O objetivo deste trabalho é desenvolver um sistema de controle capaz de realizar o apontamento automático de uma antena parabólica de forma mais precisa e com menor tempo de apontamento quando comparado ao apontamento manual. A antena parabólica em estudo consta de uma parábola metálica de 1.60 m de diâmetro, base de sustentação em ferro, dois conjuntos de engrenagens e dois motores elétricos para realização dos movimentos. Os parâmetros físicos do sistema mecânico, tais como massa, volume e inércia, puderam ser facilmente obtidos a partir de uma modelagem tridimensional em um software de plataforma CAD. Para a modelagem dinâmica do sistema utilizou-se a similaridade do sistema físico em estudo com um manipulador de cadeia aberta de dois graus de liberdade o que permitiu que se aplicassem conceitos referentes a cinemática e modelagem de manipuladores robóticos. Através da notação de Denavit-Hartenberg a cinemática direta da antena com dois graus de liberdade foi obtida com sucesso. As equações dinâmicas que descrevem o movimento do sistema foram levantadas através de um modelador automático implementado em um software de manipulação simbólica. Para tanto foi desenvolvido um algoritmo que descreve os passos necessários para obtenção das equações de movimento de um manipulador robótico em cadeia aberta, a partir da formulação Lagrangeana. Um sistema de controle adaptativo por modelo de referência foi projetado e implementado considerando as incertezas do modelo oriundas de imperfeições contidas na modelagem tridimensional realizada. Os resultados obtidos por simulação do sistema de controle adaptativo se mostraram satisfatórios e os índices de desempenho esperados para um perfeito apontamento foram alcançados. / The objective of this work is to develop a control system capable of performing the automatic maneuver of a satellite dish more accurately with less time maneuvering when compared to manual maneuver. The dish consists of a study on metal parabola 1.60 m in diameter, base of support in iron, two sets of gears and two electric motors to perform the movements. The physical parameters of the mechanical system, such as mass, volume and inertia could be easily obtained from a three-dimensional modeling in a CAD software platform. For modeling the system dynamics we used the similarity of the physical system under study with an open chain manipulator of two degrees of freedom that allowed it to apply concepts related to kinematics and modeling of robotic manipulators. Through the Denavit-Hartenberg notation of the direct kinematics of the antenna with two degrees of freedom was successfully obtained. The dynamic equations describing the motion of the system were raised through an automatic model implemented in symbolic manipulation software. To that end, an algorithm that describes the steps necessary to obtain the equations of motion of a robotic manipulator in open chain, from the Lagrangian method, was developed. A model reference adaptive control system was designed and implemented considering the uncertainties of the model arising from imperfections within the three-dimensional modeling. The results obtained by simulation of the system of closed loop control were satisfactory as well as the high rates of the perfect maneuver have been achieved.

Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2015-01-27T14:34:02Z No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Dissertação - Carlos Gomides da Costa - 2014.pdf: 5662268 bytes, checksum: 9c271f8544a1ec02f89c341d68f33801 (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2015-01-28T12:36:28Z (GMT) No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Dissertação - Carlos Gomides da Costa - 2014.pdf: 5662268 bytes, checksum: 9c271f8544a1ec02f89c341d68f33801 (MD5) / Made available in DSpace on 2015-01-28T12:36:28Z (GMT). No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Dissertação - Carlos Gomides da Costa - 2014.pdf: 5662268 bytes, checksum: 9c271f8544a1ec02f89c341d68f33801 (MD5) Previous issue date: 2014-08-08 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / This work have as the main objective present one a different way to teach the subject matrix multiplication, a way in a ludic form, applied, that can transform the teaching more pleasureable and motivate for the high scholl students, because for many this issue has no practical applications, which for many reasons is the lack of interest in learning such content. The tool used to attract as students so as teachers was the utilization of Kit LEGO® Mindstorms NXT 2.0 for the construction of the robotic arm, or robotic manipulator, that which for this propose, has three rotational joints. The LEGO kit was choosen due its easy interaction with children and adolescents, and to encourage the construction of knowledge stimulating the solution of problems that may arise during the process of building robotic arm.The application of content takes place in obtaining the four parameters Denavit-Hartenberg and those obtained after the placement of reference systems, where three of these parameters are constants