{"id":1132,"date":"2024-02-08T10:34:41","date_gmt":"2024-02-08T09:34:41","guid":{"rendered":"https:\/\/selmalepart.org\/lowsoro\/ressources\/?page_id=1132"},"modified":"2024-02-08T12:52:09","modified_gmt":"2024-02-08T11:52:09","slug":"queue-de-poisson","status":"publish","type":"page","link":"https:\/\/selmalepart.org\/lowsoro\/ressources\/queue-de-poisson\/","title":{"rendered":"Queue de Poisson"},"content":{"rendered":"<p>[vc_row][vc_column][vc_column_text]<\/p>\n<h2>I<strong>d\u00e9e : Faire un poisson (une nageoire)<\/strong><\/h2>\n<p>IMT Atlantique 2024 &#8211; Groupe 1 : Ditsouga, Maxence, Quentin, Antoine<\/p>\n<p>Vient de : <a href=\"https:\/\/robotics24.net\/blog\/soft-robotics-examples-research-and-applications\/\">https:\/\/robotics24.net\/blog\/soft-robotics-examples-research-and-applications\/<\/a><\/p>\n<p><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/Dy5ZETdaC9k?si=ecKNG2LMqO4fjcDT\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<h1>Pourquoi ?<\/h1>\n<p>Les chercheurs en biologie marine rencontrent souvent des limites quand il s\u2019agit d\u2019observer la faune. En effet, pour \u00e9viter d\u2019effrayer les autres poissons et la faune marine une \u00e9quipe du MIT a d\u00e9velopp\u00e9 un robot poisson \u00e9quip\u00e9 d\u2019une cam\u00e9ra et bas\u00e9 sur le biomim\u00e9tisme.<\/p>\n<p>Dans ce projet nous tentons de reproduire le mouvement de la queue du poisson.<\/p>\n<h1>Comment ?<\/h1>\n<p>Utiliser 2 parties \u201cmuscles\u201d r\u00e9tractables en silicone qui se contractent en alternance pour tirer le bout de la queue du poisson d\u2019un c\u00f4t\u00e9 puis de l\u2019autre. Contr\u00f4ler le tout avec une seule pompe qui gonfle un muscle puis l\u2019autre avec un circuit pneumatique ferm\u00e9.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1135 size-full aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled.png\" alt=\"\" width=\"510\" height=\"574\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled.png 510w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-267x300.png 267w\" sizes=\"(max-width: 510px) 100vw, 510px\" \/><\/p>\n<p>On utilise la pompe \u00e0 eau 12v qui peut changer de sens d\u2019aspiration.<\/p>\n<h3><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1137 size-full aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1.png\" alt=\"\" width=\"736\" height=\"678\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1.png 736w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1-300x276.png 300w\" sizes=\"(max-width: 736px) 100vw, 736px\" \/><\/h3>\n<h3>Deuxi\u00e8me possibilit\u00e9 de type de muscles<\/h3>\n<ul>\n<li>Muscles artificiels de type McKibben<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1136 size-full aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2.png\" alt=\"\" width=\"611\" height=\"373\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2.png 611w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2-300x183.png 300w\" sizes=\"(max-width: 611px) 100vw, 611px\" \/><\/p>\n<p>Le principe de fonctionnement est le m\u00eame que pour les muscles en silicone.<\/p>\n<h1>Plan :<\/h1>\n<ul>\n<li>Faire 2 muscles artificiels (en silicone, ou de type McKibben)<\/li>\n<li>Faire un circuit de contr\u00f4le de la pompe (arduino) , avec \u00e9ventuellement des capteurs de flexion sur la queue pour la commande.<\/li>\n<\/ul>\n<ul>\n<li>Contr\u00f4le du moteur : carte pont en H (<a href=\"https:\/\/wiki.dfrobot.com\/MD1.3_2A_Dual_Motor_Controller_SKU_DRI0002\">https:\/\/wiki.dfrobot.com\/MD1.3_2A_Dual_Motor_Controller_SKU_DRI0002<\/a>) pour pouvoir inverser la polarit\u00e9 du moteur quand il faut.<\/li>\n<\/ul>\n<p>*Impression en 3D de la nageoire caudale et du corps du poisson<\/p>\n<h1>Etape de la mise en place :<\/h1>\n<p>R\u00e9flexion sur le muscle \u00e0 utiliser :<\/p>\n<ul>\n<li>Tout d\u2019abord, on a pens\u00e9 au muscle en silicone pour les mouvement de la queue mais le moule du mod\u00e8le donn\u00e9 par le site (<a href=\"https:\/\/softroboticstoolkit.com\/book\/pneunets-downloads\">https:\/\/softroboticstoolkit.com\/book\/pneunets-downloads<\/a>) ne nous a pas donn\u00e9 de r\u00e9sultat satisfaisant. En effet, a cause la pr\u00e9sence de bulles d\u2019air et de la plaque du dessous pas assez rigide , des trous laissaient s\u2019\u00e9chapper l\u2019air et emp\u00eachaient le gonflement du muscle (nous avons chang\u00e9 d\u2019approche car refaire un autre muscle \u00e9tait tr\u00e8s long puisqu\u2019il faut attendre qu\u2019il s\u00e8che).<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1138 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1024x683.jpeg\" alt=\"\" width=\"1024\" height=\"683\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1024x683.jpeg 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-300x200.jpeg 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-768x512.jpeg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1536x1024.jpeg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2048x1365.jpeg 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-870x580.jpeg 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<ul>\n<li>On a donc d\u00e9cid\u00e9 d\u2019int\u00e9grer des muscles avec des gaines (type McKibben). Pour fabriquer nos muscles, on a enfil\u00e9 un ballon dans la gaine : lorsque le ballon se gonfle, la gaine se r\u00e9tracte et inversement. On a donc un muscle contr\u00f4lable avec une pompe.