InitRech 2015/2016, sujet 1 - Historique des versions

Mszwecho : /* Applications */

2016-06-12T19:47:41Z

‎Applications

Mszwecho : /* Applications */

2016-06-12T19:42:41Z

‎Applications

Mszwecho : /* Applications */

2016-06-12T18:21:11Z

‎Applications

Mszwecho : /* Applications */

2016-06-11T16:47:30Z

‎Applications

Mszwecho : /* Applications */

2016-06-11T16:40:07Z

‎Applications

Mszwecho : /* Applications */

2016-06-11T16:32:05Z

‎Applications

Mszwecho : /* Main contribution */

2016-06-11T15:31:33Z

‎Main contribution

Mszwecho : /* Main contribution */

2016-06-11T09:51:39Z

‎Main contribution

Mszwecho : /* Summary */

2016-06-11T09:45:41Z

‎Summary

Mszwecho : /* Summary */

2016-06-10T21:24:14Z

‎Summary

@@ Ligne 34 : / Ligne 34 : @@
 Because when researchers in robotics want to find a way to make their robots indestructible to avoid damage when they can't avoid collision, this new kind of robots can engage the environment without damage the robot or anything around it <br/>
 ( or someone ) that is really important in a time when robots are way more present in our houses. We can indeed imagine to create a soft humanoid robot like in the movie "big hero 6" and it could help old people by doing some cleaning or <br/>other tasks too hard for these people without the risk to hurt them by collision or other. In addition, a soft robot seems more reassuring than an other one in metal.
-<br/><br/>An other thing is because of their soft structure, elastic robot are way more resistant than hard robot and less sensitive to hot or cold temperature so they are more capable to resist to extreme conditions. An other possible way to use soft robot<br/> is for transport. We can imagine to make a robot similar to a snake because the flexibility of the robot as well as its weight make possible the potential speed of it. So, imagine you use it to make some kind of way of transport. <br/>That will change our way to move. We can for example create a new kind<br/>
+<br/><br/>An other thing is because of their soft structure, elastic robot are way more resistant than hard robot and less sensitive to hot or cold temperature so they are more capable to resist to extreme conditions. An new possible way to use soft robot<br/> is for transport. We can imagine to make a robot similar to a snake because the flexibility of the robot as well as its weight make possible the potential increase of speed of it. So, imagine you use it to make some kind of way of transport. <br/>That will change our way to move. We can for example create a new kind<br/>
 of automatic vehicle to allow the travel in a hilly area in a more secure way. But with the use of elastic material the robot will have the possibility to change it's form in order to go into some place where a hard robot won't that could be an advantage
 <br/> for the exploration of new place like underwater into some cave or also to secure people stuck into small place unreachable by first-aider.

@@ Ligne 31 : / Ligne 31 : @@
 This work can be the opening of several applications for the future in the medical field especially in surgery.
 <br/>Because for example when you're doing an operation you put some rigid tools in the patient's body and the surgeons spend their time to avoid any contact with organs and tissues. As soon as they touch them, they damage them. <br/>So with the use of soft robot we can allow a more secure way to doing it.<br/>
-But we can also imagine the creation of a soft exoskeleton to improve the comfort of disabled compare to today's solutions or also a new way to create better robotic organs or human part like a hand for example. In fact this new kind<br/> of organs can be a real revolution because with that technology you can reproduce something very close to a real part of the human with its texture and its appearance but also its capacity to move like a real hand  <br/>
+But we can also imagine the creation of a soft exoskeleton to improve the comfort of disabled compare to today's solutions or also a new way to create better robotic organs or human part like a hand for example. In fact this new kind<br/> of organs can be a real revolution because with that technology you can reproduce something very close to a real part of the human body with its texture and its appearance but also its capacity to move like a real hand.  <br/>
 Because when researchers in robotics want to find a way to make their robots indestructible to avoid damage when they can't avoid collision, this new kind of robots can engage the environment without damage the robot or anything around it <br/>
-( or someone ) that is really important in a time when robots are way more present in our houses.
+( or someone ) that is really important in a time when robots are way more present in our houses. We can indeed imagine to create a soft humanoid robot like in the movie "big hero 6" and it could help old people by doing some cleaning or <br/>other tasks too hard for these people without the risk to hurt them by collision or other. In addition, a soft robot seems more reassuring than an other one in metal.
-<br/><br/>An other thing is because of their soft structure, elastic robot are way more resistant than hard robot and less sensitive to hot or cold temperature so they are more capable to resist to extreme conditions. We can for example create a new kind<br/>
+<br/><br/>An other thing is because of their soft structure, elastic robot are way more resistant than hard robot and less sensitive to hot or cold temperature so they are more capable to resist to extreme conditions. An other possible way to use soft robot<br/> is for transport. We can imagine to make a robot similar to a snake because the flexibility of the robot as well as its weight make possible the potential speed of it. So, imagine you use it to make some kind of way of transport. <br/>That will change our way to move. We can for example create a new kind<br/>
 of automatic vehicle to allow the travel in a hilly area in a more secure way. But with the use of elastic material the robot will have the possibility to change it's form in order to go into some place where a hard robot won't that could be an advantage
 <br/> for the exploration of new place like underwater into some cave or also to secure people stuck into small place unreachable by first-aider.

