191 results on '"Pierre Renaud"'
Search Results
2. Multisource forest inventories: A model-based approach using k-NN to reconcile forest attributes statistics and map products
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Ankit Sagar, Cédric Vega, Olivier Bouriaud, Christian Piedallu, and Jean-Pierre Renaud
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Computers in Earth Sciences ,Engineering (miscellaneous) ,Atomic and Molecular Physics, and Optics ,Computer Science Applications - Published
- 2022
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Catalog
3. Dendrometric data from the silvicultural scenarios developed by Office National des Forêts (ONF) in France: a tool for applied research and carbon storage estimates
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Salomé Fournier, Thierry Sardin, Philippe Dreyfus, Didier Francois, Xavier Mandret, Marion Simeoni, Jean-Pierre Renaud, Emila Akroume, Alain Bouvet, Alain Berthelot, Holger Wernsdörfer, Miguel Riviere, Julien Sainte-Marie, Sandrine Breteau-Amores, François De Coligny, Christine Deleuze, ONF, Office National des Forêts - Département Recherche, Fontainebleau, France, Université Paris Diderot - Paris 7 (UPD7), Office National des Forêts (National expert in silviculture), Office national des forêts (ONF), Institut Technologique Forêt Cellulose Bois-construction Ameublement (FCBA), SILVA (SILVA), AgroParisTech-Université de Lorraine (UL)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Bureau d'Économie Théorique et Appliquée (BETA), AgroParisTech-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Botanique et Modélisation de l'Architecture des Plantes et des Végétations (UMR AMAP), Centre de Coopération Internationale en Recherche Agronomique pour le Développement (Cirad)-Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche pour le Développement (IRD [France-Sud])-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Université de Montpellier (UM), and The National Forests Office funded this work and the previous publications on which it is based more...
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Ecology ,Forest management ,Mitigation ,[QFIN]Quantitative Finance [q-fin] ,[SDE]Environmental Sciences ,Forestry ,Silviculture ,[INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation ,Simulation ,Forest dynamics ,Carbon ,[SHS]Humanities and Social Sciences - Abstract
Key message We provide a database of 52 silvicultural scenarios recommended in French public forests including relevant dendrometric variables and metrics for carbon accounting. The dataset is available at https://doi.org/10.57745/QARRFS. Associated metadata are available at https://metadata-afs.nancy.inra.fr/geonetwork/srv/fre/catalog.search#/metadata/f76ed27f-325d-493b-8731-0995dcaa7805. Special attention was paid to offer carbon metrics required for the French Label Bas Carbone offset projects. more...
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- 2022
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4. Vision-based micro-manipulations in simulation
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Loïc Riegel, Pierre Renaud, and Guangbo Hao
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010302 applied physics ,Measurement method ,Vision based ,Computer science ,02 engineering and technology ,Variation (game tree) ,021001 nanoscience & nanotechnology ,Condensed Matter Physics ,01 natural sciences ,Electronic, Optical and Magnetic Materials ,Hardware and Architecture ,0103 physical sciences ,Invasive surgery ,Noise (video) ,Electrical and Electronic Engineering ,0210 nano-technology ,MATLAB ,computer ,Simulation ,computer.programming_language - Abstract
Manipulating micro-objects is needed in various applications such as micro-assembly, minimally invasive surgery and micro-organism manipulation, which refers to micro-manipulation in this paper. During such operations, controlling the gripping force is mandatory, in order to prevent damage or the breaking of the micro-parts being grasped and handled, given that they are often very fragile. The force sensing is frequently carried out by sensors embedded in the micro-gripper, but this produces strong design and manufacturing constraints consequently. In this paper, vision-based manipulation of micro-parts is investigated. Moreover, instead of working with real setups, this paper investigates micro-manipulations carried out in simulation. Working on simulators instead of real setups allows to easily and quickly implement different vision-based force measurement methods, different force control strategies and even different micro-gripper systems. Using the simulators, we are also able to compare the performance and limitations achieved in each manipulation, and to study the impact of certain parameters on manipulation performance. MATLAB-based simulators were designed in this paper. A vision-based force measurement method was then implemented and integrated into a closed-loop force control. In the end, successful grasp-hold-release manipulations of micro-parts (400–600 µm size) were achieved with a force-sensing resolution of less than 6 µN. Moreover, the manipulation was observed to be successful when softness variation is introduced on the micro-object (± 20% around the average value), and when pictures are degraded because of noise and blur effects. more...
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- 2020
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5. A Manipulability Criterion for Magnetic Actuation of Miniature Swimmers With Flexible Flagellum
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Joël Abadie, Marc Vedrines, Pierre Renaud, Aude Bolopion, Maxime Etievant, Nicolas Andreff, Stephane Regnier, Jeremy Begey, Johan E. Quispe, Femto-st, AS2M, Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Université Pierre et Marie Curie - Paris 6 (UPMC), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), and Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS) more...
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Control and Optimization ,Computer science ,Mechanical Engineering ,[INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,Biomedical Engineering ,Parallel manipulator ,Mechanical engineering ,[INFO.INFO-DS] Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,Workspace ,Propulsion ,Displacement (vector) ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Computer Science Applications ,Magnetic field ,Human-Computer Interaction ,[SPI.AUTO] Engineering Sciences [physics]/Automatic ,Planar ,Artificial Intelligence ,Control and Systems Engineering ,Electromagnetic coil ,Computer Vision and Pattern Recognition ,Focus (optics) - Abstract
International audience
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- 2020
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6. Design of Tensegrity-Based Manipulators: Comparison of Two Approaches to Respect a Remote Center of Motion Constraint
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Marc Vedrines, Jeremy Begey, and Pierre Renaud
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Control and Optimization ,Computer science ,Mechanical Engineering ,0206 medical engineering ,Constraint (computer-aided design) ,0211 other engineering and technologies ,Biomedical Engineering ,Parallel manipulator ,Control engineering ,Context (language use) ,02 engineering and technology ,020601 biomedical engineering ,Motion (physics) ,Computer Science Applications ,Human-Computer Interaction ,Artificial Intelligence ,Control and Systems Engineering ,Tensegrity ,021105 building & construction ,Computer Vision and Pattern Recognition - Abstract
Tensegrity mechanisms can offer key features such as compliance and deployability for high compactness. The absence of systematic design methods has however strongly limited their development for manipulation up to now. In this letter, we consider how tensegrity mechanisms can be designed to respect a Remote Center of Motion (RCM) constraint. Mechanisms of high compactness, respecting RCM constraint and offering compliance can indeed be of great interest in a challenging environment such as the medical context. Architectures are elaborated with two distinct design approaches, using cable- and bar-actuated Snelson crosses. Their analysis is performed, proofs of concept are built and experimentally evaluated, and their relative interest is discussed. This work brings at the same time initial results on design of tensegrity mechanisms for manipulation in a medical environment, and first guidelines to perform tensegrity mechanism synthesis. more...
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- 2020
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7. Multi-material 3D printed hydraulic actuator for medical robots
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Jan Stallkamp, Pierre Renaud, Tim Philipp Pusch, Antoine Pfeil, Marius Siegfarth, and Publica
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0209 industrial biotechnology ,Computer science ,Hydraulics ,Mechanical Engineering ,Multi material ,Mechanical engineering ,02 engineering and technology ,021001 nanoscience & nanotechnology ,3D-Printing ,Durability ,3D-Druck ,Additive Manufacturing (AM) ,Industrial and Manufacturing Engineering ,law.invention ,Piston ,Hydraulic cylinder ,020901 industrial engineering & automation ,Hydraulik ,law ,Robot ,Medizinroboter ,0210 nano-technology ,Actuator ,Leakage (electronics) - Abstract
Purpose This study aims to investigate the potential of using polymer multi-material additive manufacturing (MMAM) to produce miniature hydraulic piston actuators combining rigid structures and flexible seals. Such actuators offer great potential for medical robots in X-ray and magnetic resonance environments, where conventional piston actuators cannot be used because of safety issues caused by metal components. Design/methodology/approach Hydraulic pistons with two different integrated flexible seal shapes are designed and manufactured using MMAM. Design 1 features a ring-shaped seal made from a flexible material that is printed on the surface of the rigid piston shaft. Design 2 appears identical from the outside, yet an axial opening in the piston shaft is added to enable self-reinforced sealing as fluid pressure increases. For both designs, samples with three different outer diameters are fabricated leading to a total of six different piston versions. The pistons are then evaluated regarding leakage, friction and durability. Findings Measurement results show that the friction force for Design 2 is lower than that of Design 1, making Design 2 more suitable for the intended application. None of the versions of Design 2 shows leakage for pressures up to 1.5 MPa. For Design 1, leak-tightness varies with the outer diameter, yet none of the versions is consistently leak-tight at 1.5 MPa. Furthermore, the results show that prolonged exposure to water decreases the durability of the flexible material significantly. The durability the authors observe may, however, be sufficient for short-term or single-use devices. Originality/value The authors investigate a novel design approach for hydraulic piston actuators based on MMAM. These actuators are of particular interest for patient-specific medical devices used in radiological interventions, where metal-free components are required to safely operate in X-ray and magnetic resonance environments. This study may serve as a basis for the development of new actuators, as it shows a feasible solution, yet pointing out critical aspects such as the influence of small geometry changes or material performance changes caused by water absorption. more...
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- 2020
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8. Design and Experimental Characterization of Hydraulically Actuated Revolute Joint Based on Multimaterial Additive Manufacturing
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François Geiskopf, Antoine Pfeil, Tim Philipp Pusch, Pierre Renaud, Laurent Barbé, Marius Siegfarth, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), and Publica more...