obtained by measurement at robotic arm and the fourth parameter is variable dependent on the intended movement or the final position which is to be determined. / O presente trabalho tem como principal objetivo apresentar mais uma opção de ensinar o assunto multiplicação de matrizes, de uma forma mais lúdica, aplicada, que pode tornar o ensino mais prazeroso e atrativo para alunos do ensino médio, pois para muitos esse assunto não tem aplicações práticas, o que para outros é motivo da falta de interesse em aprender tal conteúdo. A ferramenta apresentada com o intuito de atrair tanto alunos quanto professores, foi o Kit LEGO® Mindstorms NXT 2.0, que possibilitou a construção do braço robótico ou manipulador robótico, que nesse trabalho foi apresentado com três juntas do tipo rotacionais. A escolha desse Kit LEGO® é justificada pela sua facilidade de interação com crianças e adolescentes, além de estimular a construção do aprendizado pois, estimula a solução de problemas que possam aparecer durante o processo de construção do braço robótico. A aplicação do conteúdo se dá na obtenção dos quatro parâmetros de Denavit-Hartenberg que são obtidos após a colocação dos sistemas de referência, onde três desses parâmetros são definidos a partir de medições feitas no braço robótico e o quarto parâmetro é variável dependente do movimento pretendido ou a posição final que se queira determinar.

Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2017-05-18T10:51:13Z No. of bitstreams: 2 Tese - Luciana Hidemi Santana Nomura - 2017.pdf: 47094098 bytes, checksum: fda7905c0d3d256429cac23f4c6f4784 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2017-05-18T10:53:05Z (GMT) No. of bitstreams: 2 Tese - Luciana Hidemi Santana Nomura - 2017.pdf: 47094098 bytes, checksum: fda7905c0d3d256429cac23f4c6f4784 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Made available in DSpace on 2017-05-18T10:53:05Z (GMT). No. of bitstreams: 2 Tese - Luciana Hidemi Santana Nomura - 2017.pdf: 47094098 bytes, checksum: fda7905c0d3d256429cac23f4c6f4784 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2017-03-17 / This research approaches theoretical and practical features of cyberarts, particularly Robotic Art and its contexts. Knowing that this field is constantly changing, because it is an artistic production anchored in a permanently evolving technology, the aim here is to question the possibility of artistic creation by robots, as well as to enunciate the aesthetic, reflexive and processual possibilities of robotic art. Therefore, the premise of the thesis is based on the contemporary production of art and on technological improvement, since part of the work in art and technology results from the collaboration between human artists and an intelligent software. In accordance with the theoretical study, the processes of creation, the experiments and the production techniques of Nefelibata 2.0 were reported. The poetic production induced the creation of one robotic cloud, which interact with the public in a kind of robotic performance. The framework of this study is supported by the proposition that robotic art can be created by humans, robots or symbiotically, not being limited by the technical use of robotics, once electronic creatures can be given artificial creativity, a behavior of their own and may interact with the public. Thus, the objectives of this study are to conceptualize robotic art, discussing its aesthetic, interactive and poetic aspects, to reflect upon the perspectives set up on the field of robotic art, as well as to ponder over artificial creation. / A presente pesquisa, de caráter teórico e prático, aborda o tema das ciberartes, em particular a Arte Robótica e seus contextos. Sabendo que este campo está em constante alteração, por se tratar de uma produção artística ancorada em uma tecnologia em permanente evolução, coube aqui questionar a possibilidade de criação artística por parte dos robôs, bem como enunciar as possibilidades estéticas, reflexivas e processuais da arte robótica. Sendo assim, a premissa da tese se fundamenta na produção contemporânea da arte e no aperfeiçoamento tecnológico, uma vez que em arte e tecnologia, parte das obras é resultado da colaboração entre artistas humanos e softwares inteligentes. Em consonância ao estudo teórico, os processos de criação, as experimentações e as técnicas de produção de Nefelibata 2.0 foram relatadas. A produção poética fomentou a criação de uma nuvem robótica que interage com o público em uma espécie de performance robótica. Assim sendo, os pressupostos do estudo apoiam-se na proposição de que a arte robótica pode ser criada por humanos, por robôs ou de forma simbiótica, não limitando-se ao uso técnico da robótica, uma vez que as criaturas eletrônicas podem ser dotadas de criatividade artificial, comportamento próprio e ainda dialógicas junto ao público. Logo, o estudo tem como objetivo conceituar a arte robótica, discutindo sobre os aspectos estéticos, interativos e poéticos; refletir sobre as perspectivas instauradas no campo da arte robótica, bem como ponderar acerca da criação artificial.

