Julien Serres

Julien Serres
Aix-Marseille Université | AMU · Institut des Sciences du Mouvement Etienne Jules Marey (UMR 7287 ISM)

PhD-HDR, Senior associate Prof.
I'm looking for European colleagues working on: - sky polarimetry - hexapod robotics - Bio-inspired localization methods

About

102
Publications
30,185
Reads
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1,246
Citations
Citations since 2016
63 Research Items
794 Citations
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Introduction
Honeybees: study of both navigational systems and visual cues integration in flight. Birds: study of the visual-based altitude control system. Flies: study of the coordination of the head and body saccades. Humans: study of the visual information used during landing. Modelling: simulation of visuomotor feedback loops mimicking animal behavior. Sensors: design of bio-inspired sensors (optic flow, celestial compass). Arts: ego-referenced drone-based capture system for indoor performing arts.
Additional affiliations
September 2014 - present
Aix-Marseille Université
Position
  • Lecturer
Description
  • My current research interests include biorobotics, bio-inspired visual sensors, flying insect ethology, and the developement of bio-inpired autopilot based on optic-flow cues aimed to equip autonomous micro-vehicles.
August 2008 - August 2014
Aix-Marseille Université
Position
  • Researcher
October 2003 - July 2008
Aix-Marseille Université
Position
  • PhD Student
Description
  • PhD thesis, title: "From bee to robot: optic flow regulation"

Publications

Publications (102)
Article
Full-text available
Animal-inspired mobile robots tend to show remarkable performance in outdoor locomotion and navigation tasks, but a big gap remains between robots and animals in terms of autonomy and endurance. Biomimicry is helping to solve numerous design issues through a better understanding of how animals move. Insect inspired robots, in particular, can be bui...
Article
Full-text available
In this methodological work, we introduce a new approach to evaluate the electric power consumption of a legged robot, by analyzing a single leg power consumption on a dedicated test bench, which doesn’t require any dynamic model of the robot and takes account of the non-linearities of the mechanism. The main idea is to split the measured data in t...
Article
Full-text available
Bees outperform pilots in navigational tasks, despite having 100,000 times fewer neurons. It is commonly accepted in the literature that optic flow is a key parameter used by flying insects to control their altitude. The ambition of the present work was to design an innovative experimental setup that would make it possible to determine whether bees...
Article
Full-text available
Cette étude concerne le développement d’une boussole optique inspirée de la boussole céleste de la fourmi du désert Cataglyphis . Cette activité pédagogique vise à comprendre différents phénomènes physiques impliqués dans la détection optique de cap : la diffusion de Rayleigh de la lumière du soleil dans le ciel, la polarisation de la lumière et la...
Poster
Full-text available
Bees outperform pilots in navigational tasks, despite having 100,000 times fewer neurons. It is commonly accepted in the literature that optic flow is a key parameter used by flying insects to control their altitude. The ambition of the present work was to design an innovative experimental setup that would make it possible to determine whether bees...
Conference Paper
Full-text available
This study concerns the development of an optical compass inspired by the celestial compass of the desert ant Cataglyphis. This bio-inspired navigational instrument opens up new opportunities for navigation in the absence of GNSS or GSM coverage for locating outdoors. This pedagogical activity, through the design of the instrument, aims at understa...
Article
Full-text available
To investigate altitude control in honeybees, an optical configuration was designed to manipulate or cancel the optic flow. It has been widely accepted that honeybees rely on the optic flow generated by the ground to control their altitude. Here, we create an optical configuration enabling a better understanding of the mechanism of altitude control...
Chapter
Full-text available
This study concerns the development of an optical compass inspired by the celestial compass of the desert ant Cataglyphis. This bio-inspired navigational instrument opens up new opportunities for navigation in the absence of GNSS or GSM coverage for locating outdoors. This pedagogical activity, through the design of the instrument, aims at understa...
Article
Full-text available
Optic flow can be defined as a vector field of the apparent motion of objects, surfaces, and edges in a visual scene caused by the relative motion between an agent and the scene. In the last century Gibson developed the ecological approach to perception and action in which this optic flow provides an agent (i.e., human, insect, robot) all the infor...
Article
Full-text available
How to evaluate and compare the performances of a robot’s leg with one and a same test bench? A unique test bench structure was designed and built. Like procedures used to evaluate human walk specific aspects, or test benches built to study insects’ locomotion, our test bench merges the commonly used structures in a one and a same setup, allowing t...