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Hydraulik ,Geometrie ,Mechanics of Materials ,Computer science ,Mechanical Engineering ,Mechanical engineering ,Revolute joint ,Computer Graphics and Computer-Aided Design ,Additive Manufacturing (AM) ,Gestaltung ,Computer Science Applications ,Characterization (materials science) ,[SPI.AUTO]Engineering Sciences [physics]/Automatic - Abstract
Design of fluidic actuators remain challenging in specific contexts such as the medical field, when solutions have for instance to be compatible with the stringent requirements of magnetic resonance imaging. In this article, an innovative design of hydraulically actuated revolute joint is introduced. The design originality is linked to the use of multimaterial additive manufacturing for its production. Hydraulic actuation and polymer manufacturing are selected to have compatibility with the medical context. A design taking advantage of the process capabilities is proposed. The proposed component associates a large stroke compliant revolute joint and miniature pistons. An helical rack-and-pinion mechanism is integrated to the compliant joint to control the joint rotation. A specific gear geometry is elaborated to minimize the joint size. It is experimentally characterized in terms of range of motion, stiffness, and available torque to discuss the suitability of the component as a fluidic actuator. The component offers an interesting compactness and range of motion and the process is shown to be adequate for the design of functional systems. more...
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- 2022
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9. A Spring-based Inductive Sensor for Soft and Flexible Robots
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Sujit Kumar Sahu, Izadyar Tamadon, Benoit Rosa, Pierre Renaud, Arianna Menciassi, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Scuola Universitaria Superiore Sant'Anna [Pisa] (SSSUP), European Project: 813782,ATLAS, univOAK, Archive ouverte, and AuTonomous intraLuminAl Surgery - ATLAS - 813782 - INCOMING more...
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Informatique [cs]/Robotique [cs.RO] ,[INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO] ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,Electrical and Electronic Engineering ,Instrumentation - Abstract
The development of flexible and soft robots generates new needs in terms of instrumentation, as large encountered deformations require highly stretchable strain sensors. In this regard, we contribute to the adoption of inductive sensors by providing tools to model and exploit them and showing their relevance experimentally. First, strain estimation based on voltage measurement is proposed. Compared to direct inductance evaluation, the principle is easier to implement and opens the possibility to optimize the measurement performances by tuning the circuit components and interrogation frequency. The possibility of performing a single sensor calibration independently via the elongation mode during strain sensing is outlined. A detailed characterization is then performed, which shows that the sensor produces a low hysteresis of 0.1%, a precision in the order of 0.14%, and an accuracy of 0.9%. Finally, two proofs of concept are proposed: 1) the integration with a pneumatic artificial muscle (PAM) that demonstrates the added value of the sensor for a model-free precise control of a soft system and 2) the closed-loop control of a flexible bending manipulator using the inductive sensor. The performance in the closed-loop control is demonstrated, with a sensing element that is easy to integrate mechanically, strengthening its potential to be used as a structural element as well. more...
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- 2022
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10. Magnetic concentric tube robots: introduction and analysis
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Quentin Peyron, Quentin Boehler, Patrick Rougeot, Pierre Roux, Bradley J Nelson, Nicolas Andreff, Kanty Rabenorosoa, Pierre Renaud, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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medical robot ,Continuum robot ,concentric tube robot ,magnetic continuum robot ,follow-the-leader deployment ,orientability ,stability analysis ,Applied Mathematics ,Mechanical Engineering ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Computer Science::Robotics ,Artificial Intelligence ,Modeling and Simulation ,Electrical and Electronic Engineering ,Software - Abstract
In this paper, we propose a new type of continuum robot, referred to as a magnetic concentric tube robot (M-CTR), for performing minimally invasive surgery in narrow and difficult-to-access areas. The robot combines concentric tubes and magnetic actuation to benefit from the ‘follow the leader’ behaviour, the dexterity and stability of existing robots, while targeting millimetre-sized external diameters. These three kinematic properties are assessed through numerical and experimental studies performed on a prototype of a M-CTR. They are performed with general forward and inverse kineto-static models of the robot, continuation and bifurcation analysis, and a specific experimental setup. The prototype presents unique capabilities in terms of deployment and active stability management, while its dexterity in terms of tip orientability is also among the best reported for other robots at its scale., The International Journal of Robotics Research, 41 (4), ISSN:0278-3649, ISSN:1741-3176 more...
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- 2022
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11. Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions
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Sujit Kumar Sahu, Canberk Sozer, Benoit Rosa, Izadyar Tamadon, Pierre Renaud, and Arianna Menciassi
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optical sensors ,medical image based techniques ,sensing in minimally invasive surgery ,Electronic computers. Computer science ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,TJ1-1570 ,passive stretchable sensors ,shape reconstruction ,Mechanical engineering and machinery ,QA75.5-76.95 ,electromagnetic sensor - Abstract
Soft and continuum robots are transforming medical interventions thanks to their flexibility, miniaturization, and multidirectional movement abilities. Although flexibility enables reaching targets in unstructured and dynamic environments, it also creates challenges for control, especially due to interactions with the anatomy. Thus, in recent years lots of efforts have been devoted for the development of shape reconstruction methods, with the advancement of different kinematic models, sensors, and imaging techniques. These methods can increase the performance of the control action as well as provide the tip position of robotic manipulators relative to the anatomy. Each method, however, has its advantages and disadvantages and can be worthwhile in different situations. For example, electromagnetic (EM) and Fiber Bragg Grating (FBG) sensor-based shape reconstruction methods can be used in small-scale robots due to their advantages thanks to miniaturization, fast response, and high sensitivity. Yet, the problem of electromagnetic interference in the case of EM sensors, and poor response to high strains in the case of FBG sensors need to be considered. To help the reader make a suitable choice, this paper presents a review of recent progress on shape reconstruction methods, based on a systematic literature search, excluding pure kinematic models. Methods are classified into two categories. First, sensor-based techniques are presented that discuss the use of various sensors such as FBG, EM, and passive stretchable sensors for reconstructing the shape of the robots. Second, imaging-based methods are discussed that utilize images from different imaging systems such as fluoroscopy, endoscopy cameras, and ultrasound for the shape reconstruction process. The applicability, benefits, and limitations of each method are discussed. Finally, the paper draws some future promising directions for the enhancement of the shape reconstruction methods by discussing open questions and alternative methods. more...
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- 2021
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12. Modelling forest volume with small area estimation of forest inventory using GEDI footprints as auxiliary information
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Shaohui Zhang, Cédric Vega, Christine Deleuze, Sylvie Durrieu, Pierre Barbillon, Olivier Bouriaud, and Jean-Pierre Renaud
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Global and Planetary Change ,Management, Monitoring, Policy and Law ,Computers in Earth Sciences ,Earth-Surface Processes - Published
- 2022
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13. Towards a Synthesis Method of Kresling Tower Used as a Compliant Building Block
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François Geiskopf, Pierre Renaud, Lennart Rubbert, John Berre, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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business.industry ,Computer science ,Block (telecommunications) ,medicine ,Compliant mechanism ,Stiffness ,Kinematics ,Structural engineering ,medicine.symptom ,business ,Tower ,[SPI.AUTO]Engineering Sciences [physics]/Automatic - Abstract
In this paper, the use of the Kresling tower origami as a building block for compliant mechanism design is considered. Two contributions are introduced to develop a synthesis method of such a building block. First, models to link the origami pattern geometry to the Kresling tower kinematics are derived. The position of stable configurations, the lead angle of its helical motion are expressed as functions of the pattern parameters. Experimental validation of the models is performed. Second, a modification of pattern by local adjustment of fold geometry is introduced. This aims at modifying the origami stiffness without affecting the kinematics. The use of modified fold geometries is experimentally investigated. The capacity to strongly modify the stiffness level is observed, which is encouraging to go towards a synthesis method with decoupling of kinematics and stiffness selection. more...
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- 2021
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14. A new small area estimation algorithm to balance between statistical precision and scale
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Olivier Bouriaud, Ankit Sagar, Cédric Vega, Jean-Pierre Renaud, Laboratoire d'Inventaire Forestier (LIF), École nationale des sciences géographiques (ENSG), Institut National de l'Information Géographique et Forestière [IGN] (IGN)-Université Gustave Eiffel-Institut National de l'Information Géographique et Forestière [IGN] (IGN)-Université Gustave Eiffel, Office national des forêts (ONF), European Project: 633464,H2020,H2020-ISIB-2014-2,DIABOLO(2015), and Office National des Forêts (ONF) more...
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[SDV.EE]Life Sciences [q-bio]/Ecology, environment ,Global and Planetary Change ,education.field_of_study ,010504 meteorology & atmospheric sciences ,Computer science ,Population ,0211 other engineering and technologies ,02 engineering and technology ,15. Life on land ,Management, Monitoring, Policy and Law ,01 natural sciences ,Binary space partitioning ,Basal area ,Small area estimation ,Bayesian information criterion ,Sampling design ,Polygon ,Computers in Earth Sciences ,education ,Scale (map) ,Algorithm ,ComputingMilieux_MISCELLANEOUS ,021101 geological & geomatics engineering ,0105 earth and related environmental sciences ,Earth-Surface Processes - Abstract
Combining national forest inventory (NFI) data with auxiliary information allows downscaling and improving the precision of NFI estimates for small domains, where normally too few field plots are available to produce reliable estimates. In most situations, small domains represent administrative units that could greatly vary in size and forested area. In small and poorly sampled domains, the precision of estimates often drop below expected standards. To tackle this issue, we introduce a downscaling algorithm generating the smallest possible groups of domains satisfying prescribed sampling density and estimation error. The binary space partitioning algorithm recursively divides the population of domains in two groups while the prescribed precision conditions are fulfilled. The algorithm was tested on two major forest attributes (i.e. growing stock and basal area) in an area of 7,500 km2 dominated by hardwood forests in the centre of France. The estimation domains consisted in 157 municipalities. The field data included 819 NFI plots surveyed during a 5 years period. The auxiliary data consisted in 48 metrics derived from a forest map, photogrammetric models and Landsat images. A model-assisted framework was used for estimation. For each forest attribute, the best model was selected using a best-subset approach using a Bayesian Information Criteria. The retained models explained 58% and 41% of the observed variance for the growing stocks and basal areas respectively. The performance of the algorithm was evaluated using a minimum of 3 NFI points per domain and estimation errors varying from 10 to 50%. For a target estimation error set to 10%, the algorithm led to a limited number of estimation domains ( The algorithm provides a flexible estimation framework for small area estimation. The key advantages of the approach are relying on its capacity to produce estimations based on a preselected precision threshold and to produce results over the whole area of interest, avoiding areas without any estimates. The algorithm could also be used on any kind of polygon layers (not only administrative ones), provided that the field sampling design enable estimation. This makes the proposed algorithm a convenient tool notably for decision makers and forest managers. more...