<\/li>\n<\/ul>\n<div style=\"width: 1920px;\" class=\"wp-video\"><!--[if lt IE 9]><script>document.createElement('video');<\/script><![endif]-->\n<video class=\"wp-video-shortcode\" id=\"video-1132-1\" width=\"1920\" height=\"1080\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_102442.mp4?_=1\" \/><a href=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_102442.mp4\">https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_102442.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<div style=\"width: 1920px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-1132-2\" width=\"1920\" height=\"1080\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_102442.mp4?_=2\" \/><a href=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_102442.mp4\">https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_102442.mp4<\/a><\/video><\/div>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1140 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1-1024x576.jpeg\" alt=\"\" width=\"1024\" height=\"576\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1-1024x576.jpeg 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1-300x169.jpeg 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1-768x432.jpeg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1-1536x864.jpeg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1-2048x1152.jpeg 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-1-870x489.jpeg 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li>On a juste eu quelques probl\u00e8mes quand le ballon \u00e9tait trop gonfl\u00e9<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1141 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2-1024x683.jpeg\" alt=\"\" width=\"1024\" height=\"683\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2-1024x683.jpeg 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2-300x200.jpeg 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2-768x512.jpeg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2-1536x1024.jpeg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2-2048x1365.jpeg 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-2-870x580.jpeg 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1145 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3-1024x683.jpeg\" alt=\"\" width=\"1024\" height=\"683\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3-1024x683.jpeg 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3-300x200.jpeg 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3-768x512.jpeg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3-1536x1024.jpeg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3-2048x1365.jpeg 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3-870x580.jpeg 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<p>Choix des pompes<\/p>\n<ul>\n<li>On a initialement pens\u00e9 \u00e0 utiliser une pompe \u00e0 air classique (\u00e0 piston), cela n\u2019a pas march\u00e9 car la pompe n\u2019\u00e9tait pas r\u00e9versible ce qui nous a emp\u00each\u00e9 de remplir et vider successivement le muscle.<\/li>\n<li>Nous avons utilis\u00e9 une pompe \u00e0 galet qui est plus efficace avec de l\u2019eau (mais reste efficace avec de l\u2019air) pour remplir et vider le ballon<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1142 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6-1024x683.jpeg\" alt=\"\" width=\"1024\" height=\"683\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6-1024x683.jpeg 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6-300x200.jpeg 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6-768x512.jpeg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6-1536x1024.jpeg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6-2048x1365.jpeg 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6-870x580.jpeg 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li>Nous nous sommes rendus compte que le d\u00e9bit n\u2019\u00e9tait pas suffisant, remplir le ballon prenait trop de temps et donc nous avons opter pour utiliser 2 pompes en parall\u00e8les marchant sur la m\u00eame alimentation avec un pont en H. (<a href=\"https:\/\/wiki.dfrobot.com\/MD1.3_2A_Dual_Motor_Controller_SKU_DRI0002\">https:\/\/wiki.dfrobot.com\/MD1.3_2A_Dual_Motor_Controller_SKU_DRI0002<\/a>)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1143 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5-1024x683.jpeg\" alt=\"\" width=\"1024\" height=\"683\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5-1024x683.jpeg 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5-300x200.jpeg 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5-768x512.jpeg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5-1536x1024.jpeg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5-2048x1365.jpeg 