INTRODUÇÃO: O câncer de próstata é a neoplasia sólida mais comum em homens. Na doença localizada, as alternativas de tratamento cirúrgico são a Prostatectomia Radical Retropúbica (PRR), Prostatectomia Radical Perineal (PRP), Prostatectomia Radical Laparoscópica (PRL) e Prostatectomia Radical Robótica Assistida (PRRA). A cirurgia robótica tem recebido atenção de especialistas pelas perspectivas de melhores resultados funcionais, se comparado às demais técnicas, porém não há evidências suficientes na literatura que defina fatores prognósticos para os resultados funcionais. OBJETIVO: Identificar fatores prognósticos para resultados funcionais em portadores de câncer de próstata localizado submetidos à PRRA. MÉTODO: Analisaram-se vídeos de 143 PRRA realizadas de janeiro de 2009 a janeiro de 2012 no Hospital Alemão Oswaldo Cruz, São Paulo (Brasil) por um único cirurgião. A potência sexual foi avaliada considerando os parâmetros de dissecção bilateral ou unilateral, nota de dissecção, uso de cautério, uso de tração, uso de pontos hemostáticos no Feixe Vásculo Nervoso (FVN) e dados pré e pós-operatórios. Em relação à continência urinária, considerou-se o comprimento e qualidade do coto uretral, o tamanho do colo vesical e dados pré e pós-operatórios. No pós-operatório, potência sexual foi definida como a capacidade de penetração em mais de 50% das tentativas de intercurso sexual (escore >= 3 na Questão 2 do IIEF-5) com ou sem o uso de inibidores de Fosfodiesterase tipo 5. Continência urinária foi considerada quando não houve necessidade do uso de forros ou, se usados, que fosse no máximo um e apenas como segurança, ou que apresentaram escore zero no ICIQ-SF. RESULTADOS: Observou-se correlação para recuperação da potência com dissecção bilateral do FVN (p=0,001), maior nota de dissecção do FVN no 6º (p < 0,01) e 12º mês (p < 0,01), mediana de nota 9 para dissecção do FVN (p < 0,01), menor idade no 6º (p < 0,01) e 24º mês (p=0,01), idade média de 59 (p=0,007), 58,35 (p=0,02) e 57,7 anos (p=0,005) no 6º, 18º e 24º mês, respectivamente, peso corporal médio de 76,18 Kg (p=0,01), peso prostático com mediana de 31 g (p=0,03), menor valor de Gleason total (p=0,03), Gleason total com mediana de 6 (p=0,009), mediana de 12 fragmentos retirados (p=0,001), menor volume tumoral no 1º (p=0,01) e 18º mês (p=0,02), volume tumoral com mediana de 5,25 (p=0,03), 5,40 (p=0,02) e 5,25 cm³ (p=0,04) no 1º, 18º e 24º mês, respectivamente, tumor unilateral (p=0,02), e ausência de invasão capsular (p=0,02). As variáveis, uso de cautério, tração e pontos hemostáticos no FVN não apresentaram correlação com recuperação de potência sexual. A continência urinária apresentou correlação com maior tempo de cirurgia no 3º (p < 0,01) e 12º mês (p=0,02), mediana de tempo de cirurgia de 3,45 (p=0,001), 3,35 (p=0,04) e 3,30 horas (p=0,04) no 3º, 6º e 12º mês, respectivamente. As variáveis, comprimento do coto uretral, qualidade do coto uretral e tamanho do colo vesical não se correlacionaram com continência urinária, apesar de tamanho do colo vesical mostrar tendência com mediana de 15,92 mm (p=0,054). CONCLUSÃO: As variáveis, dissecção bilateral, nota de dissecção do FVN, idade, peso corporal, peso da próstata, Gleason total, número de fragmentos retirados, volume tumoral, estadiamento tumoral e tempo de cirurgia apresentaram-se como ferramentas úteis para definir fatores prognósticos para resultados funcionais em homens portadores de câncer de próstata localizado, submetidos à PRRA / INTRODUCTION: Prostate cancer is the most common solid malignancy in men. For localized disease, surgical alternatives include Radical Retropubic Prostatectomy (RRP), Radical Perineal Prostatectomy (RPP), Radical Laparoscopic Prostatectomy (RLP) and Robotic Assisted Radical Prostatectomy (RARP). The robotic approach has received great attention, due to the perspective of better functional outcomes when compared to the other surgical alternatives; however, there is not enough evidence in the literature to define prognostic factors for functional outcomes. OBJECTIVE: To identify prognostic factors for functional outcomes in prostate cancer patients undergoing RARP. METHODS: We analyzed the video files of 143 RARP performed by