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- 2021
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15. Workflow-Based Design and Evaluation of a Device for CBCT-Guided Biopsy
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Roberto Luigi Cazzato, Laurent Barbé, François Geiskopf, Pierre Renaud, Antoine Pfeil, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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medicine.medical_specialty ,medicine.diagnostic_test ,Computer science ,Biomedical Engineering ,Medicine (miscellaneous) ,030218 nuclear medicine & medical imaging ,3. Good health ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,03 medical and health sciences ,0302 clinical medicine ,Workflow ,Biopsy ,medicine ,Medical physics ,030217 neurology & neurosurgery - Abstract
Biopsies for personalized cancer care can be performed with cone beam computed tomography (CBCT) guidance, but manual needle manipulation remains an issue due to X-ray exposure to physicians. Modern CBCT scanners integrate today real-time imaging and software assistance for needle planning. In this paper, these available features are exploited to design a novel device offering an intermediate level of assistance between simple passive mechanical devices of limited efficiency, and advanced robotic devices requiring adapted procedure workflows. Our resulting system is built to limit its impact on the current manual practice. It is patient-mounted and provides remote control of needle orientation and insertion. A multilayer phantom is specifically developed to reproduce interactions between the needle and soft abdominal tissues. It is used to experimentally evaluate the device added value by comparing assisted versus manual needle insertions. The device is shown to help reducing X-ray exposure by a factor 4, without impacting the accuracy obtained manually. more...
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- 2021
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16. Enhancing Swimming and Pumping Performance of Helical Swimmers at Low Reynolds Numbers
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Stephane Regnier, Pierre Renaud, Johan E. Quispe, Aude Bolopion, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Quispe, Johan, Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées (INSA), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), and ANR-16-CE33-0019,MultiFlag,Conception et contrôle de micronageurs pilotés par des aimants mobiles(2016) more...
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Control and Optimization ,Computer simulation ,Computer science ,Mechanical Engineering ,[SPI.NANO] Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics ,[INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,Biomedical Engineering ,Reynolds number ,Mechanics ,Propulsion ,Computer Science Applications ,Magnetomechanical effects ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Human-Computer Interaction ,Micro/Nano Robots ,symbols.namesake ,Automation at MicroNano Scales ,[SPI.AUTO] Engineering Sciences [physics]/Automatic ,Artificial Intelligence ,Control and Systems Engineering ,symbols ,Torque ,Computer Vision and Pattern Recognition ,[SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics - Abstract
International audience; Future developments in micromanufacturing will require advances in micromanipulation tools. Several robotic micromanipulation methods have been developed to position micro-objects mostly in air and in liquids. The air-water interface is a third medium where objects can be manipulated, offering a good compromise between the two previously mentioned ones. Objects at the interface are not subjected to stick-slip due to dry friction in air and profit from a reduced drag compared with those in water. Here, we present the ThermoBot, a microrobotic platform dedicated to the manipulation of objects placed at the air-water interface. For actuation, ThermoBot uses a laser-induced thermocapillary flow, which arises from the surface stress caused by the temperature gradient at the fluid interface. The actuated objects can reach velocities up to 10 times their body length per second without any on-board actuator. Moreover, the localized nature of the thermocapillary flow enables the simultaneous and independent control of multiple objects, thus paving the way for microassembly operations at the air-water interface. We demonstrate that our setup can be used to direct capillary-based self-assemblies at this interface. We illustrate the ThermoBot’s capabilities through three examples: simultaneous control of up to four spheres, control of complex objects in both position and orientation, and directed self-assembly of multiple pieces. more...
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- 2021
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17. Modeling and Control of a Redundant Tensegrity-based Manipulator
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Nicolas Andreff, Jeremy Begey, Marc Vedrines, Pierre Renaud, Femto-st, AS2M, Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), and Institut National des Sciences Appliquées (INSA) more...
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Exploit ,Computer science ,[INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,Control engineering ,[INFO.INFO-DS] Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,Kinematics ,Workspace ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,symbols.namesake ,[SPI.AUTO] Engineering Sciences [physics]/Automatic ,Tensegrity ,Jacobian matrix and determinant ,symbols ,Redundancy (engineering) - Abstract
International audience
- Published
- 2021
18. APPORT DE MODELES NUMERIQUES DE HAUTEUR A L’AMELIORATION DE LA PRECISION D’INVENTAIRES STATISTIQUES FORESTIERS
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Jean-Pierre Renaud
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QA71-90 ,HE9713-9715 ,Applied optics. Photonics ,Electrical and Electronic Engineering ,Instruments and machines ,Cellular telephone services industry. Wireless telephone industry ,Computer Science Applications ,TA1501-1820 - Abstract
Les besoins d’informations concernant la ressource forestiere ne cessent de croitre avec d’importantes exigences de precision, de resolutions spatiales, et de reduction de couts. Ainsi, l’innovation en matiere d’inventaires forestiers represente un domaine en constante evolution. Dans cette etude, nous avons evalue l’apport de modeles numeriques de hauteur (MNH) comme sources de donnees auxiliaires en post-stratification afin d’ameliorer la precision des estimations d’inventaires. Deux zones d’etudes ont ete selectionnees. La premiere zone couvre le departement de la Nievre, ou une campagne recente de prises de vues aeriennes (hiver 2011) a ete utilisee pour generer un MNH. La seconde zone couvre les Vosges Haut-Rhinoises, ou un vol LiDAR (1360 km², au printemps 2011) permettait egalement de calculer un MNH de haute qualite. D’autres couches d’informations telles que les grandes regions ecologiques, les sylvoecoregions et les cartes forestieres de composition produites par l’IGN ont egalement ete testees comme variables auxiliaires. Les resultats obtenus montrent que pour l’estimation de deux parametres forestiers majeurs ( i.e. la superficie forestiere et le volume), une efficacite relative d’un facteur variant de 1 a 8 est atteignable en utilisant les MNH ou la carte de composition forestiere. Cette efficacite peut etre interpretee comme un facteur multiplicatif, par lequel la taille d’un echantillon d’inventaire devrait etre multiplie pour obtenir la meme precision qu’en utilisant la variable auxiliaire consideree. Cette efficacite varie cependant en fonction des zones etudiees et de la qualite des donnees d’entree. Dans un departement compose majoritairement de forets feuillues comme la Nievre, les prises de vue hivernales n’ont pas permis d’obtenir un MNH de qualite, rendant impossible la quantification de l’apport veritable du MNH photogrammetrique. Par contre, sur des sections de forets composees uniquement de coniferes, ce meme MNH a permis d’obtenir une efficacite relative de 1.2 a 1.7 pour l’estimation des volumes. Dans les Vosges Haut-Rhinoises, le MNH LiDAR a permis une amelioration de l’efficacite relative d’un facteur 1.8 sur l’estimation des volumes. De facon generale, les donnees auxiliaires testees ameliorent la precision des estimations d’inventaires, d’autant plus qu’elles sont de bonne qualite et correlees aux parametres d’interet sur les zones considerees. Les MNH sont donc une source d’optimisation possible des inventaires qui doivent certainement etre consideres avec attention. more...
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- 2020
19. Inverted Honeycomb Cell as a Reinforcement Structure for Building Soft Pneumatic Linear Actuators
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Bernard Bayle, Laurent Barbé, Pierre Renaud, Olivier Piccin, and François G. Schmitt
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0303 health sciences ,Materials science ,business.industry ,Mechanical Engineering ,Structure (category theory) ,Honeycomb (geometry) ,02 engineering and technology ,Structural engineering ,Linear actuator ,021001 nanoscience & nanotechnology ,03 medical and health sciences ,0210 nano-technology ,Actuator ,Reinforcement ,business ,030304 developmental biology - Abstract
In this article, the inverted honeycomb cell, known to exhibit an auxetic behavior, is considered to design two pneumatic linear actuators. The actuators are built using a combination of soft and rigid structures. They present complementary performances in terms of displacement, force, and stiffness. Experimental evaluations are conducted using prototypes produced using multimaterial additive manufacturing to combine soft and rigid materials with freedom of shape. The first actuator is inspired by origami structures. The possibility to obtain large deformations under low pressure is observed. The second actuator is based on a cylindrical auxetic structure based on the inverted honeycomb cell. Smaller deformation is reached but the design favors the off-axis stiffness, so the component can be integrated without any additional mechanical joint for translation. A discussion on the relative performances of these two actuators and their possible uses conclude the paper. more...
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- 2020
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20. Automatic Tip-Steering of Concentric Tube Robots in the Trachea Based on Visual SLAM
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Brahim Tamadazte, Pierre Renaud, Kanty Rabenorosoa, Cedric Girerd, Patrick Rougeot, Andrey V. Kudryavtsev, Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), University of California (UCLA), Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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soft robotics ,0209 industrial biotechnology ,Computer science ,[INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,Soft robotics ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,medical robotics ,02 engineering and technology ,Concentric ,Simultaneous localization and mapping ,Visual servoing ,computer vision ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,[SPI]Engineering Sciences [physics] ,020901 industrial engineering & automation ,0202 electrical engineering, electronic engineering, information engineering ,Computer vision ,visual servoing ,business.industry ,Software deployment ,Robot ,020201 artificial intelligence & image processing ,Artificial intelligence ,business ,Focus (optics) ,Communication channel - Abstract
International audience
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- 2020
- Full Text
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21. Origami-Inspired Design of a Deployable Wheel
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Pierre Renaud, Lennart Rubbert, John Berre, François Geiskopf, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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business.industry ,Computer science ,Stiffness ,Context (language use) ,Mobile robot ,Robotics ,Origami-inspired mechanism ,Kinematics ,Sciences de l'ingénieur [physics]/Automatique / Robotique ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Mechanism (engineering) ,origami ,Deployable mechanism ,medicine ,Robot ,Variable-diameter wheel ,Artificial intelligence ,medicine.symptom ,business ,Actuator ,Simulation ,ComputingMethodologies_COMPUTERGRAPHICS - Abstract
International audience; In this paper, we introduce the design of a variable-diameter wheel for mobile robots. The goal is to improve maneuverability and crossing capacity of such robots by actively controlling the diameter of wheels. Origami patterns have been recently considered in robotics for the design of compliant and deployable structures. In our context, compliance can limit the load capacity of mobile robots. We then propose an origami-inspired design to benefit at the same time from the high deployability of origami patterns and the stiffness of articulated mechanisms. The proposed deployable wheel is based on a flasher structure. Kinematic architecture is determined to allow the transition from a flat configuration to a folded configuration for maximum deployability. The original arrangement of kinematic joints to get the flasher motions with a rigid-body mechanism is presented. In addition, an actuation mechanism is designed to control the wheel radius using a single actuator. Finally, design of peripheral shape is discussed to maintain proper rolling capacity. The implementation of the prototype is then presented with validation of kinematics properties. more...