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5-870x580.jpeg 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1144 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4-1024x683.jpeg\" alt=\"\" width=\"1024\" height=\"683\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4-1024x683.jpeg 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4-300x200.jpeg 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4-768x512.jpeg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4-1536x1024.jpeg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4-2048x1365.jpeg 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4-870x580.jpeg 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<ul>\n<li>Les pompes se d\u00e9gonflent puis se gonflent :<\/li>\n<\/ul>\n<div style=\"width: 1920px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-1132-3\" width=\"1920\" height=\"1080\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_102749.mp4?_=3\" \/><a href=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_102749.mp4\">https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_102749.mp4<\/a><\/video><\/div>\n<p>Capteur de flexion :<\/p>\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li>Le capteur de flexion nous permet de savoir \u00e0 quel moment la flexion de la nageoire est termin\u00e9 et de passer \u00e0 une nouvelle flexion (changement de sens de la nageoire). Il est n\u00e9cessaire d\u2019avoir 2 capteur parce qu\u2019il sont sensible uniquement dans un sens de pliure.<\/li>\n<li>Ces capteurs sont des capteurs analogique reli\u00e9 comme ci dessous :<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1148 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/1706606871138-scaled-e1707391011692-1024x576.jpg\" alt=\"\" width=\"1024\" height=\"576\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/1706606871138-scaled-e1707391011692-1024x576.jpg 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/1706606871138-scaled-e1707391011692-300x169.jpg 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/1706606871138-scaled-e1707391011692-768x432.jpg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/1706606871138-scaled-e1707391011692-1536x864.jpg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/1706606871138-scaled-e1707391011692-2048x1152.jpg 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/1706606871138-scaled-e1707391011692-870x489.jpg 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<ul>\n<li>Gr\u00e2ce \u00e0 ce site, on a un exemple de programme qui fonctionne : <a href=\"https:\/\/www.gotronic.fr\/blog\/articles\/controle-dune-main-robotique\/\">https:\/\/www.gotronic.fr\/blog\/articles\/controle-dune-main-robotique\/<\/a>.<\/li>\n<li>Ils sont attach\u00e9s sur les muscles de cette mani\u00e8re :<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1147 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-7-576x1024.jpeg\" alt=\"\" width=\"576\" height=\"1024\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-7-576x1024.jpeg 576w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-7-169x300.jpeg 169w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-7-768x1365.jpeg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-7-864x1536.jpeg 864w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-7-1152x2048.jpeg 1152w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-7-870x1547.jpeg 870w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-7-scaled.jpeg 1440w\" sizes=\"(max-width: 576px) 100vw, 576px\" \/><\/p>\n<ul>\n<li>Le montage ensemble est le suivant, il fonctionne avec le code arduino :<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<div style=\"width: 1920px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-1132-4\" width=\"1920\" height=\"1080\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_150315.mp4?_=4\" \/><a href=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_150315.mp4\">https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/VID_20240131_150315.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<h1>Impression 3D :<\/h1>\n<p>Dans un premier temps, nous avons fait un mod\u00e8le de nageoire \u00e9troite.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-1155 alignleft\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3-257x300.png\" alt=\"\" width=\"257\" height=\"300\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3-257x300.png 257w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-3.png 523w\" sizes=\"(max-width: 257px) 100vw, 257px\" \/><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-1156 alignleft\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4-289x300.png\" alt=\"\" width=\"289\" height=\"300\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4-289x300.png 289w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-4.png 722w\" sizes=\"(max-width: 289px) 100vw, 289px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>Cependant, les mouvements de la queue \u00e9tant plut\u00f4t lents, nous avons \u00e0 la place opt\u00e9 pour une nageoire moins r\u00e9aliste mais plus large pour avoir une meilleure surface de contact avec l\u2019eau (et donc permettre au poisson d\u2019avancer).