Article
Full-text available
This review article aims to address common research questions in hexapod robotics. How can we build intelligent autonomous hexapod robots that can exploit their biomechanics, morphology, and computational systems, to achieve autonomy, adaptability, and energy efficiency comparable to small living creatures, such as insects? Are insects good models...
Preprint
Full-text available
To investigate altitude control in honeybees, an optical context was designed to make honeybees crash. It has been widely accepted that honeybees rely on the optic flow generated by the ground to control their altitude. However, identifying an optical context capable of uncorrelating forward speed from altitude in honeybees' flight was the first st...
Article
Full-text available
Helicopter landing on a ship is a visually regulated "rendezvous" task during which pilots must use fine control to land a powerful rotorcraft on the deck of a moving ship tossed by the sea while minimizing the energy at impact. Although augmented reality assistance can be hypothesized to improve pilots’ performance and the safety of landing maneuv...
Article
Full-text available
Cet article présente une manière d’exploiter la mesure d’accélération à des fins de mesure de distance. Une pédagogie active du type apprentissage par problème (nouvelle situation-problème) a été imaginée et mise en œuvre pour faire « plus » travailler des étudiants de licence L3 - Ergonomie du sport et performance motrice (ESPM) en complément de t...
Conference Paper
Full-text available
Cette étude concerne le développement d'une boussole optique inspirée de la boussole céleste de la fourmi du désert Cataglyphis à des fins pédagogiques pour la robotique. Cet instrument de navigation bio-inspiré ouvre de nouvelles opportunités pour la navigation en cas d'absence de couverture GNSS (Global Navigation Satellite System) ou GSM (Global...
Presentation
Full-text available
The aim of the interdisciplinary MiMiC-ANT 2020-2021 project was to understand locomotion pattern adjustments in ants in order to develop innovative strategies for modulating the locomotion patterns of hexapod robots capable of transporting loads, evolving on irregular terrain, and also to provide hexapod robots with more intelligent legs (i.e., en...
Presentation
Full-text available
Autonomous navigation has become one of the major technological challenges of the 21st century because the need for robotic mobility is huge. Several outdoor location systems are now available: civil GNSS (Global Navigation Satellite System) with an accuracy of 5 m to 30 m depending on the weather and the environment, or GSM (Global System for Mobi...
Article
Full-text available
Objective: This study aims at investigating helicopter pilots’ strategies to achieve ship deck landing. Background: Helicopter maritime operations are challenging, especially when it comes to landing on the moving decks of small ships, such as frigates, which can lead to dramatic accidents. Method: Expert pilots were requested to fly the full ship...
Presentation
Full-text available
Autonomous navigation has become one of the major technological challenges of the 21st century because the need for robotic mobility is huge. Several outdoor location systems are now available: civil GNSS (Global Navigation Satellite System) with an accuracy of 5 m to 30 m depending on the weather and the environment, or GSM (Global System for Mobi...
Presentation
Full-text available
La navigation autonome est devenue l’un des enjeux technologiques majeurs du XXIème siècle. Les besoins de mobilité sont actuellement immenses en robotique. Plusieurs systèmes de localisation en extérieur sont aujourd’hui disponibles : le GNSS civil (Global Navigation Satellite System) dont la précision est de 5 m à 30 m en fonction de la météo et...
Conference Paper
Full-text available
Navigating insects like desert ants are known to robustly estimate their position from their nest while foraging for food, for several hundred meters across hostile environments, by means of very low resolution visual information processing. This tour de force stands for a great source of inspiration to design smart, parsimonious and robust solutio...
Article
Full-text available
En tant que processus technique, la « robotique bio-inspirée » vise à la création d’un artefact à partir de fonctions identifiées dans le vivant. Les chercheurs et chercheuses de l’Institut des sciences du mouvement de Marseille tentent d’en reproduire deux principales : la navigation sans GPS (Global Positioning System) et le repérage dans l’espac...
Patent
Full-text available
Un dispositif de détection (DD) équipe un véhicule (V) et comprend: - N photodiodes (Pn), avec N > 3, solidarisées dans une zone du véhicule (V) orientée vers le ciel, et délivrant chacune des signaux en cas de détection de photons ayant des longueurs d'onde appartenant à au moins un intervalle prédéfini, - N filtres (Fn) placés respectivement dev...
Article
Full-text available
La navigation autonome est devenu l’un des enjeux technologiques majeurs du XXIème siècle. Les besoins de mobilité sont immenses en robotique de service et dans les transports. Plusieurs systèmes de localisation sont aujourd’hui disponibles : le GPS civil, très performant, mais souffrant d’une précision variable (de 5 m à 30 m) en fonction de la mé...