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- 2020
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22. Design of Concentric Tube Robots Using Tube Patterning for Follow-The-Leader Deployment
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Pierre Renaud, Cedric Girerd, Thomas Schlinquer, Kanty Rabenorosoa, and Nicolas Andreff
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0303 health sciences ,03 medical and health sciences ,Computer science ,Software deployment ,Mechanical Engineering ,Robot ,Mechanical engineering ,Tube (fluid conveyance) ,02 engineering and technology ,Concentric ,021001 nanoscience & nanotechnology ,0210 nano-technology ,030304 developmental biology - Abstract
Concentric tube robots (CTRs) have a great potential for use in medical applications. Coupled with a follow-the-leader (FTL) deployment, they allow navigation in constrained environments. However, they are subject to instabilities if one makes use of high curvatures for the tubes, long overlapping lengths of their curved sections, or long transmission lengths. One approach to improve their stability is to pattern the tubes of which they are composed by local removals of material along their lengths. Applying patterns on tubes was proved to be of interest for given deployed lengths of a CTR. In this article, we present a method to enlarge the application field of CTRs that deploy in a follow-the-leader manner, by integrating tube patterning in the design process, with a stability criterion. Our method allows the designer to determine a custom pattern geometry to theoretically ensure the stability of CTRs made of any number of constant curvature tubes, for a complete FTL deployment sequence, and while respecting a desired shape during deployment. more...
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- 2020
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23. Letter: Celiac Disease Presenting After a Single Anastomosis Duodeno-Ileal Bypass and Sleeve Gastrectomy
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Michel Lemoyne, Lilia-Maria Sanchez, Amelie Therrien, Marie-Pierre Renaud, and Louise D'Aoust
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Sleeve gastrectomy ,medicine.medical_specialty ,Nutrition and Dietetics ,Duodenum ,business.industry ,Duodeno-ileal ,Endocrinology, Diabetes and Metabolism ,medicine.medical_treatment ,Gastric bypass ,Gastric Bypass ,Disease ,Anastomosis ,Obesity, Morbid ,Surgery ,Celiac Disease ,Gastrectomy ,Humans ,Medicine ,business - Published
- 2019
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24. Robotically Assisted CBCT-Guided Needle Insertions: Preliminary Results in a Phantom Model
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Antoine Pfeil, Roberto Luigi Cazzato, Pierre De Marini, Pierre Renaud, Afshin Gangi, Laurent Barbé, Jeanie Betsy Chiang, Julien Garnon, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Département de Radiologie Interventionnelle [CHU Strasbourg], CHU Strasbourg, Interventional Radiology [Pok Fu Lam, Hong Kong], Queen Marie Hospital [Pok Fu Lam, Hong Kong], École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), and univOAK, Archive ouverte more...
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Image-Guided Biopsy ,Time Factors ,Percutaneous ,Wilcoxon signed-rank test ,Robot ,Punctures ,Sciences de l'ingénieur [physics]/Automatique / Robotique ,Imaging phantom ,Manual insertion ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,030218 nuclear medicine & medical imaging ,03 medical and health sciences ,0302 clinical medicine ,Medicine ,biopsy ,Radiology, Nuclear Medicine and imaging ,Cone beam ct ,Procedure time ,Cone-beam CT ,Phantoms, Imaging ,business.industry ,Radiation dose ,Ultrasound ,Robotics ,Cone-Beam Computed Tomography ,Radiation Exposure ,Radiation exposure ,[SPI.AUTO] Engineering Sciences [physics]/Automatic ,Needles ,Cardiology and Cardiovascular Medicine ,business ,Nuclear medicine - Abstract
International audience; Aim To compare robotic-assisted needle insertions performed under CBCT guidance to standard manual needle insertions. Materials and Methods A homemade robotic prototype was used by two operators to perform robotic and manual needle insertions on a custom-made phantom. Both the operators had no experience with the prototype before starting the trial. The primary endpoint was accuracy (i.e., the minimal distance between the needle tip and the center of the target) between robotic and manual insertions. Secondary endpoints included total procedure time and operators’ radiation exposure. The Wilcoxon test was used. A p value less than 0.05 was considered statistically significant. Results Thirty-three (17 manual, 16 robotic) needle insertions were performed. Mean accuracy for robotic insertion was 2.3 ± 0.9 mm (median 2.1; range 0.8–4.2) versus 2.3 ± 1 mm (median 2.1; range 0.7–4.4) for manual insertion (p = 0.84). Mean procedure time was 683 ± 57 s (median 670; range 611–849) for the robotic group versus 552 ± 40 s (median 548; range 486–621) for the manual group (p = 0.0002). Mean radiation exposure was 3.25 times less for the robotic insertion on comparison to manual insertion for the operator 1 (0.4 vs 1.3 µGy); and 4.15 times less for the operator 2 (1.9 vs 7.9 µGy). Conclusion The tested robotic prototype showed accuracy comparable to that achieved with manual punctures coupled to a significant reduction of operators’ radiation exposure. Further, in vivo studies are necessary to confirm the efficiency of the system. more...
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- 2018
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25. Improving delivery of care in rural emergency departments: a qualitative pilot study mobilizing health professionals, decision-makers and citizens in Baie-Saint-Paul and the Magdalen Islands, Québec, Canada
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Richard Fleet, Catherine Turgeon-Pelchat, Mélanie Ann Smithman, Hassane Alami, Jean-Paul Fortin, Julien Poitras, Jean Ouellet, Jocelyn Gravel, Marie-Pierre Renaud, Gilles Dupuis, and France Légaré
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Rural Population ,medicine.medical_specialty ,media_common.quotation_subject ,Health Personnel ,Case study ,Decision Making ,Context (language use) ,Pilot Projects ,Health informatics ,Health Services Accessibility ,Health administration ,Stakeholders ,Nursing ,medicine ,Humans ,Rural ,Qualitative Research ,media_common ,Islands ,Teamwork ,business.industry ,Health Policy ,Public health ,Nursing research ,Corporate governance ,lcsh:Public aspects of medicine ,Stakeholder ,Quebec ,lcsh:RA1-1270 ,Quality Improvement ,Health Care Surveys ,Emergency medicine ,Feasibility Studies ,Rural Health Services ,business ,Emergency Service, Hospital ,Research Article - Abstract
Background Emergency departments (EDs) in rural and remote areas face challenges in delivering accessible, high quality and efficient services. The objective of this pilot study was to test the feasibility and relevance of the selected approach and to explore challenges and solutions to improve delivery of care in selected EDs. Methods We conducted an exploratory multiple case study in two rural EDs in Québec, Canada. A survey filled out by the head nurse for each ED provided a descriptive statistical portrait. Semi-structured interviews were conducted with ED health professionals, decision-makers and citizens (n = 68) and analyzed inductively and thematically. Results The two EDs differed with regards to number of annual visits, inter-facility transfers and wait time. Stakeholders stressed the influence of context on ED challenges and solutions, related to: 1) governance and management (e.g. lack of representation, poor efficiency, ill-adapted standards); 2) health services organization (e.g. limited access to primary healthcare and long-term care, challenges with transfers); 3) resources (e.g. lack of infrastructure, limited access to specialists, difficult staff recruitment/retention); 4) and professional practice (e.g. isolation, large scope, maintaining competencies with low case volumes, need for continuing education, teamwork and protocols). There was a general agreement between stakeholder groups. Conclusions Our findings show the feasibility and relevance of mobilizing stakeholders to identify context-specific challenges and solutions. It confirms the importance of undertaking a larger study to improve the delivery of care in rural EDs. more...
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- 2020
26. Modeling and Identification for the Design of a Rotary Soft Actuator based on Wren Mechanism
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Lennart Rubbert, Pierre Renaud, Thibault Gayral, univOAK, Archive ouverte, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), and Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS) more...
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0209 industrial biotechnology ,rapid prototyping (industrial) ,Computer science ,motion control ,Soft actuator ,Context (language use) ,02 engineering and technology ,actuators ,[SPI.MECA] Engineering Sciences [physics]/Mechanics [physics.med-ph] ,Computer Science::Robotics ,020901 industrial engineering & automation ,industrial robots ,Computer Science::Systems and Control ,Calibration ,three-dimensional printing ,finite difference methods ,Control engineering ,Sciences de l'ingénieur [physics]/Mécanique [physics.med-ph] ,[SPI.MECA]Engineering Sciences [physics]/Mechanics [physics.med-ph] ,021001 nanoscience & nanotechnology ,calibration ,Computer Science::Other ,Mechanism (engineering) ,Identification (information) ,identification ,0210 nano-technology ,Actuator - Abstract
International audience; In this paper, we describe the use of calibration techniques to help improving prediction accuracy of models for soft actuators. A finite-difference model considering anisotropy of soft actuator flexible chamber is combined with experimental identification to assess actuator motion. Identifiability conditions are exploited to determine suitable experimental conditions, taking into account the manufacturing process capabilities, multimaterial additive manufacturing in this context. As a second contribution, a soft actuator with Wren mechanism for reinforcement is being developed. It is considered for rotary actuation, with the description of a proof of concept. The interest of the calibration technique and the actuator design are finally discussed. more...