a single surgeon between January 2009 and 2012 at Oswaldo Cruz German Hospital in São Paulo, Brazil. Sexual potency was evaluated considering unilateral or bilateral dissection, grade of dissection, use of electrocautery, use of traction, and use of hemostatic stitches on the neurovascular bundles (NVB), and pre and postoperative data. Urinary continence was evaluated considering the length and quality of the urethral stump, size of the bladder neck, and pre and postoperative data. Postoperatively, sexual potency was defined as successful vaginal penetration in more than 50% of sexual intercourses (IIEF-5, Question 2, score >= 3) with or without the use of Phosphodiesterase type 5 inhibitors. Urinary continence was defined as no pad use, or the use of up to one pad for safety, or an ICIQ-SF score of zero. RESULTS: For the sexual potency recovery, we found correlations with bilateral NVB dissection (p=0.001), higher NVB dissection grade at 6º month (p<0.01) and 12º month (p < 0.01), median NVB dissection grade of 9 (p < 0.01), younger age at 6º month (p < 0.01) and 24º month (p<0.01), mean age of 59 (p=0.007), 58.35 (p=0.01) and 57.7 years (p=0.005) at the 6º, 18º and 24º months respectively, median body weight of 76.18 kilograms (p=0.01), median prostatic weight of 31 g (p=0.03), lower total Gleason score (p=0.03), total Gleason with a median of 6 (p=0.009), median of 12 fragments removed at biopsy (p=0.001), lower tumor volume at 1º (p=0.01) and 18º months (p=0.02), median tumor volume of 5.25 (p=0.03), 5.40 (p=0.02) and 5.25cc (p=0.04) at 1º, 18º and 24º months respectively, unilateral tumor (p=0.02), and absence of capsular invasion (p=0.02). Use of electrocautery, traction and hemostatic stitches on the NVB where not significant. Urinary continence showed correlation with longer surgical times at 3º (p < 0.01) and 12º months (p=0.02), median surgical times of 3.45 (p=0.001), 3.35 (p=0.04) and 3.3 hours (p=0.04) at 3º, 6º and 12º months, respectively. Urethral stump length, quality, and bladder neck size did not show correlation with continence, although there was a trend for bladder necks of 15.92 mm (p=0.054). CONCLUSIONS: The following parameters: NVB bilateral dissection, NVB dissection grade, patient age and weight, prostate weight, total Gleason, number of removed fragments, tumor volume, tumor stage, and surgical time are useful prognostic factors for predicting functional outcomes in prostate cancer patients undergoing RARP

O monitoramento de grandes estruturas está diretamente ligado à segurança das mesmas, pois sendo elas naturais ou artificiais, estão sempre sujeitas a variações em suas dimensões e posições, no espaço e no tempo, o que pode representar riscos sociais, ambientais e econômicos. Dessa maneira, a presente pesquisa apresenta um estudo sobre métodos de determinação de coordenadas espaciais, disponíveis na literatura e empregados atualmente nos trabalhos práticos de engenharia, quanto aos aspectos de monitoração estrutural, tendo por finalidade simular e determinar deslocamentos controlados de alvos. A dissertação tem como principal objetivo testar as vantagens dos procedimentos automáticos realizados por meio de estações totais robóticas a partir do uso de métodos de medição em estudo no Laboratório de Mensuração do Departamento de Transportes da Escola de Engenharia de São Carlos (STT/EESC/USP), em comparação com o método polar, convencionalmente utilizado na maioria dos projetos de monitoração estrutural. O principal método aplicado nesta dissertação é denominado Método das Distâncias Mínimas, o qual se fundamenta no princípio da minimização de funções matemáticas definidas pelo somatório das distâncias entre os pontos de medição e os alvos definidos para o monitoramento. As distâncias, neste caso, são determinadas a partir das medições de ângulos zenitais e azimutais medidos com estações totais robóticas e automáticas. Com isso, pretende-se mostrar que o uso de equipamentos topográficos modernos com capacidade para desenvolver rotinas de automação de busca e medição de alvos permite realizar medidas com alto nível de automação, controle e qualidade. Mostra-se nesta dissertação que a tecnologia de busca automática de prismas permite