A5010221307- Advanced Vision and Imaging
- Biomimetic flight and propulsion mechanisms
- Robotics and Sensor-Based Localization
- Neurobiology and Insect Physiology Research
- CCD and CMOS Imaging Sensors
- Visual perception and processing mechanisms
- Air Traffic Management and Optimization
- Muscle activation and electromyography studies
- Insect and Arachnid Ecology and Behavior
- Advanced Optical Imaging Technologies
- Advanced optical system design
- Aerospace and Aviation Technology
- Prosthetics and Rehabilitation Robotics
- Underwater Vehicles and Communication Systems
- Advanced Optical Sensing Technologies
- Robotic Path Planning Algorithms
- Insect Pheromone Research and Control
- Advanced Fluorescence Microscopy Techniques
- Aerospace Engineering and Energy Systems
- Electrowetting and Microfluidic Technologies
- Leaf Properties and Growth Measurement
- Balance, Gait, and Falls Prevention
- Adaptive Control of Nonlinear Systems
- Evacuation and Crowd Dynamics
- Retinal Development and Disorders
Institut Systèmes Intelligents et de Robotique
2022
Sorbonne Université
2022
Aix-Marseille Université
2011-2017
Centre National de la Recherche Scientifique
2011-2017
Institut des Sciences du Mouvement Etienne-Jules Marey
2014-2015
Institut des Sciences Moléculaires
2012-2015
In most animal species, vision is mediated by compound eyes, which offer lower resolution than vertebrate single-lens but significantly larger fields of view with negligible distortion and spherical aberration, as well high temporal in a tiny package. Compound eyes are ideally suited for fast panoramic motion perception. Engineering miniature artificial eye challenging because it requires accurate alignment photoreceptive optical components on curved surface. Here, we describe unique design...
Two bio-inspired guidance principles involving no reference frame are presented here and were implemented in a rotorcraft, which was equipped with panoramic optic flow (OF) sensors but (as flying insects) accelerometer. To test these two principles, we built tethered tandem rotorcraft called BeeRotor (80 grams), tested along high-roofed tunnel. The aerial robot adjusts its pitch hence speed, hugs the ground lands safely without any need for an inertial frame. rotorcraft's altitude forward...
The X-Morf robot is a 380-g quadrotor consisting of two independent arms each carrying tandem rotors, forming an actuated scissor joint. able to actively change in-flight its X-geometry by changing the angle between arms. magnetic and electrical joint quadrotors makes them easily removable resistant crashes while providing propellers with sufficient power ensuring high quality signal transmission during flight. dynamic model on which was based, also used design adaptive controller. A Model...
Abstract Considerable attention has been paid during the past decade to navigation systems based on use of visual optic flow cues. Optic flow‐‐based visuomotor control have implemented an increasingly large number sighted autonomous robots designed travel under specific lighting conditions. Many algorithms conventional cameras or custom‐made sensors are being used nowadays process motion. In this paper, we focus reliability our optical sensors, which can be measure local one‐dimensional...
The demand for bendable sensors increases constantly in the challenging field of soft and micro-scale robotics. We present here, more detail, flexible, functional, insect-inspired curved artificial compound eye (CurvACE) that was previously introduced Proceedings National Academy Sciences (PNAS, 2013). This cylindrically-bent sensor with a large panoramic field-of-view \(180^\circ\) \(\times\) \(60^\circ\)composed 630 ommatidia weighs only 1.75 g, is extremely compact power-lean (0.9 W),...
In this paper, we present: (i) a novel analog silicon retina featuring auto-adaptive pixels that obey the Michaelis-Menten law, i.e.V = V m I n +σ ; (ii) method of characterizing retinas, which makes it possible to accurately assess pixels' response transient luminous changes in ±3-decade range, as well initial steady-state intensity 7-decade range.The pixel, called M 2 APix, stands for Auto-Adaptive Pixel, can auto-adapt range and responds appropriately step up ±3 decades size without...
