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Дисертації з теми "Robotique – Dissertation universitaire":
Selingue, Maxime. "amélioration de la précision de structures sérielles poly-articulées par des méthodes d'apprentissage automatique économes en données." Electronic Thesis or Diss., Paris, HESAM, 2023. http://www.theses.fr/2023HESAE085.
The evolution of production methods in the context of Industry 4.0 has led to the use of collaborative and industrial robots for tasks such as drilling, machining, and assembly. These tasks require an accuracy of around a tenth of a millimeter, whereas the precision of these robots is in the range of one to two millimeters. Robotic integrators had to propose calibration methods aimed at establishing a more reliable and representative model of the robot's behavior in the real world.As a result, analytical calibration methods model the defects affecting the accuracy of industrial robots, including geometric defects, joint compliance, transmission errors, and thermal drift. Given the complexity of experimentally identifying the parameters of some of these analytical models, hybrid calibration methods have been developed. These methods combine an analytical model with a machine learning approach whose role is to accurately predict residual positioning errors (caused by the inaccuracies of the analytical model). These defects can then be compensated for in advance through a compensation algorithm.However, these methods require a significant amount of time and data and are no longer valid when the robot's payload changes. The objective of this thesis is to improve hybrid calibration methods to make them applicable in industrial contexts. In this regard, several contributions have been made.First, two methods based on neural networks that allow the adaptation of the hybrid model to a new payload within a robot's workspace with very little data. These two methods respectively rely on transfer learning and prediction interpolation.Then, a hybrid calibration method using active learning with Gaussian process regression is presented. Through this approach, in an iterative process, the system autonomously decides on relevant data to acquire, enabling optimized calibration in terms of data and time
Pauplin, Olivier. "Application de techniques d'évolution artificielle à la stéréovision en robotique mobile autonome." Paris 5, 2007. http://www.theses.fr/2007PA05S015.
The "Fly Algorithm" is an evolutionary algorithm used for stereo reconstruction It gives a rough description of the visible surfaces of the objects in a 3D scene, from a couple of stereo To fmprove the efficiency and precision of the algorithm so as to apply its output to autonomous mobile robotics, several ways of improvement are examined and^ evaluated (fitness function, genetic operators, self-adaptivity etc. ). Three categories of applications are then explored. Firstly, a way to build a map of the environment of a mobile robot from he successive frames processed by the algorithm. A second type of application relies on the consideration of a speed given to each considered 3D points, and aims to determine the speeds of the objects of the scene. Finally, and application to automated driving (stop and obstacle avoidance) is presented on an electrical vehicle (Cycab)
Karavias, Georges. "Codification et interpretation intelligente d'images dans le cadre de la vision par ordinateur." Paris 5, 1994. http://www.theses.fr/1994PA05S012.
Thevenoux, Patrick. "Reconnaissance de site par un modele tri-dimensionnel." Paris 5, 1990. http://www.theses.fr/1990PA05S014.
Lepoutre, Nicole. "Robot-assisted bone cement injection." Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD049/document.
Percutaneous vertebroplasty is a minimally invasive intervention that involves injecting bone cement, under fluoroscopic guidance, into the vertebral body. It consolidates the fractured vertebra and reduces pain. However, some inconveniences must be considered. The major difficulties are related to the cement that is injected during its curing phase. It is very liquid at the beginning of the injection, which introduces a high risk of leakage outside the vertebra and, thus, potential dramatic complications. During the injection, the reaction progresses and the cement hardens suddenly, leaving a short working phase. Finally, the operator is permanently exposed to harmful X-rays. This work aims to provide a new teleoperated injection device with haptic feedback that allows a fine supervision of the cement injection by including a viscosity control system. This device will allow the radioprotection of the medical staff, a reduction of the leakage risks and an extended injection phase
Bernhardt, Sylvain. "Automatic localization of endoscope in intraoperative CT image : a simple approach to augmented reality guidance in laparoscopic surgery." Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD008/document.