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- 2020
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27. Experimental evaluation of needle tip force sensing associated to tactile feedback for improving needle remote insertion
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Charles Baur, Lennart Rubbert, Hubert Schneegans, Charlelie Saudrais, Pierre Renaud, Rui Zhu, Ulrich Mescheder, Lisa Bonnefoy, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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medicine.diagnostic_test ,Computer science ,Teleoperation ,Biopsy ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,medicine ,Soft tissue ,Needle insertion ,Tactile display ,Biomedical engineering ,[SPI.AUTO]Engineering Sciences [physics]/Automatic - Abstract
In this paper, we present an experimental evaluation of tactile feedback for remote needle insertion in soft tissues. A needle with tip force sensing is used to detect changes of tissues and puncture events during insertion. This information is provided to the user during teleoperation by means of a tactile display. Evaluation is conducted by reproducing needle insertion as performed during biopsy procedures in the liver. Needle tip force sensing makes the measurement of tissue change and puncture easier compared to force measurement at the base of the needle. Puncture events are correctly understood by the users. Change of tissue is also satisfactorily detected, which could be an interesting additional information for the user to perform surgical gesture. more...
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- 2020
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28. SLAM-based Follow-the-Leader Deployment of Concentric Tube Robots
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Cedric Girerd, Brahim Tamadazte, Pierre Renaud, Andrey V. Kudryavtsev, Patrick Rougeot, Kanty Rabenorosoa, Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Femto-st, AS2M, Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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Scheme (programming language) ,0209 industrial biotechnology ,Control and Optimization ,Stability criterion ,Computer science ,0206 medical engineering ,Real-time computing ,[INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,Biomedical Engineering ,Stability (learning theory) ,[INFO.INFO-DS] Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,02 engineering and technology ,Simultaneous localization and mapping ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,020901 industrial engineering & automation ,Artificial Intelligence ,computer.programming_language ,Mechanical Engineering ,020601 biomedical engineering ,Computer Science Applications ,Human-Computer Interaction ,[SPI.AUTO] Engineering Sciences [physics]/Automatic ,Control and Systems Engineering ,Software deployment ,Path (graph theory) ,Trajectory ,Robot ,Computer Vision and Pattern Recognition ,computer - Abstract
International audience; This paper deals with an original combination of navigation by simultaneous localization and mapping (SLAM) and follow-the-leader (FTL) deployment for the control of concentric tube robots (CTRs). The objective is to make possible the automatic navigation of such continuum robots within an anatomical structure, by simultaneously managing both collision avoidance and map updating of the environment, i.e., of the surrounding anatomical structures. Indeed, CTRs designed to achieve a FTL deployment to date were deployed on path identified during a planning task. In this work, this limitation is overcome by embedding, in the control scheme, an online trajectory estimation, therefore allowing an autonomous deployment of CTRs with an approximate FTL behavior. The proposed hybrid control law integrates a stability criterion to ensure at the same time CTR stability during deployment, required for a FTL deployment. The interest of the approach is demonstrated through simulation using realistic anatomical data and experiments, with a 3 degrees-of-freedom CTR. more...
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- 2020
29. Additive Manufacturing of a Bistable Mechanism Using Fused Deposition Modeling: Experimental and Theoretical Characterization
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Yassine Haddab, Mouna Ben Salem, Pierre Renaud, Guillaume Aiche, Lennart Rubbert, Robotique médicale et mécanismes parallèles (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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Manufacturing technology ,Materials science ,Fused deposition modeling ,Bistability ,Stiffness ,Nanotechnology ,Sciences de l'ingénieur [physics]/Automatique / Robotique ,[INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation ,Characterization (materials science) ,law.invention ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Mechanism (engineering) ,law ,medicine ,[INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,medicine.symptom - Abstract
Bistable mechanisms can be used for performing specific functions such as locking or negative stiffness generation. These compliant structures are then of interest at different scales, with different corresponding manufacturing technologies. One of them is additive manufacturing, which is interesting for the integration of such structures. Although this technology has undergone a revolution with the development of high-accuracy machines, the manufacturing of small-sized compliant structures is still quite a challenge especially for bistable mechanisms, which was not yet finely characterized. This is the focus of this paper, with presentation of an experimental and analytical confrontation in the case of Fused Deposition Modeling (FDM). more...
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- 2019
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30. Increasing precision for French forest inventory estimates using the k-NN technique with optical and photogrammetric data and model-assisted estimators
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François Morneau, Ronald E. McRoberts, Jean-Pierre Renaud, Dinesh Babu Irulappa-Pillai-Vijayakumar, Cédric Vega, Laboratoire d’Inventaire Forestier (LIF), École nationale des sciences géographiques (ENSG), Institut National de l'Information Géographique et Forestière [IGN] (IGN)-Institut National de l'Information Géographique et Forestière [IGN] (IGN), Office National des Forêts (ONF), Institut National de l'Information Géographique et Forestière [IGN] (IGN), University of Minnesota [Twin Cities] (UMN), University of Minnesota System, European Project: 633464,H2020,H2020-ISIB-2014-2,DIABOLO(2015), and Office national des forêts (ONF) more...
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Canopy ,Forest inventory methods ,010504 meteorology & atmospheric sciences ,Science ,0211 other engineering and technologies ,Pinus pinaster ,02 engineering and technology ,01 natural sciences ,Quercus sessiliflora ,multisource forest inventory ,Statistics ,Statistical inference ,national forest inventory ,Quadratic mean diameter ,021101 geological & geomatics engineering ,0105 earth and related environmental sciences ,Mathematics ,[SDV.EE]Life Sciences [q-bio]/Ecology, environment ,Forest inventory ,Forest inventory data ,Estimator ,non-parametric models ,statistical inference ,digital photogrammetry ,Pinus sylvestris ,Spectral bands ,Vegetation ,15. Life on land ,Photogrammetry ,General Earth and Planetary Sciences ,Quercus robur - Abstract
International audience; Multisource forest inventory methods were developed to improve the precision of national forest inventory estimates. These methods rely on the combination of inventory data and auxiliary information correlated with forest attributes of interest. As these methods have been predominantly tested over coniferous forests, the present study used this approach for heterogeneous and complex deciduous forests in the center of France. The auxiliary data considered included a forest type map, Landsat 8 spectral bands and derived vegetation indexes, and 3D variables derived from photogrammetric canopy height models. On a subset area, changes in canopy height estimated from two successive photogrammetric models were also used. A model-assisted inference framework, using a k nearest-neighbors approach, was used to predict 11 field inventory variables simultaneously. The results showed that among the auxiliary variables tested, 3D metrics improved the precision of dendrometric estimates more than other auxiliary variables. Relative efficiencies (RE) varying from 2.15 for volume to 1.04 for stand density were obtained using all auxiliary variables. Canopy height changes also increased RE from 3% to 26%. Our results confirmed the importance of 3D metrics as auxiliary variables and demonstrated the value of canopy change variables for increasing the precision of estimates of forest structural attributes such as density and quadratic mean diameter. more...
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- 2019
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31. Determination of a tactile feedback strategy for use in robotized percutaneous procedures
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Pierre Renaud, Rui Zhu, Ulrich Mescheder, Lennart Rubbert, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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0209 industrial biotechnology ,Percutaneous ,Computer science ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,02 engineering and technology ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,030218 nuclear medicine & medical imaging ,User-Computer Interface ,03 medical and health sciences ,020901 industrial engineering & automation ,0302 clinical medicine ,Feedback, Sensory ,Reaction Time ,Humans ,Computer vision ,Skin ,Haptic technology ,business.industry ,Equipment Design ,Robotics ,body regions ,ComputingMethodologies_PATTERNRECOGNITION ,Needles ,Touch ,Artificial intelligence ,Radiology ,business ,Tactile sensor - Abstract
Remote manipulation in robotized percutaneous procedures can offer increased safety to radiologists as well as patients. Providing feedback to the radiologist on needle-tissue interactions is however mandatory in addition to the medical images. A tactile feedback strategy is developed in this paper. Two types of information are considered: tissue puncture and nature of tissues. A haptic device is developed for that purpose, using a tactile display to provide information. Adequate signals are identified experimentally, with analysis of reaction times and the ability to discriminate one information from the other. more...
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- 2019
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32. A novel force sensor with zero stiffness at contact transition based on optical line generation
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Pierre Renaud, Pierre Pfeiffer, Sylvain Lecler, Mathieu Nierenberger, and Jeremy Begey
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0209 industrial biotechnology ,Computer science ,010401 analytical chemistry ,Process (computing) ,Stiffness ,02 engineering and technology ,01 natural sciences ,0104 chemical sciences ,Zero (linguistics) ,Robot control ,Vibration ,020901 industrial engineering & automation ,Control theory ,Line (geometry) ,Range (statistics) ,medicine ,Sensitivity (control systems) ,medicine.symptom - Abstract
Robotization of medical acts often requires the evaluation of contacts between a robotic system and a patient, for safety or efficiency reasons. When contact occurs with a stiff environment, instabilities and vibrations can appear and a passive compliance is therefore needed. In this paper, we propose to embed compliance in a force sensor and to develop a novel force sensor with large compliance, i.e. a zero stiffness at contact transition to ease robot control. To get at the same time a satisfying measurement range and low off-axis sensitivity, an optical measurement process based on an optical line generated thanks to additive manufacturing is exploited. A compliant sensor body allowing the desired stiffness profile is presented and the specific optical measurement technique is developed. Finally, a prototype of the proposed force sensor is evaluated experimentally. more...
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- 2019
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33. A functional regression model for inventories supported by aerial laser scanner data or photogrammetric point clouds
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Gerald Kändler, Erik Næsset, Jean-Pierre Renaud, Terje Gobakken, Steen Magnussen, and P. Adler
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Forest inventory ,010504 meteorology & atmospheric sciences ,Laser scanning ,Computer science ,Point cloud ,Soil Science ,Inference ,Geology ,Feature selection ,01 natural sciences ,010104 statistics & probability ,Variable (computer science) ,Photogrammetry ,Linear regression ,0101 mathematics ,Computers in Earth Sciences ,0105 earth and related environmental sciences ,Remote sensing - Abstract
Forest inventories, with a probability sampling of a target variable Y and a potentially very large number of auxiliary variables (X) obtained from an aerial laser scanner or photogrammetry, are faced with the issue of model and variable selection when a model for linking Y to X is formulated. To bypass this step we propose a generic functional regression model (FRM) for use in both a design- and a model-based framework of inference. We demonstrate applications of FRM with inventory data from France, Germany, and Norway. The generic FRM achieved results that were comparable to those obtained with more traditional approaches based on model and variable selections. The proposed FRM generates interpretable regression coefficients and enables testing of practically relevant hypotheses regarding estimated models. more...