automatizar os procedimentos de mensuração aplicados ao monitoramento de estruturas, possibilitando auscultar estruturas de maneira contínua sem a interferência do operador, o que aumenta sensivelmente a qualidade dos resultados. / The monitoring of large structures is directly linked to their safety, because they are always subject to variations in their dimensions and positions in space and time, which can pose social, environmental and economic risks, being the structures natural or artificial. Thus, the following research presents a study about the methods to determine spatial coordinates, available in the literature and currently employed in practical engineering, and also includes the structural issues of monitoring, aiming to simulate and determine controlled displacements of targets. This paper has as main objective to test the advantages of automatic procedures performed using robotic total stations using measurement methods in a study at the Measurement Transport Department Laboratory of the São Carlos School of Engineering (STT/EESC/USP), in comparison to the polar method, conventionally used in most structural monitoring projects. The main method applied in this thesis is called Minimum Distances Method, which is based on the principle of mathematical functions minimization defined by the sum of the distances between the measurement points and the targets set for the monitoring. The distances, in this case, are determined from the measurements of azimuth and zenithal angles measured with automatic and total robotic stations. The main purpose is to show that the use of modern surveying equipment with capacity to develop automation routines of search and targets measurement allows performing measurements with high level of automation, control and quality. It is shown in this paper that the technology of prisms automatic search permit to automate the measurement procedures applied to the monitoring of structures, enabling to continuously auscultate the structures without the operator interference, which significantly improves the quality of results.

Na robótica, mapear o ambiente é tarefa importante, porque ela oferece informação para o planejamento e execução de movimentos do robô. Por este motivo, aqui são apresentados estudos que visam a construção de mapas 3-D e técnicas que auxiliam na tarefa de mapeamento. Quando são construídos mapas 3-D, é habilitado para outros pesquisadores e empresas de robótica a desenvolverem trabalhos de análise e planejamento de trajetórias em todos os seis graus de liberdade do corpo rígido que serve para modelar um robô móvel, robô manipulador ou robô móvel manipulador. Com uma representação do ambiente em 3-D, é aumentada a precisão do posicionamento do robô em relação ao ambiente e também o posicionamento de objetos que estão inseridos no campo de atuação do robô. Para solucionar o problema de mapeamento são apresentadas técnicas teóricas e suas aplicações em cada caso estudado. Nos experimentos realizados neste trabalho foi adotada a criação de mapas com grids (malhas) de ocupação. Vale lembrar, no entanto, que a construção de mapas por malhas de ocupação pressupõe o conhecimento do posicionamento do robô no ambiente. Neste trabalho foram conduzidos três experimentos e seus objetivos são redução de dados provenientes de falhas e redundâncias de informação com utilização de técnicas probabilísticas, detecção de movimento através da técnica de extração de fundo e mapeamento 3-D utilizando a técnica de ponto mais próximo. No experimento cujo o objetivo é reduzir os dados, foi possível reduzir para 4,43% a quantidade de pontos necessários para gerar a representação do ambiente com a utilização do algoritmo deste trabalho. O algoritmo de mapeamento 3-D feito com uso de modelos probabilísticos bem estabelecidos e disponíveis na literatura tem como base a probabilidade de eventos independentes e a proposta do trabalho envolvendo probabilidade a posteriori. O experimento de detecção de movimento foi gerado com a utilização da openCV e a tecnologia CUDA e utilizam a técnica do modelo de mistura gaussiana (GMM), foi analisado o tempo de processamento desempenhado por cada implementação e a qualidade do resultado obtido. Para