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152 results on '"Kruszewski, Alexandre"'

1. Cosserat-Rod Based Dynamic Modeling of Soft Slender Robot Interacting with Environment

Author

Xun, Lingxiao, Zheng, Gang, and Kruszewski, Alexandre

Subjects
Computer Science - Robotics
Abstract

Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge because of the non-linearity of deformation and the non-smooth property of the contacts. In this work, starting from a piece-wise local strain field assumption, we propose a nonlinear dynamic model for soft robot via Cosserat rod theory using Newtonian mechanics which handles the frictional contact with environment and transfer them into the nonlinear complementary constraint (NCP) formulation. Moreover, we smooth both the contact and friction constraints in order to convert the inequality equations of NCP to the smooth equality equations. The proposed model allows us to compute the dynamic deformation and frictional contact force under common optimization framework in real time when the soft slender robot interacts with other rigid or soft bodies. In the end, the corresponding experiments are carried out which valid our proposed dynamic model.

Published
2023

10. Cosserat-Rod-Based Dynamic Modeling of Soft Slender Robot Interacting With Environment

Author

Xun, Lingxiao, Zheng, Gang, and Kruszewski, Alexandre

Abstract

Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge because of the nonlinearity of deformation and the nonsmooth property of the contacts. In this work, starting from a piece-wise local strain field assumption, we propose a nonlinear dynamic model for soft robot via Cosserat rod theory using Newtonian mechanics, which handles the frictional contact with environment and transfer them into the nonlinear complementary constraint (NCP) formulation. Moreover, we smooth both the contact and friction constraints in order to convert the inequality equations of NCP to the smooth equality equations. The proposed model allows us to compute the dynamic deformation and frictional contact force under common optimization framework in real time when the soft slender robot interacts with other rigid or soft bodies. In the end, the corresponding experiments are carried out which valid our proposed dynamic model.

Published
2024
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12. Smart Electrode Array for Cochlear Implants

Author

Itawi, Ahmad, primary, Ghenna, Sofiane, additional, Tourrel, Guillaume, additional, Grondel, Sébastien, additional, Plesse, Cédric, additional, Nguyen, Tran Minh Giao, additional, Vidal, Frédéric, additional, Adagolodjo, Yinoussa, additional, Xun, Lingxiao, additional, Zheng, Gang, additional, Kruszewski, Alexandre, additional, Duriez, Christian, additional, and Cattan, Eric, additional

Published
2023
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16. How electroactive polymer can be used for cochlear implants micro-robotization?

Author

Itawi, Ahmad, Ghenna, Sofiane, Tourrel, Guillaume, Grondel, Sébastien, Plesse, Cedric, Nguyen, Giao Tran Minh, Vidal, Frederic, Adagolodjo, Yinoussa, Xun, Lingxiao, Zheng, Gang, Kruszewski, Alexandre, Duriez, Christian, Cattan, Eric, Institut d’Électronique, de Microélectronique et de Nanotechnologie - UMR 8520 (IEMN), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-JUNIA (JUNIA), Université catholique de Lille (UCL)-Université catholique de Lille (UCL), Matériaux et Acoustiques pour MIcro et NAno systèmes intégrés - IEMN (MAMINA - IEMN), INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut d’Électronique, de Microélectronique et de Nanotechnologie - UMR 8520 (IEMN), Université catholique de Lille (UCL)-Université catholique de Lille (UCL)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-JUNIA (JUNIA), Laboratoire de Physico-chimie des Polymères et des Interfaces (LPPI), Fédération INSTITUT DES MATÉRIAUX DE CERGY-PONTOISE (I-MAT), CY Cergy Paris Université (CY)-CY Cergy Paris Université (CY), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria), ROBOCOP, TWINNIMS, Renatech Network, CMNF, ANR-19-CE19-0026,ROBOCOP,robotisation de l'implant cochléaire(2019), European Project: 857263,H2020-EU.4.b.,TWINNIMS(2019), GHENNA, Sofiane, robotisation de l'implant cochléaire - - ROBOCOP2019 - ANR-19-CE19-0026 - AAPG2019 - VALID, and Increasing the scientific excellence and technological innovation capacity in Functional Materials for Medical Devices and Robotics of the University of Tartu - TWINNIMS - 2019-11-01 - 2022-10-30 - 857263 - VALID

Subjects
[SPI]Engineering Sciences [physics], [SPI] Engineering Sciences [physics]
Abstract

International audience; ISSUE : Cochlear implant is for people with severe to profound sensorineural hearing loss. Currently, the most difficult task during implant surgery is inserting the electrode array properly into the tympanic ramp of the patient's cochlea. Problem solving: New prototype with low stiffness and with on electronically conductive polymer (ECP) based micro-actuators to reduce friction forces allows better control of insertion process, facilitate the work of surgeon and decrease the probability of trauma.

Published
2022

23. Stability and performances synthesis of a class of Takagi–Sugeno systems with unmeasured premises: restricted-model-based approach.