<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-1157 alignleft\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5-300x166.png\" alt=\"\" width=\"300\" height=\"166\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5-300x166.png 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-5.png 722w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-1158 alignleft\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_091110-1-225x300.jpg\" alt=\"\" width=\"225\" height=\"300\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_091110-1-225x300.jpg 225w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_091110-1-768x1024.jpg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_091110-1-1152x1536.jpg 1152w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_091110-1-1536x2048.jpg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_091110-1-870x1160.jpg 870w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_091110-1-scaled.jpg 1920w\" sizes=\"(max-width: 225px) 100vw, 225px\" \/><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-1159 alignleft\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6-175x300.png\" alt=\"\" width=\"175\" height=\"300\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6-175x300.png 175w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Untitled-6.png 438w\" sizes=\"(max-width: 175px) 100vw, 175px\" \/><\/p>\n<p>L\u2019impression du corps n\u2019a pas \u00e9t\u00e9 concluante \u00e0 cause de mauvais r\u00e9glages (parois trop fines).<\/p>\n<p>&nbsp;<\/p>\n<h1><\/h1>\n<h1>Montage final avec la queue :<\/h1>\n<p>&nbsp;<\/p>\n<div style=\"width: 1920px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-1132-5\" width=\"1920\" height=\"1080\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_093809-2.mp4?_=5\" \/><a href=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_093809-2.mp4\">https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_093809-2.mp4<\/a><\/video><\/div>\n<p>Sch\u00e9ma du montage \u00e9lectrique :<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1161 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Schema-montage-1-1024x724.png\" alt=\"\" width=\"1024\" height=\"724\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Schema-montage-1-1024x724.png 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Schema-montage-1-300x212.png 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Schema-montage-1-768x543.png 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Schema-montage-1-1536x1086.png 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Schema-montage-1-2048x1448.png 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/Schema-montage-1-870x615.png 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<p>Code Arduino :<\/p>\n<pre><code class=\"language-jsx\">\/\/Pompes\nint E2 = 5;\nint M2 = 4;\nint tau = 1000; \/\/Dur\u00e9e en ms entre chaque alternance gonflage\/d\u00e9gonflage en mode \"normal\"\n\n\/\/Commande\nint Bouton = 3;\nint Etat = 1; \/\/0 = mode normal , 1 = mode remplissage , 2 = mode vidange\nint etat_bouton = 0;\nint timer = 0;\n\n\/\/Capteurs de flexion\nconst int Capteur_droit = A1;\nconst int Capteur_gauche = A0;\nint sensorValueD = 0;        \/\/ value read from the pot\nint sensorValueG = 0;        \/\/ value read from the pot\n#include &lt;Servo.h&gt;\nServo index;\n\nvoid setup()\n{\n    pinMode(M2, OUTPUT);\n    pinMode(Bouton,INPUT);\n    Serial.begin(9600);\n}\n\nvoid loop()\n{\n  etat_bouton = digitalRead(Bouton);\n\n  if (etat_bouton == LOW) {\n    \/\/On arette la pompe le temps de connaitre le mode souhait\u00e9\n    digitalWrite(E2,LOW);\n    \/\/Mesure temps d'appui sur le bouton\n    while (etat_bouton == LOW){\n      timer += 20;\n      delay(20);\n      etat_bouton = digitalRead(Bouton);\n    }\n    \/\/Si appui long (plus de 2s) on change de mode entre normal(0) et remplissage(1)\n    if (timer&gt;=2000){\n      Etat = (Etat==0);\n    }\n    \/\/ Sinon si on est en mode 1 ou 2 on change de mode entre 1 et 2\n    else {\n      if (Etat != 0){\n        Etat = 1*(Etat==2) + 2*(Etat==1);\n      }\n    }\n    timer = 0;\n  }\n  Serial.println(Etat);\n  \/\/ On fait tourner la pompe selon son mode de fonctionnement\n  rotation_pompe(Etat);\n  \/\/ On attend 20 ms avant une nouvelle boucle\n  delay(20);\n}\n\n\/\/ D\u00e9clenche les pompes avec le bouton selon le sens de rotation\/ mode souhait\u00e9\nvoid rotation_pompe(int nouvel_etat) {\n  \/\/Modes pour vider\/remplir le ballon\n  if (nouvel_etat==1){\n     digitalWrite(E2,HIGH);\n     digitalWrite(M2,LOW);\/\/gonfler\n  }\n  else {\n    if (nouvel_etat==2){\n      digitalWrite(E2,HIGH);\n      digitalWrite(M2,HIGH);\/\/d\u00e9gonfler\n    }\n\n    else{\n      \/\/Mode normal alternance\n      digitalWrite(E2,HIGH);\n      digitalWrite(M2,HIGH);\n      delay(tau);\n      