obter uma representação precisa do ambiente foi conduzido o experimento que utiliza técnica iterativa do ponto mais próximo (ICP), para realização foi utilizado o sensor de movimento Kinect e os resultados apresentados não foram satisfatórios devido ao volume de dados adquiridos e a ausência de um sistema de estimativa da localização. / In robotics, map the environment is an important task, because it provides information for planning and executing movements of the robot. For this reason, studies presented here are aimed to build 3-D maps and techniques that aid in the task of mapping. When we build 3-D maps, we enable other researchers and robotics companies to develop analyzes and path planning in all six degrees of freedom rigid body that serves to model a mobile robot, manipulator or mobile robot manipulator.With a representation of the environment in 3-D, we increase the accuracy of the robot positioning in relation to the environment and also the positioning of objects that are inserted into the field of action of the robot. To solve the problem of mapping we presented theoretical techniques and their applications in each case studied.In the experiments in this work we adopted the creation of maps with grids of occupation. However, building grids of occupation assumes knowledge of the position of the robot on the environment.In this work we conducted three experiments and their aims are the reduction of data from failures and redundant information using probabilistic techniques, motion detection by background extraction technique and 3-D mapping technique using the closest point. In the experiment whose goal is to reduce the data has been further reduced to 4.43% the number of points required to generate the representation of the environment with the use of our algorithm.The algorithm of 3-D mapping done with probabilistic models available and well established in the literature is based on the probability of independent events and the proposed work involving the posterior probability.The motion detection experiment was performed with the use of openCV and CUDA technique using the Gaussian mixture model (GMM),and we analyzed the processing time and the quality of each implementation result.For an accurate representation of the environment was conducted the experiment using the technique of iterative closest point (ICP) was used to perform the motion sensor Kinect and the results were not satisfactory due to the volume of data acquired and the absence of a system location estimate.

In this thesis we study the problem of robotic interaction with objects from a flexible perspective that complements the rigid force-closure approach. In a flexible interaction the object is not firmly bound to the robot (immobilized), which leads to many interesting scenarios. We focus on the secure kind of flexible interactions, commonly referred to as caging grasps. In this context, the adjective secure implies that the object is not able to escape arbitrarily far away from the robot which is caging it. A cage is a secure flexible interaction because it does not immobilize the object, but restricts its motion to a finite set of possible configurations. We study cages in two novel scenarios for objects with holes: caging through multi-agent cooperation and through dual-arm knotting with a rope. From these two case studies, we were able to analyze the caging problem in a broader perspective leading to the definition of a hierarchical classification of flexible interactions and cages. In parallel to the geometric and physical problem of flexible interactions with objects, we study also the problem of discrete action scheduling through a novel control architecture called Behavior Trees (BTs). In this thesis we propose a formulation that unifies the competing BT philosophies into a single framework. We analyze how the mainstream BT formulations differ from each other, as well as their benefits and limitations. We also compare the plan representation capabilities of BTs with respect to the traditional approach of Controlled Hybrid Dynamical Systems (CHDSs). In this regard, we present bidirectional translation algorithms between such representations as well as the necessary and sufficient conditions for translation convergence. Lastly, we demonstrate our action scheduling BT architecture showcasing the aforementioned caging scenarios, as well as other examples that show how BTs can be interfaced with other high level planners. / <p>QC 20170322</p>