Autopilots for micro aerial vehicles (MAVs) with a maximum permissible avionic payload of only few grams need lightweight, low-power sensors to be able navigate safely when flying through unknown environments. To meet these demanding specifications, we developed simple functional model an Elementary Motion Detector (EMD) circuit based on the common housefly's visual system. During last two decades, several insect-based motion have been designed and implemented various robots, considerable...
Optic flow-based autopilots for Micro-Aerial Vehicles (MAVs) need lightweight, low-power sensors to be able fly safely through unknown environments. The new tiny 6-pixel visual motion sensor presented here meets these demanding requirements in terms of its mass, size, and power consumption. This 1-gram, low-power, fly-inspired accurately gauges the using only this array with two different panoramas illuminance conditions. sensor's output results from a smart combination information collected...
In recent years, lower-limb exoskeletons have been marketed to become a possible alternative wheelchairs for people with walking impairments or paralysis. However, most assistive rely on constraining control strategies based remote controls torso tilting events. One approach build more intuitive interfaces would be exploit knowledge human motor control, and the coordination between upper lower limb movements during gait events, such as anticipatory postural adjustments that precede...
Considerable attention has been paid during the last decade to navigation systems based on use of visual optic flow cues, especially for guiding autonomous robots designed travel under specific lighting conditions. In present study, performances two motion sensors used measure a local 1-D angular speed, namely (i) bio-inspired 2-pixel sensor and (ii) an off-the-shelf mouse sensor, were tested first time in wide range illuminance levels. The sensors' characteristics determined here by...
The new robot called BeeRotor we have developed is a tandem rotorcraft that mimicks optic flow-based behaviors previously observed in flies and bees. This tethered miniature (80g), which autonomous terms of its computational power requirements, equipped with 13.5-g quasi-panoramic visual system consisting 4 individual motion sensors responding to the flow generated by photographs natural scenes, thanks bio-inspired "time travel" scheme. Based on recent findings insects' sensing abilities...
In previous studies, we described how complicated tasks such as ground avoidance, terrain following, takeoff and landing can be performed using optic flow sensors mounted on a tethered flying robot called OCTAVE. the present study, new programmable visual motion sensor connected to lightweight Bluetooth module was free-flying 50-gram helicopter TwinCoax. This small model equipped with 3 IR-reflective markers flown in dedicated room VICON system record its trajectory. The results of this...
Insects can accurately navigate and track sound sources in complex environments using efficient methods based on highly appropriate sensory-motor processing systems. It is proposed here to describe, model test these methods, by designing them for a micro-flying device. For this purpose, new bio-mimetic acoustic sensor inspired the cricket's auditory system was developed tested. The consists of two tiny omnidirectional microphones weighing only 0.1g, equipped with resonators biomimetic...
Insects flying abilities based on optic flow (OF) are nice bio-inspired models for Micro Aerial Vehicles (MAVs) endowed with a limited computational power. Most OF sensing robots developed so far have used numerically complex algorithms requiring large power often carried out offline. The present study shows the performances of our Visual Motion Sensor (VMS) 3×4 matrix auto-adaptive aVLSI photoreceptors pertaining to custom-made chip called APIS (Adaptive Pixels Insect-based Sensors). To...
In this project, we aim at designing, developing, and assessing CURVed Artificial Compound Eyes (CURVACE), a radically novel family of vision systems that will provide more efficient visual abilities for embedded applications require motion analysis in low-power small packages.Compared to conventional cameras, artificial compound eyes offer much larger field view with no distortion or aberration exceptionally high temporal resolution smaller size weight.The CURVACE consortium produce...
This work investigates how arm swing movements measured by Inertial Motion Unit (IMU) sensors can be used to identify and maintain the walking state in a self-balanced lower-limb exoskeleton for medical use. When an is dynamical during gait, short patterns IMU signals (e.g. braking movement) hard extract. Therefore, relying on threshold-based classifier constructed upon descriptive features of actively maintained movements, it possible build gait termination detection method which transition...