@@ Ligne 31 : / Ligne 31 : @@
 This work can be the opening of several applications for the future in the medical field especially in surgery.
 <br/>Because for example when you're doing an operation you put some rigid tools in the patient's body and the surgeons spend their time to avoid any contact with organs and tissues. As soon as they touch them, they damage them. <br/>So with the use of soft robot we can allow a more secure way to doing it.<br/>
-But we can also imagine the creation of a soft exoskeleton to improve the comfort of disabled compare to today's solutions or also a new way to create better robotic organs for example.<br/>
+But we can also imagine the creation of a soft exoskeleton to improve the comfort of disabled compare to today's solutions or also a new way to create better robotic organs or human part like a hand for example. In fact this new kind<br/> of organs can be a real revolution because with that technology you can reproduce something very close to a real part of the human with its texture and its appearance but also its capacity to move like a real hand  <br/>
 Because when researchers in robotics want to find a way to make their robots indestructible to avoid damage when they can't avoid collision, this new kind of robots can engage the environment without damage the robot or anything around it <br/>
 ( or someone ) that is really important in a time when robots are way more present in our houses.
@@ Ligne 37 : / Ligne 37 : @@
 of automatic vehicle to allow the travel in a hilly area in a more secure way. But with the use of elastic material the robot will have the possibility to change it's form in order to go into some place where a hard robot won't that could be an advantage
 <br/> for the exploration of new place like underwater into some cave or also to secure people stuck into small place unreachable by first-aider.

@@ Ligne 32 : / Ligne 32 : @@
 <br/>Because for example when you're doing an operation you put some rigid tools in the patient's body and the surgeons spend their time to avoid any contact with organs and tissues. As soon as they touch them, they damage them. <br/>So with the use of soft robot we can allow a more secure way to doing it.<br/>
 But we can also imagine the creation of a soft exoskeleton to improve the comfort of disabled compare to today's solutions or also a new way to create better robotic organs for example.<br/>
-Because when researchers in robotics want to find a way to make their robots indestructible to avoid damage when they can't avoid collision, this new kind of robots can engage the environment without damage the robot or anything around it <br/>( or someone ) that is really important in a time when robots are way more present in our houses.
+Because when researchers in robotics want to find a way to make their robots indestructible to avoid damage when they can't avoid collision, this new kind of robots can engage the environment without damage the robot or anything around it <br/>
-<br/><br/>An other thing is because of their soft structure, elastic robot are way more resistant than hard robot and less sensitive to hot or cold temperature so they are more capable to resist to extreme conditions. We can for example create a new kind<br/> of automatic vehicle to allow the travel in a hilly area in a more secure way.
+( or someone ) that is really important in a time when robots are way more present in our houses.