Data
Presentation Talk Journal Club "Optic flow cues help explain altitude control over sea in freely flying gulls"
Article
Full-text available
For studies of how birds control their altitude, seabirds are of particular interest because they forage offshore where the visual environment can be simply modelled by a flat world textured by waves then generating only ventral visual cues. This study suggests that optic flow, i.e. the rate at which the sea moves across the eye's retina, can expla...
Preprint
Full-text available
Many insects such as desert ants, crickets, locusts, dung beetles, bees and monarch butterflies have been found to extract their navigation cues from the regular pattern of the linearly polarized skylight. These species are equipped with ommatidia in the dorsal rim area of their compound eyes, which are sensitive to the angle of polarization of the...
Article
Full-text available
Find the original article on The Science Breaker website: https://www.thesciencebreaker.com/breaks/maths-physics-chemistry/antbot-is-able-to-go-home-like-desert-ants
Conference Paper
Full-text available
In altitude control in honeybees, the visual inputs encountered in a tunnel mainly consist of an optic-flow pattern generated by the textures and by the edges shaping the tunnel perspective. Flying honeybees Apis mellifera are known to be particularly sensitive to the optic-flow pattern generated by the contrasting features of the tunnel to adjust...
Poster
Full-text available
In altitude control in honeybees, the visual inputs encountered in a tunnel mainly consist of an optic-flow pattern generated by the textures and by the edges shaping the tunnel perspective. Flying honeybees Apis mellifera are known to be particularly sensitive to the optic-flow pattern generated by the contrasting features of the tunnel to adjust...
Article
Full-text available
The growing need for alternative sources to power Internet of Things and autonomous devices has led to many energy harvesting solutions from ambient energy sources. Use of batteries requires complementary energy source for extending the lifetime of the device. In recent times, triboelectric nanogenerators have gained significant attention in chargi...
Article
Desert ants use the polarization of skylight and a combination of stride and ventral optic flow integration processes to track the nest and food positions when traveling, achieving outstanding performances. Navigation sensors such as global positioning systems and inertial measurement units still have disadvantages such as their low resolution and...
Preprint
Full-text available
For studies of how flying animals control their flight, seabirds are of particular interest to track with a biologger because they forage offshore where the visual environment can be simply modeled by a flat world textured by waves. This study suggests that optic flow can explain gull's altitude control over seas. In particular, a new flight model...
Article
Full-text available
Autonomous outdoor navigation requires reliable multisensory fusion strategies. Desert ants travel widely every day, showing unrivaled navigation performance using only a few thousand neurons. In the desert, pheromones are instantly destroyed by the extreme heat. To navigate safely in this hostile environment, desert ants assess their heading from...
Article
Many insects such as desert ants, crickets, locusts, dung beetles, bees and monarch butterflies have been found to extract their navigation cues from the regular pattern of the linearly polarized skylight. These species are equipped with ommatidia in the dorsal rim area of their compound eyes, which are sensitive to the angle of polarization of the...
Article
Full-text available
Cet article présente un mini-projet de simulation Matlab™/Simulink durant 18 heures de formation destiné à des étudiants en première année d’école d’ingénieurs (niveau bac+3). L’idée est d’introduire l’outil logiciel et les contraintes inhérentes à la simulation telles que nous les rencontrons durant une activité de recherche et développement (R&D)...
Article
Flying insects are being studied these days as if they were agile micro air vehicles fitted with smart sensors, requiring very few brain resources. The findings obtained on these natural fliers have proved to be extremely valuable when it comes to designing compact low-weight artificial optical sensors capable of performing visual processing tasks...
Chapter
In this study, a desert ant-inspired celestial compass and a bio-inspired minimalist optic flow sensor named M\(^2\)APix (which stands for Michaelis Menten Auto-adaptive Pixels), were embedded onboard our 2 kg-hexapod walking robot called AntBot, in order to reproduce the homing behavior observed in desert ants Cataglyphis fortis. The robotic chall...
Conference Paper
This paper presents for the first time the embedded stand-alone version of the bio-inspired M²APix (Michaelis-Menten auto-adaptive pixels) sensor as a ventral optic flow sensor to endow glider-type unmanned aerial vehicles with autonomous landing ability. Assuming the aircraft is equiped with any reliable speed measurement system such as a global p...