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- 2016
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34. Higher-order continuation for the determination of robot workspace boundaries
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Gauthier Hentz, Pierre Renaud, and Isabelle Charpentier
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0209 industrial biotechnology ,Computer science ,Automatic differentiation ,Strategy and Management ,010103 numerical & computational mathematics ,02 engineering and technology ,Workspace ,01 natural sciences ,Computer Science::Robotics ,Séries de Taylor ,Continuation ,symbols.namesake ,020901 industrial engineering & automation ,Materials Science(all) ,Order (exchange) ,SAFER ,Extended system of equations ,Mechanisms ,Taylor series ,Media Technology ,Système d'équations étendu ,General Materials Science ,0101 mathematics ,Marketing ,business.industry ,Frontières de l'espace de travail ,Robotics ,Control engineering ,Mechanism (engineering) ,Mechanics of Materials ,Workspace boundaries ,symbols ,Mécanismes ,Différentiation Automatique ,Artificial intelligence ,business ,Diamant ,Algorithm - Abstract
In the medical and surgical fields, robotics may be of great interest for safer and more accurate procedures. Space constraints for a robotic assistant are however strict. Therefore, roboticists study non-conventional mechanisms with advantageous size/workspace ratios. The determination of mechanism workspace, and primarily its boundaries, is thus of major importance. This Note builds on boundary equation definition, continuation and automatic differentiation to propose a general, accurate, fast and automated method for the determination of mechanism workspace. The method is illustrated with a planar RRR mechanism and a three-dimensional Orthoglide parallel mechanism. more...
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- 2016
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35. Selection of actuation mode for tensegrity mechanisms: The case study of the actuated Snelson cross
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Jeremy Begey, Marc Vedrines, Pierre Renaud, and Nicolas Andreff
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Computer science ,business.industry ,Mechanical Engineering ,Mode (statistics) ,Bioengineering ,Robotics ,Control engineering ,Computer Science Applications ,Mechanism (engineering) ,Mechanics of Materials ,Tensegrity ,Artificial intelligence ,business ,Selection (genetic algorithm) - Abstract
Tensegrity mechanisms are self-stressed and deployable mechanisms which provide interesting properties such as high resistance-to-mass ratio and compliance. Despite a growing interest for these mechanisms in robotics, the actuation selection of such mechanisms is still poorly discussed. In this paper, the influence of the actuation type and position, i.e. actuation mode, within the structure is assessed for a widely considered tensegrity mechanism, the Snelson cross. Actuation strategies of interest are proposed and performance criteria are defined to achieve fair comparison of the mechanisms. Performance maps are generated and the most interesting results are discussed. Finally, building blocks providing elementary motions are identified and compliant equivalences of conventional joints are proposed for the design of more complex tensegrity-based devices. more...
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- 2020
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36. Hydraulically-actuated compliant revolute joint for medical robotic systems based on multimaterial additive manufacturing
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Tim Philipp Pusch, Pierre Renaud, Laurent Barbé, Marius Siegfarth, Antoine Pfeil, François Geiskopf, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), and univOAK, Archive ouverte more...
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0209 industrial biotechnology ,Computer science ,medical robotic systems ,0206 medical engineering ,Mechanical engineering ,ComputerApplications_COMPUTERSINOTHERSYSTEMS ,Context (language use) ,02 engineering and technology ,Revolute joint ,020601 biomedical engineering ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Mechanism (engineering) ,Hydraulic cylinder ,[SPI.AUTO] Engineering Sciences [physics]/Automatic ,020901 industrial engineering & automation ,Teleoperation ,Robot ,ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS ,Hydraulic machinery ,Joint (geology) - Abstract
In this paper, an active compliant revolute joint actuated by hydraulic energy is developed. The joint is made of polymer for integration in medical robotic systems, even in a challenging environment such as Magnetic Resonance Imaging (MRI). The use of multimaterial additive manufacturing allows us to develop two original aspects. First, a new seal design is proposed to build miniature hydraulic cylinders embedded in the active joint, with low level of friction. Second, a rack-and-pinion mechanism is being integrated to a compliant revolute joint to obtain a high level of compactness. Design and experimental assessment of the hydraulic cylinder and the compliant joint with embedded rack-and-pinion are presented, as well as an illustration in the context of needle manipulation with passive teleoperation. more...
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- 2019
37. A numerical framework for the stability and cardinality analysis of concentric tube robots: Introduction and application to the follow-the-leader deployment
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Kanty Rabenorosoa, Quentin Peyron, Pierre Renaud, Nicolas Andreff, Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Femto-st, AS2M, Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), univOAK, Archive ouverte, and ANR-17-EURE-0002,EIPHI,Ingénierie et Innovation par les sciences physiques, les savoir-faire technologiques et l'interdisciplinarité(2017) more...
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0209 industrial biotechnology ,Follow-the-leader deployment ,Computer science ,[INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,Bioengineering ,[INFO.INFO-DS] Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,02 engineering and technology ,Concentric ,Concentric tube robot ,Sciences de l'ingénieur [physics]/Automatique / Robotique ,Topology ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Computer Science::Robotics ,020901 industrial engineering & automation ,Bifurcation analysis ,0203 mechanical engineering ,Dynamic relaxation ,Mechanical Engineering ,Continuation method ,Computer Science Applications ,020303 mechanical engineering & transports ,Compact space ,[SPI.AUTO] Engineering Sciences [physics]/Automatic ,Mechanics of Materials ,Software deployment ,Stability evaluation ,Robot ,Actuator - Abstract
International audience; Concentric tube robot (CTR) is a promising class of continuum robots for medical interventions given their compactness and dexterity. Their dexterity is in particular being used to achieve so called Follow-the-Leader (FTL) deployments, where the tip path draws the shape of the robot. During this kind of deployment they can however be subject to elastic instabilities, and the number of reachable configurations may vary for a given state of actuators. These cardinality and stability changes need therefore to be predicted during CTR design. Available methods and results are limited, with restrictive assumptions on number and properties of tubes. We therefore propose in this paper a numerical framework for the cardinality and stability assessment of CTR. It is based on the association of dynamic relaxation, continuation method and bifurcation analysis. The numerical framework is validated by reproducing reference results on the stability and cardinality of two-tube robots. Then, new results on three-tube CTR deploying in a FTL manner are presented. The framework genericity allows in particular to provide new insights on the behaviour of CTR with helical-shaped tubes. more...
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- 2019
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38. RESPIRE - Récolte des menus bois en forêt - Potentiel, Impact, Indicateurs et remédiations par épandage de cendres de bois
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Laurent Saint Andre, Marc Buee, Michael Aubert, Claudine Richter, Christine Deleuze, Hanitra Rakotoarison, Jens Abildtrup, Emila Akroume, Cyrille Bach, Thierry Berthe, Nicolas Bilot, Alain Bouvet, Matthieu Chauvat, Philippe Dreyfus, Guillaume Echevarria, François Elie, Laure Fauchery, Pilar Fuente Tomai, Dominique Gerant, Damien Lauvin, Jean-Michel LEBAN, Marine Leblanc, Valentin Leduc, François Maillard, Matthieu Normand, Edouard Quibel, Clark Raveloson, Jean-Pierre Renaud, San-Joy Roy, Anne Stenger, Pauline Viaud, Lucie Vincenot, Bernhard Zeller, Unité de recherche Biogéochimie des Ecosystèmes Forestiers (BEF), Institut National de la Recherche Agronomique (INRA), Interactions Arbres-Microorganismes (IAM), Institut National de la Recherche Agronomique (INRA)-Université de Lorraine (UL), Étude et compréhension de la biodiversité (ECODIV), Université de Rouen Normandie (UNIROUEN), Normandie Université (NU)-Normandie Université (NU), Office National des Forêts (ONF), ONF, RDI department, Bureau d'Économie Théorique et Appliquée (BETA), Institut National de la Recherche Agronomique (INRA)-Université de Strasbourg (UNISTRA)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), AgroParisTech, Morphodynamique Continentale et Côtière (M2C), Université de Caen Normandie (UNICAEN), Normandie Université (NU)-Normandie Université (NU)-Institut national des sciences de l'Univers (INSU - CNRS)-Université de Rouen Normandie (UNIROUEN), Normandie Université (NU)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Etudes des Ressources Forêt-Bois (LERFoB), AgroParisTech-Institut National de la Recherche Agronomique (INRA), Institut Technologique Forêt Cellulose Bois-construction Ameublement (FCBA), Unité de Recherches Forestières Méditerranéennes (URFM), Laboratoire Sols et Environnement (LSE), Department of Silviculture and Pastures, Forest Engineering School, University Polytechnic, Ecologie et Ecophysiologie Forestières [devient SILVA en 2018] (EEF), Station de recherches sur la qualité des bois, Services généraux (SGCF), Institut national de recherche en sciences et technologies pour l'environnement et l'agriculture (IRSTEA), Normandie Université (NU), Laboratoire d'Economie Forestière (LEF), ADEME, Université de Lorraine (UL)-Institut National de la Recherche Agronomique (INRA), Centre National de la Recherche Scientifique (CNRS)-Université de Rouen Normandie (UNIROUEN), Normandie Université (NU)-Normandie Université (NU)-Institut national des sciences de l'Univers (INSU - CNRS)-Université de Caen Normandie (UNICAEN), Institut National de la Recherche Agronomique (INRA)-AgroParisTech, and Institut Technologique Forêt Cellulose Bois-Construction Ameublement (FCBA) more...
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[SDE.MCG]Environmental Sciences/Global Changes ,[SDE.BE]Environmental Sciences/Biodiversity and Ecology - Published
- 2019
39. Mécanismes de tenségrité pour la robotique de manipulation
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Quentin Boehler, Pierre Renaud, Salih Abdelaziz, Philippe Poignet, and Marc Vedrines
- Abstract
Les mecanismes de tensegrite sont issus des tensegrites, une classe de structures precontraintes pouvant supporter des charges importantes tout en restant legeres et compliantes. Leur exploitation en robotique de manipulation presente de nombreux interets, tout particulierement pour la robotique d’interaction. L’article introduit ces systemes, en fournissant des elements d’analyse, de conception et de commande indispensables a leur exploitation dans ce contexte. Leurs differentes applications en robotique de manipulation, ainsi que les defis technologiques et fondamentaux associes a leur exploitation sont egalement introduits. more...