@@ Ligne 30 : / Ligne 30 : @@
 This work can be the opening of several applications for the future in the medical field especially in surgery.
-<br/>Because for example when you're doing an operation you put some rigid tool in the patient's body and the surgeons spend their time to avoid any contact with organs and tissues. As soon as they touch them, they damage them. So with the use of soft robot we can allow a more secure way to doing it.<br/>
+<br/>Because for example when you're doing an operation you put some rigid tools in the patient's body and the surgeons spend their time to avoid any contact with organs and tissues. As soon as they touch them, they damage them. <br/>So with the use of soft robot we can allow a more secure way to doing it.<br/>
 But we can also imagine the creation of a soft exoskeleton to improve the comfort of disabled compare to today's solutions or also a new way to create better robotic organs for example.<br/>
-Because when researchers in robotics want to find a way to make their robots indestructible to avoid damage when they can't avoid collision, this new kind of robots can engage the environment without damage the robot or anything around it that is really important in a time when robots are way more present in our houses.
+Because when researchers in robotics want to find a way to make their robots indestructible to avoid damage when they can't avoid collision, this new kind of robots can engage the environment without damage the robot or anything around it <br/>( or someone ) that is really important in a time when robots are way more present in our houses.
-<br/><br/>An other thing is because of their soft structure, elastic robot are way more resistant than hard robot and less sensitive to hot or cold temperature so they are more capable to resist to extreme conditions
+<br/><br/>An other thing is because of their soft structure, elastic robot are way more resistant than hard robot and less sensitive to hot or cold temperature so they are more capable to resist to extreme conditions. We can for example create a new kind<br/> of automatic vehicle to allow the travel in a hilly area in a more secure way.

← Version précédente		Version du 11 juin 2016 à 16:32
Ligne 28 :		Ligne 28 :

	= Applications =		= Applications =
		+
		+	This work can be the opening of several applications for the future in the medical field especially in surgery.
		+	<br/>Because for example when you're doing an operation you put some rigid tool in the patient's body and the surgeons spend their time to avoid any contact with organs and tissues. As soon as they touch them, they damage them. So with the use of soft robot we can allow a more secure way to doing it.<br/>
		+	But we can also imagine the creation of a soft exoskeleton to improve the comfort of disabled compare to today's solutions or also a new way to create better robotic organs for example.<br/>
		+	Because when researchers in robotics want to find a way to make their robots indestructible to avoid damage when they can't avoid collision, this new kind of robots can engage the environment without damage the robot or anything around it that is really important in a time when robots are way more present in our houses.
		+	<br/><br/>An other thing is because of their soft structure, elastic robot are way more resistant than hard robot and less sensitive to hot or cold temperature so they are more capable to resist to extreme conditions

@@ Ligne 22 : / Ligne 22 : @@
 = Main contribution =
+This article has the objective to present a new method for the control of Soft Robots with elastic behavior.<br/>
-The main contribution of this project is to showing that it's possible to modelize and to control the movement of a soft robot but also to try to prove that an accomplishable method is to use the Gauss Seidel method and also with the help of a real-time FEM simulation and comutation of the robot.
+The main contribution of this project is the use of the Finite Element Method with the computation in real time for the control of this robot and also by using Lagrange multipliers at the end of effector's position.
 = Applications =

← Version précédente		Version du 11 juin 2016 à 09:51
Ligne 22 :		Ligne 22 :

	= Main contribution =		= Main contribution =
		+
		+	The main contribution of this project is to showing that it's possible to modelize and to control the movement of a soft robot but also to try to prove that an accomplishable method is to use the Gauss Seidel method and also with the help of a real-time FEM simulation and comutation of the robot.
		+
	= Applications =		= Applications =

@@ Ligne 7 : / Ligne 7 : @@
 <br /><br />
 After that he explains the principle of the FEM. Before everything he needed to know the constitutive law of the soft material by making stress-strain response under tension experiments and he found with a linear regression that the strain/stress ratio is approximatively linear that will reduce the time of online execution of the FEM.
-But when he assembled the possible rotation in the model is no more linear but it's still possible to compute it with an C++ implementation thanks to the open-source framework SOFA. To have the FEM model we need to compute the following linearization of the internal forces :<br />
+But when he assembled the possible rotation in the model is no more linear but it's still possible to compute it with an C++ implementation thanks to the open-source framework SOFA. To have the FEM model we need to compute the following linearization of the internal forces.<br />
-f(xi) ≈ f(xi−1) + K(xi−1)(xi − xi−1)<br />
+<br/>
-Where f is the volumetric internal stiffness forces and K the tangent stiffness matrix that we can deduct with static equilibrium :<br/>
+But, in addition of the FEM we add a new method that refer new directions in the (J^T) matrix and after that we have to resolve the structure.
 <br/>The next step is to find λ by using the constraint-based solver that allow us to find the final configuration :<br/>
-xt = xfree + K^(−1) * J^T * λ.
+xt = xfree + K^(−1) * J^T * λ.<br/>
 = Main contribution =
 = Applications =