Minimally invasive surgery (MIS) consists in operating through small incisions in which a camera and adapted instruments are inserted. It allows to perform many interventions with reduced trauma for the patient. One of these is the ablation of peripheral pulmonary nodules.<p><p>Nevertheless, the means for detecting nodules during MIS are limited. In fact, because of the lack of direct contact, the surgeon cannot palpate the lung to find invisible lesions, as he would do in classical open surgery. As a result, only clearly visible nodules can be treated by MIS presently.<p><p>This work aims at designing, building and controlling a teleoperated palpation instrument, in order to extend the possibilities of MIS in the thoracic field. Such an instrument is made of a master device, manipulated by an operator, and a slave device which is in contact with the patient and reproduces the task imposed by the master. Adequate control laws between these two parts allow to restore the operator's haptic sensation. The goal is not to build a marketable prototype, but to establish a proof of concept.<p><p>The palpation device has been designed in collaboration with thoracic surgeons on the basis of the study of the medical gesture. The specifications have been deduced through experiments with experiencied surgeons from the Erasmus Hospital and the Charleroi Civil Hospital.<p><p>A pantograph has been built to be used as the master of the palpation tool. The slave is made of a 2 degrees of freedom (dof) clamp, which can be actuated in compression and shear. The compression corresponds to vertical moves of the pantograph, and the shear to horizontal ones. Force sensors have been designed within this project to measure the efforts along these directions, both at the master and the slave side, in order to implement advanced force-feedback control laws and for validation purposes.<p><p>Teleoperation control laws providing a suitable kinesthetic force feedback for lung palpation have been designed and validated through simulations. These simulations have been realized using a realistic model of lung, validated by experienced surgeons. Among the implemented control schemes, the 3-Channel scheme, including a local force control loop at the master side, is the most efficient for lung palpation. Moreover, the increased efficiency of a 2 dof device with respect to a 1 dof tool has been confirmed. Indeed, a characteristic force profile due to the motion in 2 directions appeared in the compression force tracking, making the lesion easier to locate. / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished

Autonomous reconnaissance missions are called for in extreme environments, as well as in potentially hazardous (e.g., the theatre, disaster-stricken areas, etc.) or inaccessible operational areas (e.g., planetary surfaces, space). Such future missions will require increasing degrees of operational autonomy, especially when following up on transient events. Operational autonomy encompasses: (1) Automatic characterization of operational areas from different vantages (i.e., spaceborne, airborne, surface, subsurface); (2) automatic sensor deployment and data gathering; (3) automatic feature extraction including anomaly detection and region-of-interest identification; (4) automatic target prediction and prioritization; (5) and subsequent automatic (re-) deployment and navigation of robotic agents. This paper reports on progress towards several aspects of autonomous (CISR)-I-4 systems, including: Caltech-patented and NASA award-winning multi-tiered mission paradigm, robotic platform development (air, ground, water-based), robotic behavior motifs as the building blocks for autonomous telecommanding, and autonomous decision making based on a Caltech-patented framework comprising sensor-data-fusion (feature-vectors), anomaly detection (clustering and principal component analysis), and target prioritization (hypothetical probing).