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- 2018
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40. In Vivo Inspection of the Olfactory Epithelium: Feasibility of Robotized Optical Biopsy
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Brahim Tamadazte, M. Benassarou, Cedric Girerd, Pierre Renaud, Nicolas Andreff, Emmanuel Haffen, Laurent Tavernier, Lionel Pazart, Kanty Rabenorosoa, Thomas Lihoreau, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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0209 industrial biotechnology ,High interest ,Computer science ,Biopsy ,Biomedical Engineering ,Computed tomography ,02 engineering and technology ,Sciences de l'ingénieur [physics]/Automatique / Robotique ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,03 medical and health sciences ,020901 industrial engineering & automation ,0302 clinical medicine ,Olfactory Mucosa ,Robotic Surgical Procedures ,medicine ,Humans ,Computer vision ,Olfactory epithelium ENT Robot-assisted intervention Continuum robot OCT ,medicine.diagnostic_test ,business.industry ,Optical Biopsy ,medicine.anatomical_structure ,Robot ,Artificial intelligence ,Tomography, X-Ray Computed ,business ,Olfactory epithelium ,030217 neurology & neurosurgery - Abstract
International audience; Inspecting the olfactory cleft can be of high interest, as it is an open access to neurons, and thus an opportunity to collect in situ related data in a non-invasive way. Also, recent studies show a strong link between olfactory deficiency and neurodegenerative diseases such as Alzheimer and Parkinson diseases. However, no inspection of this area is possible today, as it is very difficult to access. Only robot-assisted interventions seem viable to provide the required dexterity. The feasibility of this approach is demonstrated in this article, which shows that the path complexity to the olfactory cleft can be managed with a concentric tube robot (CTR), a particular type of continuum robot. First, new anatomical data are elaborated, in particular for the olfactory cleft, that remains hardly characterized. 3D reconstructions are conducted on the database of 20 subjects, using CT scan images. Measurements are performed to describe the anatomy, including metrics with inter-subject variability. Then, the existence of collision-free passageways for CTR is shown using the 3D reconstructions. Among the 20 subjects, 19 can be inspected using only 3 different robot geometries. This constitutes an essential step towards a robotic device to inspect subjects for clinical purposes. more...
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- 2018
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41. Organisation des services dans une urgence rurale éloignée : réflexions autour du cas de Fermont, Québec
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Richard, Fleet, Catherine, Turgeon-Pelchat, Fatoumata Korika, Tounkara, Jean-Guy, Trottier, Jean, Ouellet, Luc, Lapointe, Marie-Pierre, Renaud, and Jean-Paul, Fortin
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Rural Population ,Emergency Medical Services ,Health Services Needs and Demand ,Hospitals, Rural ,Quebec ,Humans ,Health Services Research ,Rural Health Services ,Cooperative Behavior ,Health Services Accessibility ,Qualitative Research - Abstract
The goal of this study was to meet a small, remote emergency department's need to reflect on the minimum threshold of services to offer. The study's main objectives were to 1) provide a statistical profile of the emergency services in Fermont, Quebec, 2) assess the staff's and users' perception of the threshold of services offered and 3) propose solutions for improving care and services.This case study was conducted with a participatory approach and a mixed methodology. We compared the results from a questionnaire on the emergency services that was validated during a previous study with the results concerning the other rural emergency services in Quebec as well as with national and provincial recommendations. The questionnaire concerned users' sociodemographic characteristics, the hospital's and the emergency services' descriptors, the services available locally, and the physician and nurse staff. Interviews were also carried out with 33 people (health care professionals, policy-makers and citizens).Fermont's emergency department is smaller than the average rural emergency department in Quebec. They have resources that are in some respects comparable to those of other emergency departments and in line with the recommendations; in other respects, their resources are rather limited. Respondents emphasized how important it is to take into account the environment's specific features when establishing the minimum threshold of services. The proposed solutions would promote collaboration, break down silos within professional practice and focus on training.Fermont's case aside, this exploratory case study highlights how important it is to adopt a pluralistic, participatory and local approach in order to support reflection on the minimum threshold of services in remote emergency departments and to improve their overall performance.Cette étude visait à répondre au besoin d’une petite urgence éloignée d’assoir sa réflexion autour d’un seuil minimum de services à offrir. Les principaux objectifs de l’étude étaient de : 1) dresser le portrait statistique de l’urgence de Fermont, Québec, 2) évaluer la perception du personnel et des usagers en lien avec le seuil de services offert et 3) énoncer des solutions permettant d’améliorer les soins et les services.Cette étude de cas a été réalisée avec une approche participative et une méthodologie mixte. Nous avons comparée les données d’un questionnaire sur l’urgence qui a été validé lors d’une étude précédente aux données des autres urgences rurales québécoises et à des recommandations nationales et provinciales. Le questionnaire portait sur les caractéristiques sociodémographiques des usagers, les descripteurs du centre hospitalier et de l’urgence, les services disponibles localement et les effectifs médicaux et infirmiers. Des entrevues ont aussi été réalisées auprès de 33 personnes (professionnels de la santé, décideurs et citoyens).L’urgence de Fermont est plus petite que la moyenne des urgences rurales québécoises et dotée de ressources à certains égards comparables aux autres urgences et aux recommandations et à d’autres égards limités. Les répondants ont souligné l’importance de tenir compte des particularités du milieu dans l’établissement d’un seuil minimum de services. Les solutions proposées concernent l’importance de favoriser la collaboration, de décloisonner la pratique professionnelle et de miser sur la formation.Au-delà du cas de Fermont, cette étude de cas exploratoire a permis de souligner l’importance d’adopter une approche pluraliste, participative et locale pour soutenir la réflexion autour du seuil minimum de services à offrir dans les urgences éloignées et pour améliorer la performance générale des urgences rurales. more...
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- 2018
42. A 3D-Printed Needle Driver Based on Auxetic Structure and Inchworm Kinematics
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Laurent Barbé, Pierre Renaud, François Geiskopf, Arnaud Bruyas, B. Wach, Mathieu Nierenberger, Antoine Pfeil, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Unité Scientifique de la Station de Nançay (USN), Centre National de la Recherche Scientifique (CNRS)-Observatoire de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-Institut national des sciences de l'Univers (INSU - CNRS)-Observatoire des Sciences de l'Univers en région Centre (OSUC), Institut national des sciences de l'Univers (INSU - CNRS)-Observatoire de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-Université d'Orléans (UO)-Centre National de la Recherche Scientifique (CNRS)-Institut national des sciences de l'Univers (INSU - CNRS)-Observatoire de Paris, Université Paris sciences et lettres (PSL)-Université d'Orléans (UO)-Centre National de la Recherche Scientifique (CNRS)-Université d'Orléans (UO), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Observatoire des Sciences de l'Univers en région Centre (OSUC), and Université Paris sciences et lettres (PSL)-Université d'Orléans (UO)-Centre National de la Recherche Scientifique (CNRS) more...
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0209 industrial biotechnology ,3d printed ,Auxetics ,Computer science ,0206 medical engineering ,Mechanical engineering ,robotic manipulation ,02 engineering and technology ,Kinematics ,Sciences de l'ingénieur [physics]/Automatique / Robotique ,020601 biomedical engineering ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,020901 industrial engineering & automation ,11. Sustainability ,Actuator ,surgical instruments - Abstract
ICube / AVR - IRIS s/c IRCAD Hôpitaux Universitaires 1, place de l'hôpital 67091 Strasbourg Cedex France ASME International Design Engineering Technical Conferences, Québec city Email: laurent.barbe[at]unistra.fr; International audience; Linear actuation is a basic need in robotized manipulation of surgical instruments, that must comply with a challenging environment in terms of safety, compactness and now often compatibility with imaging modalities like CT or MRI. In this paper, we focus on needle manipulation for interventional radiology. We propose a needle driver, i.e. a linear actuator for needle insertion, based on the inchworm principle combined with pneumatic energy. Our first contribution is to propose, model and implement the device using a so-called auxetic structure. Its use increases achievable displacement under pressure and provides sufficient off-axis stiffness to use the actuator without additional guidance. Simplified modeling is introduced for the actuator synthesis. Our second contribution is to implement the actuator with multimaterial additive manufacturing combining rigid and flexible materials to increase compactness. As a third contribution, initial assessment of component sterilization and compatibility with X-ray and MRI imaging modalities is presented. more...
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- 2018
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43. Kinematic Analysis of Magnetic Continuum Robots Using Continuation Method and Bifurcation Analysis
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Nicolas Andreff, Kanty Rabenorosoa, Pierre Renaud, Bradley J. Nelson, Quentin Boehler, Quentin Peyron, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Multi-Scale Robotics Lab [Zurich, Switzerland], Eidgenössische Technische Hochschule - Swiss Federal Institute of Technology [Zürich] (ETH Zürich), Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), and univOAK, Archive ouverte more...
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0301 basic medicine ,Control and Optimization ,Kinematics ,Computer science ,Biomedical Engineering ,flexible robots ,Sciences de l'ingénieur [physics]/Automatique / Robotique ,01 natural sciences ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,03 medical and health sciences ,Artificial Intelligence ,0103 physical sciences ,Statistical physics ,010302 applied physics ,Continuum (topology) ,Mechanical Engineering ,Navigation system ,Computer Science Applications ,Magnetic field ,Human-Computer Interaction ,Nonlinear system ,[SPI.AUTO] Engineering Sciences [physics]/Automatic ,030104 developmental biology ,Bifurcation analysis ,Control and Systems Engineering ,Robot ,Computer Vision and Pattern Recognition - Abstract
IEEE Robotics and Automation Letters, 3 (4), ISSN:2377-3766
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- 2018
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44. Mechanical Bistable Structures for Microrobotics and Mesorobotics from Microfabrication to Additive Manufacturing
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Guillaume Aiche, Yassine Haddab, Hussein Hussein, Pierre Renaud, Mouna Ben Salem, Lennart Rubbert, Philippe Lutz, Robotique médicale et mécanismes parallèles (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), ANR-11-LABX-0004,CAMI,Gestes Médico-Chirurgicaux Assistés par Ordinateur(2011), Conception et commande de robots pour la manipulation (DEXTER), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), and Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS) more...