Author

Maalej, Sonia and Kruszewski, Alexandre

Subjects
*LINEAR matrix inequalities, *ROBUST control
Abstract

This paper presents the design of a robust Restricted-Model-Based control providing tools for both stability and performance analysis of a class of Single-Input-Single-Output (SISO) Takagi–Sugeno (T–S) systems. The proposed method is evaluated in terms of induced L 2 -gain (or so-called H ∞ norm) to be robust to disturbances, sensor noises and uncertainties on the premise variables. Unlike the common approaches reported in the literature that consider exact premise variables, this work deals with the problem of unmeasured premises. The main results of this paper illustrate that stability and performance conditions can be evaluated by examining the feasibility of parametrised sets of linear matrix inequalities (LMIs). The proof of stability is based on the non-linear sector approach of the closed loop under Lyapunov conditions, L 2 norm and system transformations. The result is a control structure with only one parameter tuned via simple conditions. The performance and applicability of the proposed approach are illustrated through numerical simulations of an academic example. [ABSTRACT FROM AUTHOR]

Published
2023
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31. Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer

Author

Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science, Katzschmann, Robert K., Thieffry, Maxime, Goury, Olivier, Kruszewski, Alexandre, Guerra, Thierry-Marie, Duriez, Christian, Rus, Daniela, Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science, Katzschmann, Robert K., Thieffry, Maxime, Goury, Olivier, Kruszewski, Alexandre, Guerra, Thierry-Marie, Duriez, Christian, and Rus, Daniela

Abstract

© 2019 IEEE. This paper presents a computationally efficient method to model and simulate soft robots. Finite element methods enable us to simulate and control soft robots, but require us to work with a large dimensional system. This limits their use in real-time simulation and makes those methods less suitable for control design tools. Using model order reduction, it is possible to create a reduced order system for building controllers and observers. Model reduction errors are taken into account in the design of the low-order feedback, and it is then applied to the large dimensional, unreduced model. The control architecture is based on a linearized model of the robot and enables the control of the robot around this equilibrium point. To show the performance of this control method, pose-to-pose and trajectory tracking experiments are conducted on a pneumatically actuated soft arm. The soft arm has 12 independent interior cavities that can be pressurized and cause the arm to move in three dimensions. The arm is made of a rubber material and is casted through a lost-wax fabrication technique.

Published
2021

34. Discrete Takagi-Sugeno's fuzzy models: reduction of the number of LMI in fuzzy control techniques

Author

Delmotte, Francois, Guerra, Thierry Marie, and Kruszewski, Alexandre

Subjects
Fuzzy logic, Inequalities (Mathematics) -- Analysis, Fuzzy algorithms -- Analysis, Fuzzy logic -- Analysis, Fuzzy systems -- Analysis, Nonlinear networks -- Analysis
Abstract

Conditions about the stabilization of Takagi-Sugeno fuzzy models can systematically be derived and solved usually using linear matrix inequality problems. Current research tries to lower any pessimism. However, often it leads to an important increase in the number of decision variables, and problems become insolvable. In this correspondence, we choose to reduce the number of decision variables while not raising the conservatism in comparison with previous results. This correspondence deals with the discrete case, which is harder to solve. We supply results about the stabilization, the regulator problem, and also [H.sub.[infinity]] control. Index Terms--Fuzzy models, linear matrix inequalities (LMIs), Lyapunov approach, nonlinear control, robust control.

Published
2008

43. <tex-math notation='LaTeX'>$H\infty$</tex-math> LMI-Based Observer Design for Nonlinear Systems via Takagi–Sugeno Models With Unmeasured Premise Variables

Author

Guerra, Thierry-Marie, Márquez Borbόn, Raymundo, Kruszewski, Alexandre, Bernal, Miguel, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), Centrale Lille, Deformable Robots Simulation Team (DEFROST ), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Institut National de Recherche en Informatique et en Automatique (Inria), Instituto Tecnológico de Sonora (ITSON), and Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)

Subjects
"Biological system modeling", "Nonlinear systems", [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, "Lyapunov methods", "Observers", ComputingMilieux_MISCELLANEOUS, "Electronic mail", "Computational modeling", [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; This paper is concerned with state estimation for continuous-time nonlinear systems. By means of a polytopic exact representation of the system using interpolation functions whose premise variables can be unmeasured, the differential mean value theorem and a quadratic Lyapunov function are used to provide conditions in the form of linear matrix inequalities, guaranteeing the state estimation error to be asymptotically driven to zero. A robust extension of the proposed observer design performing H∞ disturbance rejection is also presented. Examples illustrating the effectiveness of the developed novelties against former results are included

Published
2018

46. Dynamic Control of Soft Robots

Author

Thieffry, Maxime, Kruszewski, Alexandre, Goury, Olivier, Guerra, Thierry-Marie, Duriez, Christian, Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS), Deformable Robots Simulation Team (DEFROST ), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), and Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France)

Subjects
Computer Science::Robotics, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Soft robotics, Automatic Control, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Order reduction
Abstract

International audience; Soft robots present several advantages. However, one of the main challenges of this new field of robotics is to control these robots. The methods used to control rigid robots are not directly relevant and new approaches have to be invented or updated to be applied to this kind of robots. This paper introduces control solutions for soft robots studies taking into account dynamics of the system.

Published
2017

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