M. Porez

Publications (9)5.07 Total impact

• Conference Proceeding: Sensor model for the navigation of underwater vehicles by the electric sense

  B. Jawad, P.B. Gossiaux, F. Boyer, V. Lebastard, F. Gomez, N. Servagent, S. Bouvier, A. Girin, M. Porez
  [show abstract] [hide abstract]
  ABSTRACT: We present an analytical model of a sensor for the navigation of underwater vehicles by the electric sense. This model is inspired from the electroreception structure of the electric fish. In our model, that we call the poly-spherical model (PSM), the sensor is composed of n spherical electrodes. Some electrodes play the role of current-emitters whereas others play the role of current-receivers. By imposing values of the electrical potential on each electrode we create an electric field in the vicinity of the sensor. The region where the electric field is created is considered as the bubble of perception of the sensor. Each object that enters this bubble is electrically polarized and creates in return a perturbation. This perturbation induces a variation of the measured current by the sensor. The model is tested on objects for which the expression of the polarizability is known. A unique off-line calibration of the poly-spherical model permits to predict the measured current of a real immersed sensor in an aquarium. Comparisons in a basic scene between the predicted current given by the poly-spherical model and the measured current given by our test bed show a very good agreement, which confirms the interest of using such fast analytical models for the purpose of navigation.
  Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on; 01/2011
• Conference Proceeding: Multi-physic model of an electro fish-like robot : numerical aspect and application to the obstacle avoidance

  M Porez, V Lebastard, A J Ijsperet, F Boyer
  IROS 2011; 01/2011
• Source

  Available from: mazenalamir.fr

  Conference Proceeding: Reduced mean model for controlling a three-dimensional eel-like robot

  M. El Rafei, M. Alamir, N. Marchand, M. Porez, F. Boyer
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  ABSTRACT: This paper presents a reduced mean model of a three-dimensional Eel-like robot. Such a robot is under construction in the context of a national French robotic project. This model is based on mechanical considerations as well as on our experience with an existing 3D continuous model of the target prototype. Identification and validation of the dynamic model are presented here.
  Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on; 03/2009
• Article: Fast Dynamics of an Eel-Like Robot—Comparisons With Navier–Stokes Simulations

  F. Boyer, M. Porez, A. Leroyer, M. Visonneau
  [show abstract] [hide abstract]
  ABSTRACT: This paper proposes a dynamic model of the swim of elongated fish suited to the online control of biomimetic eel-like robots. The approach can be considered as an extension of the original reactive ldquolarge elongated body theoryrdquo of Lighthill to the 3-D self-propulsion to which a resistive empirical model has been added. While all the mathematical fundamentals have been detailed by Boyer . (http://www.irccyn.ec-nantes.fr/hebergement/Publications/2007/3721.pdf, 2007), this paper essentially focuses on the numerical validation and calibration of the model and the study of swimming gaits. The proposed model is coupled to an algorithm allowing us to compute the motion of the fish head and the field of internal control torque from the knowledge of the imposed internal strain fields. Based on the Newton-Euler formalism of robot dynamics, this algorithm works faster than real time. As far as precision is concerned, many tests obtained with several planar and 3-D gaits are reported and compared (in the planar case) with a Navier-Stokes solver, which, until today have been devoted to the planar swim. The comparisons obtained are very encouraging since in all the cases we tested, the differences between our simplified and reference simulations do not exceed 10%.
  IEEE Transactions on Robotics 01/2009; · 2.54 Impact Factor
• Conference Proceeding: Multi-variable constrained control approach for a three-dimensional eel-like robot

  M. El Rafei, M. Alamir, N. Marchand, M. Porez, F. Boyer
  [show abstract] [hide abstract]
  ABSTRACT: In this paper, a multi-variable feedback design for the 3D movement of an eel-like robot is presented. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the eelpsilas head as well as the stabilization of the rolling angle. The control design is based on a recently developed reduced model that have been validated using a 3D complete continuous model described in [3]. Several scenarios are proposed to assess the efficiency of the proposed feedback law.
  Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on; 10/2008
• Source

  Available from: mazenalamir.fr

  Conference Proceeding: Feedback design for 3D movement of an Eel-like robot

  M. Alamir, M. El Rafei, G. Hafidi, N. Marchand, M. Porez, F. Boyer
  [show abstract] [hide abstract]
  ABSTRACT: This paper relates recent advances in the design of feedback laws for the 3D movement of an Eel-like robot. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle. A velocity controller is also proposed. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.
  Robotics and Automation, 2007 IEEE International Conference on; 05/2007
• Article: Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

  F. Boyer, M. Porez, W. Khalil
  [show abstract] [hide abstract]
  ABSTRACT: This paper presents the dynamic modeling of a continuous three-dimensional swimming eel-like robot. The modeling approach is based on the "geometrically exact beam theory" and on that of Newton-Euler, as it is well known within the robotics community. The proposed algorithm allows us to compute the robot's Galilean movement and the control torques as a function of the expected internal deformation of the eel's body
  IEEE Transactions on Robotics 09/2006; · 2.54 Impact Factor
• Source

  Available from: archives-ouvertes.fr

  Article: Underwater Robotic: localization with electrolocation for collision avoidance

  G. Baffet, P.B. Gossiaux, M. Porez, F. Boyer
  [show abstract] [hide abstract]
  ABSTRACT: This paper proposes and compares two observers designed to calculate the location of an obstacle. The two methods are bio-inspired with a sense used by electric fishes of equatorial forests: the electrolocation. Firstly, this study presents the electrolocation and then develops two models of emitter-sensors inspired by the electrical sense. Secondly, the two models are used in different observers for detection and localisation of wall obstacles. The estimation methods are based on an Extended Kalman Filter algorithm. Observers are tested on simulations in order to assess their potentials and to analyze observability.
• Source

  Available from: ec-nantes.fr

  Article: Motion Control of a Three-Dimensional Eel-like Robot

  M El Rafei, M Alamir, G Hafidi, N Marchand, M Porez, F Boyer
  [show abstract] [hide abstract]
  ABSTRACT: This paper relates recent advances in the design of feedback laws for the 3D movement of an Eel-like robot. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle. A velocity controller is also proposed. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.