Les troubles d’équilibres représentent un problème de santé publique car ils touchent à la mobilité et une partie à l’autonomie. Dans la population gériatrique, les troubles de l’équilibre sont souvent fréquents, de causes multiples et intriquées. Les personnes ayant des atteintes neurologiques, orthopédiques, ou des déficits vestibulaires, peuvent présenter des troubles sensori-moteurs, biomécaniques, ou des problèmes d’intégration sensorielle qui affectent aussi l’équilibre, la posture et donc la mobilité. La question d’identification des différentes déficiences du système d’équilibre est l’objectif de notre travail. Aujourd’hui, la majorité des tests d’évaluation d’équilibre se font en statique et sont très controversés du fait de leur mauvaise répétabilité. Il existe quelques tests d’évaluation de l’équilibre en dynamique, mais ils sont très dépendants de l’outil utilisé. L’évaluation du système d’équilibre devient ainsi de plus en plus compliquée dans le cas dynamique, puisqu’il existe plusieurs plateformes avec différents mouvements. Un patient ne doit pas passer d’une plateforme à une autre pour faire les différents mouvements. Pour une analyse de la stabilité posturale complète, il faut trouver donc une nouvelle solution qui remplace tous les plateformes existantes en une seule plateforme. Cette plateforme originale est l’IsiMove l’outil conçue, développé et utilisé dans cette thèse, pour mesurer la stabilité des sujets ayant des troubles d’équilibre. L’IsiMove est une nouvelle plateforme de perturbation posturale dynamique, conçue par la société AssistMov en collaboration avec l’Institut des Systèmes Intelligents et de Robotique « ISIR » et l’hôpital Rothschild. Cette plateforme répond au besoin de l’analyse de l’équilibre grâce à ses quatre degrés de libertés. La présence des capteurs de forces sur la plateforme permet la mesure de la posture et l’effort d’interaction pied/sol aux cours des réactions de perturbations, ce qui permet l’analyse du comportement pathologique pour une large classe de déficiences motrices, neurologiques ou vestibulaires.Un protocole d’évaluation d’équilibre a été élaboré sous la direction du Pr.Thoumie, suite à une série d’expériences et de tests. Ce protocole est presque complet, il se divise en deux parties : statiques (protocole classique) et dynamiques. La partie dynamique est unique, dans les 3 plans de l’espace, de mouvement simple et de différentes fréquences. Des tests sur des sujets ayant des atteintes neurologiques (myopathie et neuropathie) ou d’accidents vasculaires cérébraux (hémiplégiques) ont été réalisés à l’hôpital Rothschild avec l’aide d’un kinésithérapeute. La majorité des sujets ayant des atteintes neurologiques ont été incapables de réaliser le protocole d’une façon complète, contrairement aux sujets hémiplégiques. Ce qui nous a imposé à proposer deux méthodes d’évaluation de l’équilibre : la première est basée sur une analyse statistique discriminante et la deuxième est basée sur une représentation graphique. / Balance disorders represent a public health problem because they affect mobility and some autonomy. In the geriatric population, balance disorders are often frequent, have multiple causes and intricate. People with neurological, orthopedic or vestibular deficits may have sensorimotor disorder, biomechanical trouble or sensory integration problems that also affect balance, posture and thus mobility.The identification of the different impairments of balance system issue is the goal of our work. Today, the majority of the evaluation tests of balance are in “static” and they are highly controversial because of their poor repeatability. There are some tests for balance evaluation in “dynamic” conditions, but they are very dependent on the used tool. Balance evaluation becomes more complicated in the dynamic case, since there are several platforms with different movements. A patient should not move from one platform to another to make different movements and evaluations. For a complete analysis of postural stability, we must find a new solution that replaces all existing platforms into a single platform. This original platform is “IsiMove” the tool designed, developed and used in this thesis to measure the stability of subjects with balance disorders.IsiMove is a new dynamic posturography platform, designed by ASSISTMOV SAS company in collaboration with the Institute of Intelligent Systems and Robotics "ISIR" and the Rothschild Hospital. This platform addresses the need for balance analysis with its four degrees of freedom. The dual force plate on the platform allows the measurement of the posture and the force interaction of the foot / floor during the reactions, which then allows the analysis of the pathological behavior for a broad class of physical disabilities, neurological or vestibular.A new balance evaluation protocol was elaborated under the direction of Pr.Thoumie, following a series of experiments and tests. This protocol is almost complete; it is divided into two parts: static (standard protocol) and dynamic. The dynamic part is unique, in all 3 planes of space, simple movement and different frequencies. Tests on subjects with neurological disorders (myopathy and neuropathy) or stroke (hemiplegia) were made in the Rothschild hospital with the help of a physiotherapist. The majority of subjects with neurological disorders were unable to perform all exercises protocol, unlike patients with stroke. This has force us to propose two balance assessment methods: the first is based on discriminant statistical analysis and the second is based on graphical representation.