Article
Full-text available
Studies on insects’ visual guidance systems have shed little light on how learning contributes to insects’ altitude control system. In this study, honeybees were trained to fly along a double-roofed tunnel after entering it near either the ceiling or the floor of the tunnel. The honeybees trained to hug the ceiling therefore encountered a sudden...
Conference Paper
In this study, a quasi-panoramic bio-inspired eye dedicated to optic flow measurement on board micro flying robots is presented. It will allow future micro flying robots to mimic honeybees' navigational tasks which work without any metric sensors. An innovative optic flow-based algorithm was tested in the horizontal plane to measure the robot's inc...
Conference Paper
Full-text available
In this paper, a 395-gram micro flying robot equipped with an insect-inspired visual system is presented. The robot's visual system was designed to make it avoid both ground and lateral obstacles, using optic flow-based regulation principles. The quadrotor is an open-hardware X4-MaG drone with an active gimbal system based on a pair of serial servo...
Conference Paper
In an outdoor autonomous navigational context, classic compass sensors such as magnetometers have to deal with unpredictable magnetic disturbances. In this paper, we propose to get inspiration from the insect navigational abilities to design a celestial compass based on linear polarization of ultraviolet (UV) skylight. To compute the solar meridian...
Article
Full-text available
These days, flying insects are seen as genuinely agile aircraft fitted with a parsimonious brain capable of visually navigating in unpredictable environments. Understanding, how such tiny animals work, would allow engineers to figure out different issues in relation with drones miniaturization. To turn a drone into a robot of about 1 kg, convention...
Conference Paper
Over the last five decades, legged robots, and especially six-legged walking robots, have aroused great interest among the robotic community. Legged robots provide a higher level of mobility through their kinematic structure over wheeled robots, because legged robots can walk over uneven terrains without non-holonomic constraint. Walking robots' lo...
Article
Full-text available
Flying insects are able to fly smartly in an unpredictable environment. It has been found that flying insects have smart neurons inside their tiny brains that are sensitive to visual motion also called optic flow. Consequently, flying insects rely mainly on visual motion during their flight maneuvers such as: takeoff or landing, terrain following,...
Article
Full-text available
For use in autonomous micro air vehicles, visual sensors must not only be small, lightweight and insensitive to light variations; on-board autopilots also require fast and accurate optical flow measurements over a wide range of speeds. Using an auto-adaptive bio-inspired Michaelis–Menten Auto-adaptive Pixel (M2APix) analog silicon retina, in this a...
Chapter
Flying insects and birds are able to fly smartly in an unpredictable environment. Many animals have been found to rely mainly on optic flow. Optic flow can be defined as the vector field of the apparent motion of objects, surfaces, and edges in a visual scene generated by the relative motion between an observer (an eye or a camera) and the scene. O...
Conference Paper
In view of neuro-ethological findings on honeybees and our previously developed vision-based autopilot, in-silico experiments were performed in which a “simulated bee” was make to travel along a doubly tapering tunnel including for the first time event-based controllers. The “simulated bee” was equipped with: • a minimalistic compound eye comprisin...
Article
Full-text available
A bioinspired autopilot is presented, in which body saccadic and intersaccadic systems are combined. This autopilot enables a simulated hovercraft to travel along corridors comprising L-junctions, U-shaped and S-shaped turns, relying on minimalistic motion vision cues alone without measuring its speed or distance from walls, in much the same way as...
Article
Full-text available
Cet article présente une activité transversale en STI2D ayant comme support le standard KNX incluant la description d’une installation KNX, les propriétés des télégrammes KNX, ainsi que son décodage. Les activités proposées sont indépendantes de la nature des participants KNX pour qu’elles puissent s’adapter en fonction des différentes spécialités...
Chapter
Flying insects excellently master visual motion sensing techniques. They use dedicated motion processing circuits at a low energy and computational costs. Thanks to observations obtained on insect visual guidance, we developed visual motion sensors and bioinspired autopilots dedicated to flying robots. Optic flow-based visuomotor control systems (V...
Article
Full-text available
Here we present the first systematic comparison between the visual guidance behaviour of a biomimetic robot and those of honeybees flying in similar environments. We built a miniature hovercraft which can travel safely along corridors with various configurations. For the first time, we implemented on a real physical robot the 'lateral optic flow re...
Article
Full-text available
Cet article présente un essai de système destiné aux étudiants en première année du BTS électrotechnique. Durant cet essai, les étudiants vont travailler sur une station solaire équipée de deux panneaux photovoltaïques Cuivre - Indium - Sélénium- CIS - rechargeant deux batteries 12 V via un régulateur de charge MPPT, ce dernier alimentant un ondule...