter provide new or alternative functionalities to those shipped by mobile robots. This thesis studies the competition between robot and external functionalities, which is set as a service selection problem. Service selection consists in choosing a service or a combination of services among a set of candidates able to fulfil a given request. To do this, it has to predict and evaluate candidate performances. These performances are based on non-functional requirements such as execution time, cost or noise. This application domain requires tight coordination between some of its functionalities. Tight coordination involves setting data streams between functionalities during their execution. In this proposal, functionalities producing data streams are modelled as continuous services. This new service category requires hierarchical service composition and adds some constraints to the service selection problem. This thesis shows that an important non-functional coupling appears between service instances at different levels, even when data streams are unidirectional. The proposed approach focuses on performance prediction of an high-level service instance given its organigram. This organigram gathers service instances involved in the high-level task processing. The scenario included in this study is the selection of a positioning service involved in a robot navigation high-level service. For a given organigram, performance prediction of an high-level service instance of this scenario has to: (i) be contextual by, for instance, considering moving path towards the required destination, (ii) support service instance replacement after a failure or in an opportunist manner. Consequently, this service selection is set as a sequential decision problem and is formalized as a finite-horizon Markov decision process. Its high contextual dimensionality with respect to robot moving frequency makes direct learning of Q-value functions or transition functions inadequate. The proposed approachre lies on local dynamic models and uses the planned moving path to estimate Q-values of organigrams available in the initial state. This estimation is done using a Monte-Carlo tree search method, Upper Confidence bounds applied to Trees
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Selig, Marcus Franklin. "Soil Co2 Efflux and Soil Carbon Content as Influenced by Thinning in Loblolly Pine Plantations on the Piedmont of Virginia." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/33866.
Анотація:
The thinning of loblolly pine plantations has a great potential to influence the fluxes and storage of carbon within managed stands. This study looked at the effects of thinning on aboveground carbon and mineral soil carbon storage, 14-years after the thinning of an 8-year-old loblolly pine plantation on the piedmont of Virginia. The study also examined soil respiration for one year following the second thinning of the same stand at age twenty-two. The study was conducted using three replicate .222 hectare stands planted using 3.05 by 3.05 meter spacing in 1980 at the Reynolds Homestead in Critz, VA.
Using two different sample collection methods it was determined that soil carbon was evenly dispersed throughout thinned plots, and that random sampling techniques were adequate for capturing spatial variability. Soil carbon showed a significant negative correlation with soil depth (p=0.0001), and by testing the difference between intercepts in this relationship, it was determined that thinning significantly increased soil carbon by 31.9% across all depths (p=0.0004). However, after accounting for losses in aboveground wood production, thinning resulted in an overall 10% loss in stand carbon storage. However, this analysis did not take into account the fate of wood products following removal.
Soil respiration, soil temperature, and soil moisture were measured every month for one year near randomly selected stumps and trees. In order to account for spatial variation, split plots were measured at positions adjacent to stumps and 1.5 meters away from stumps. Soil temperature and moisture were both significantly affected by thinning. Regression analysis was performed to determine significant drivers in soil CO2 efflux. Temperature proved to be the most significant driver of soil respiration, with a positive correlation in thinned and unthinned stands. When modeled using regression, thinning was a significant variable for predicting soil respiration (p < 0.0009), but explained only 3.4% of the variation. The effects of thinning were responsible for decreased respiration, however, when coupled with increased temperatures, soil respiration was elevated in thinned stands.Master of Science
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Leyva-Guerrero, Elisa. "Enhancement of the free amino acid and protein content of cassava storage roots and evaluation of root-specific promoters in cassava." The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1299535104.