Over the past decades, minimally invasive surgery has progressively become more popular than open surgery thanks to greater clinical benefits. However, this kind of intervention introduced a loss of direct vision upon the scene for the surgeon. Introducing augmented reality to minimally invasive surgery appears to be a viable solution to alleviate this drawback and has thus been an attractive topic for the research community. Yet, correctly augmenting a laparoscopic scene remains challenging, due to the non-rigidity of abdominal tissues and organs. Therefore, the literature does not report a satisfactory approach to laparoscopic augmented reality, as such methods lack accuracy or require expensive and impractical additional equipment. In light of this, we present a novel paradigm to augmented reality in abdominal minimally invasive surgery. Based only on standard hybrid operating room equipment, our approach can provide the static relationship between the endoscope and an intraoperative 3D scan. Extensive experiments on a radio-opaque pattern quantitatively show that the accuracy of our augmentations is less than one millimeter. Tests on in vivo data further demonstrates the clinical potential of our approach in several realistic surgical cases
Girerd, Cédric. "Conception de robots à tubes concentriques et application à l'inspection des cellules olfactives." Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAD005/document.
This PhD thesis is part of the ANR NEMRO project, whose goal is to study the hypothetical correlation between olfactory deficiency and neurodegenerative diseases. For this purpose, an optical biopsy of the olfactory epithelium must be performed. However, this area is not accessible today with conventional tools. To go beyond this limitation, we propose to investigate the use a concentric tube robot (CTR). Its synthesis is performed from medical images. It takes into account the stability criteria, inter-subject variability, and is associated to a FTL (Follow-The-Leader) deployment. As the device is mounted on the subject, it has to be compact and lightweight. Thus, a specific deployment sequence simplifies the actuation unit, and an implementation is proposed using multimaterial additive manufacturing. Preliminary evaluations of the FTL deployment capabilities and the key components of the device allowed to validate the approach chosen for the NEMRO project, and its feasibility
Bano, Jordan. "Modélisation et correction des déformations du foie dues à un pneumopéritoine : application au guidage par réalité augmentée en chirurgie laparoscopique." Thesis, Strasbourg, 2014. http://www.theses.fr/2014STRAD010/document.
Augmented reality can provide to surgeons during intervention the positions of critical structures like vessels. The 3D models displayed during a laparoscopic surgery intervention do not fit to reality due to pneumperitoneum deformations. This thesis aim is to correct these deformations to provide a realistic liver model during intervention. We propose to deform the preoperative liver model according to an intraoperative acquisition of the liver anterior surface. A deformation field between the preoperative and intraoperative models is computed according to the geodesic distance to anatomical landmarks. Moreover, a biomechanical simulation is realised to predict the position of the abdomino-thoracic cavity which is used as boundary conditions. This method evaluation shows that the position error of the liver and its vessels is reduced to 1cm
Chanel, Laure-Anaïs. "Assistance à la thérapie par ultrasons focalisés de haute intensité (HIFU) : compensation des mouvements physiologiques par asservissement sur images ultrasonores." Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD003/document.
High Intensity Focused Ultrasound (HIFU) therapy is a non-invasive and non-ionizing method for ablation of solid tumors. However, intra-abdominal organ motion, mainly due to breathing, is a major hurdle for proper targeting of the tumor. In this context, an all-in-one HIFU robotized system with motion compensation in real-time during HIFU treatment was developed. To this aim, an ultrasound visual servoing working at a frequency of 20 Hz, relying on a fast ultrasonic speckle tracking method for motion estimation, was designed. It uses an interleaved imaging/HIFU sonication sequence, with duty cycle of 80 %, in order to avoid wave interferences. The robotized HIFU system was tested on a tissue mimicking phantom undergoing a 1D and a 2D sinusoidal motion. As a result, motion reduction of more than 80 % in 1D for a frequency of 0.25 Hz and more than 90 % in 2D for a frequency of 0.1 Hz was obtained. However, it couldn't be observed a significant effect of motion compensation on the lesions induced by HIFU