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Mesorobotics ,0209 industrial biotechnology ,Fabrication ,Bistability ,Computer science ,Mechanical bistable structures ,Context (language use) ,Nanotechnology ,Curved beams ,[SDV.CAN]Life Sciences [q-bio]/Cancer ,02 engineering and technology ,Key issues ,FDM additive manufacturing ,01 natural sciences ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Informatique [cs]/Automatique ,020901 industrial engineering & automation ,[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering ,0103 physical sciences ,Microrobotics ,[INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,[SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics ,010301 acoustics ,Microelectromechanical systems ,[INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation ,MEMS ,Microfabrication - Abstract
International audience; The use of mechanical bistable structures in the design of microrobots and mesorobots has many advantages especially for flexible robotic structures. However, depending on the fabrication technology used, the adequacy of theoretical and experimental mechanical behaviors can vary widely. In this paper, we present the manufacturing results of bistable structures made with two extensively used contemporary technologies: MEMS and FDM additive manufacturing. Key issues of these fabrication technologies are discussed in the context of microrobotics and mesorobotics applications. more...
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- 2018
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45. Observations And Experiments For The Definition Of A New Robotic Device Dedicated To CT, CBCT And MRI-Guided Percutaneous Procedures
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Laurent Barbé, Roberto Luigi Cazzato, Antoine Pfeil, Pierre Renaud, Afshin Gangi, Benoit Wach, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), and Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS) more...
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robotic functionalities ,0209 industrial biotechnology ,medicine.medical_specialty ,Percutaneous ,Computer science ,02 engineering and technology ,Sciences de l'ingénieur [physics]/Automatique / Robotique ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Workflow ,030218 nuclear medicine & medical imaging ,Imaging modalities ,03 medical and health sciences ,020901 industrial engineering & automation ,0302 clinical medicine ,Robotic Surgical Procedures ,medicine ,Humans ,Medical physics ,instrumentation ,methods ,standards ,medicine.diagnostic_test ,Interventional radiology ,Robotics ,Spiral Cone-Beam Computed Tomography ,Magnetic Resonance Imaging ,3. Good health ,Task analysis ,Robot ,Radiology ,Mri guided - Abstract
In this paper, we present the work achieved to define the robotic functionalities of interest for percutaneous procedures as performed in interventional radiology. Our contributions are twofold. First, a detailed task analysis is performed with workflow analysis of biopsies, one of the most frequent tasks, under three imaging modalities, namely CT, CBCT and MRI. Second, the functionalities of a robotic assistant are identified, and we analyze whether a single device can bring an added value during procedures in the three modalities while keeping the robotized workflow close to manual tasks, to minimize learning time and difficulty of use. Experimental analysis on CBCT is notably used to confirm the interest of the determined robotic functionalities. journal article research support, non-u.s. gov't 2018 07 imported IEEE Engineering in Medicine and Biology Society, Honolulu, United States, juillet 2018 Research team : AVR more...
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- 2018
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46. Design of a Microbiota Sampling Capsule using 3D-Printed Bistable Mechanism
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Guillaume Aiche, Pierre Renaud, Lennart Rubbert, Yassine Haddab, Mouna Ben Salem, Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Robotique médicale et mécanismes parallèles (DEXTER), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS) more...
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Microbiota sampling ,3d printed ,Bistability ,Computer science ,0206 medical engineering ,Capsules ,02 engineering and technology ,Sciences de l'ingénieur [physics]/Automatique / Robotique ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering ,Microrobotics ,[INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] ,Humans ,[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] ,[SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics ,Closing (morphology) ,Medical microrobotics ,Mechanism (biology) ,Microbiota ,Bistable structures ,Sampling (statistics) ,Control engineering ,3D printing ,021001 nanoscience & nanotechnology ,[INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation ,020601 biomedical engineering ,Medical robotics ,Printing, Three-Dimensional ,0210 nano-technology - Abstract
International audience; Microbiota analysis is a fundamental element for a better understanding of microbiota role, its relationship with the human body and its impact on different pathologies. There is today no non-invasive tool for easy collection of the microbiota in the small intestine. In this paper, we describe the development of such a device that opens the way to new diagnostic techniques. The device is based on a capsule designed as a passive system to maximize the safety during its use. Originality of the design relies in the use of a bistable mechanism obtained using additive manufacturing in order to provide a compact design with integration of opening, sampling and closing functions within the capsule. Design, implementation and initial lab evaluation of sampling are presented. more...
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47. Building robust confocal endomicroscopy mosaics despite image losses
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Kanty Rabenorosoa, N Andreff, Brahim Tamadazte, Pierre Renaud, and Patrick Rougeot
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business.industry ,Computer science ,Confocal ,Endomicroscopy ,Computer vision ,Artificial intelligence ,business - Published
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48. Evaluation of Dynamic Relaxation to Solve Kinematics of Concentric Tube Robots
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Kanty Rabenorosoa, Pierre Renaud, Nicolas Andreff, Quentin Peyron, Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174) (FEMTO-ST), Université de Technologie de Belfort-Montbeliard (UTBM)-Ecole Nationale Supérieure de Mécanique et des Microtechniques (ENSMM)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), and Institut National des Sciences Appliquées (INSA) more...
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0209 industrial biotechnology ,Computer science ,Computation ,[INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS] ,02 engineering and technology ,Kinematics ,Concentric ,Deformation (meteorology) ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,020303 mechanical engineering & transports ,020901 industrial engineering & automation ,0203 mechanical engineering ,Control theory ,Robustness (computer science) ,Dynamic relaxation ,Robot ,Boundary value problem - Abstract
Concentric tube robots are based on the deformation of elastic pre-curved tubes mounted in a telescopic manner. Their kinematic model consists in a boundary value problem which must be solved during analysis and design. When arbitrary properties and number of the tubes are considered, this model must be solved numerically. We consider in this paper the use of dynamic relaxation to perform this resolution. Its performances in terms of accuracy and computation time are assessed in a case study involving a two-tube CTR. Robustness of the method tuning to variations of CTR behaviour as encountered during a deployment is finally assessed. more...
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- 2018
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49. Optical line generation using a 3D-printed component: application for a force sensor (Conference Presentation)
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Sylvain Lecler, Jérémy Begey, Pierre Pfeiffer, François Geiskopf, Lucas Viot, Mathieu Nierenberger, and Pierre Renaud
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Birefringence ,Materials science ,Acoustics ,Optical force ,Surface roughness ,Metamaterial ,Beam expander ,Cylindrical lens ,Light scattering ,Contact force - Abstract
Additive manufacturing is more and more used in optics to produce opto-mechanical components as well as light transmission mediums, either for prototype evaluation or for functional part generation. It was previously shown that optical systems can benefit from the geometrical accuracy of the printed parts. Intrinsic defects such as surface roughness or volume birefringence can also be exploited for optical component design. We here present such use of particular properties of an additive manufacturing process based on photopolymerization. The final goal of the work is the design of a force sensor for collaborative robotics. More precisely, the aim is to design an optical force sensor to control the contact force between a human body and a magnetic source controlled by a robot for medical purpose. Optical sensors are known to have major interests in harsh environments where classical electrical sensors cannot be used due to, like here, electromagnetic compatibility issues. Two 3D-printed designs of optical force sensors are compared. The first one, conceptually developed in a previous work, is using polarization modulation due to force-induced birefringence to modify optical transmission in a sensor based on a monolithic original geometry. For such a case, additive manufacturing appears as a powerful production technique as the 3D part must be transparent and at the same time obtained with an accurate complex geometry. The second design is based on the volume scattering properties of printed transparent parts. For the first time to our knowledge, we show that the optical system made out of a beam expander and a cylindrical lens, necessary to achieve an optical line, can be replaced by a simple prismatic 3D-printed element. Using the Polyjet technology developed by Stratasys Ltd, a line can simply be obtained using the 1D volume light scattering inside the printed medium. The variation of line properties is then related to the mechanical strain induced by the force to be measured. In other words, the optical properties we rely on are linked to the bulk liquid material, its photopolymerization during printing and finally the impact of mechanical stress on the printed component. The sensitive element in the force sensor can be seen as a metamaterial with properties which depend on its micrometric structuration. The micro-structuration size is not related to the standard minimum feature size as claimed by the manufacturer but to the additive manufacturing process itself. In our case, a Stratasys Connex 350 printer has been used with an acrylate transparent material. Opto-mechanical properties such as birefringence, surface roughness, elasto-optic coefficients have been measured. The ability to generate an optical line using natural 1D volume light scattering in a printed parallelepiped with polished surfaces is experimentally demonstrated. As potential application, the parallelepiped is used to replace a cylindrical lens in an amplitude modulation force sensor. The sensor response is measured. Thus, additive manufacturing appears to be a promising technique to achieve optical components and to integrate optical sensors in future 3D-printed mechatronic systems. more...
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- 2018
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50. Synthesis method for the design of variable stiffness components using prestressed singular elastic systems
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Pierre Renaud, Salih Abdelaziz, Marc Vedrines, Quentin Boehler, Philippe Poignet, Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), AVR, Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Robotique médicale et mécanismes parallèles (DEXTER), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS) more...
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musculoskeletal diseases ,0209 industrial biotechnology ,animal structures ,Computer science ,Prestressed elastic systems ,MathematicsofComputing_NUMERICALANALYSIS ,Bioengineering ,010103 numerical & computational mathematics ,02 engineering and technology ,macromolecular substances ,[SPI.MECA.MSMECA]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Materials and structures in mechanics [physics.class-ph] ,Elastic systems ,01 natural sciences ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,020901 industrial engineering & automation ,medicine ,0101 mathematics ,Sciences de l'Homme et Société/Sciences de l'information et de la communication ,Variable stiffness ,business.industry ,Mechanical Engineering ,Stiffness ,Structural engineering ,equipment and supplies ,Antagonistic stiffness ,Synthesis method ,Computer Science Applications ,Mechanics of Materials ,medicine.symptom ,business - Abstract
Mechanism and Machine Theory, 121, ISSN:0094-114X
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- 2018
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