digitalWrite(M2,LOW);\n      delay(tau);\n\n      \/\/ \/\/Mode normal avec capteurs de flexion (d\u00e9commentez ci-dessous et commentez le mode normal au dessus)\n      \/\/   \/\/ read the analog in value:\n      \/\/   sensorValueD = analogRead(Capteur_droit);\n      \/\/   sensorValueG = analogRead(Capteur_gauche);\n\n      \/\/   digitalWrite(E2,HIGH);\n\n      \/\/   if (sensorValueD &gt; 820) {  \/\/ 820 correspond au seuil \u00e0 partir la flexion du capteur est suffisante pour changer de sens\n      \/\/     digitalWrite(M2,HIGH);\n      \/\/   }\n      \/\/   if (sensorValueG &gt; 820) {\n      \/\/     digitalWrite(M2,LOW);\n      \/\/   }\n    }\n  }\n}\n<\/code><\/pre>\n<h1>Pistes d\u2019am\u00e9lioration :<\/h1>\n<hr \/>\n<ul>\n<li>Refaire une structure en impression 3D pour le corps du poisson et int\u00e9grer les pompes<\/li>\n<li>Faire une nageoire dorsale orientable pour contr\u00f4ler le poisson<\/li>\n<\/ul>\n<div style=\"width: 1920px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-1132-6\" width=\"1920\" height=\"1080\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_110309.mp4?_=6\" \/><a href=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_110309.mp4\">https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/20240201_110309.mp4<\/a><\/video><\/div>\n<ul>\n<li>Ajouter un \u201cballast\u201d qui emp\u00eache le poisson de couler<\/li>\n<li>Mieux \u00e9tanch\u00e9ifier , utiliser des pompes plus puissantes ou des muscles moins larges.<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1164 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/IMG_20240201_111221-1024x768.jpg\" alt=\"\" width=\"1024\" height=\"768\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/IMG_20240201_111221-1024x768.jpg 1024w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/IMG_20240201_111221-300x225.jpg 300w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/IMG_20240201_111221-768x576.jpg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/IMG_20240201_111221-1536x1152.jpg 1536w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/IMG_20240201_111221-2048x1536.jpg 2048w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/IMG_20240201_111221-870x653.jpg 870w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/p>\n<p>Voici une version du capteur \u00e9tanch\u00e9ifi\u00e9e avec du silicone que nous n\u2019avons pas eu le temps de tester.<\/p>\n<h1>Etude en parall\u00e8le<\/h1>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1165 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.1-768x1024.jpg\" alt=\"\" width=\"768\" height=\"1024\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.1-768x1024.jpg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.1-225x300.jpg 225w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.1-870x1160.jpg 870w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.1.jpg 960w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><br \/>\nL\u2019id\u00e9e \u00e9tait d\u2019automatiser un mouvement d\u2019accord\u00e9on, de propulsion.<br \/>\n<img loading=\"lazy\" decoding=\"async\" class=\"wp-image-1166 size-large aligncenter\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.2-768x1024.jpg\" alt=\"\" width=\"768\" height=\"1024\" srcset=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.2-768x1024.jpg 768w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.2-225x300.jpg 225w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.2-870x1160.jpg 870w, https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/photo-IMT.2.jpg 960w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/p>\n<p>&nbsp;<\/p>\n<pre><code class=\"language-jsx\"><\/code><\/pre>\n<div style=\"width: 480px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-1132-7\" width=\"480\" height=\"848\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/video-IMT.1.mp4?_=7\" \/><a href=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/video-IMT.1.mp4\">https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/video-IMT.1.mp4<\/a><\/video><\/div>\n<pre><code class=\"language-jsx\">\nconst int springPin1 = A1;  \/\/ Broche de contr\u00f4le du relais pour le premier ressort\nconst int springPin2 = A2;  \/\/ Broche de contr\u00f4le du relais pour le deuxi\u00e8me ressort\n\nvoid setup() {\n  pinMode(springPin1, OUTPUT);\n  pinMode(springPin2, OUTPUT);\n}\n\nvoid loop() {\n  \/\/ Activer le courant sur le premier ressort\n  digitalWrite(springPin1, HIGH);\n  delay(2000); \n  \/\/ Attendre 2 secondes\n\n  \/\/ D\u00e9sactiver le courant sur le premier ressort\n  digitalWrite(springPin1, LOW);\n  delay(10000);\n\n  \/\/ Activer le courant sur le deuxi\u00e8me ressort\n  digitalWrite(springPin2, HIGH);\n  delay(2000);  \/\/ Attendre 2 secondes\n\n  \/\/ D\u00e9sactiver le courant sur le deuxi\u00e8me ressort\n  digitalWrite(springPin2, LOW);\n  delay(10000);\n}\n\n<\/code><\/pre>\n<div style=\"width: 480px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-1132-8\" width=\"480\" height=\"848\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/video-IMT.2.mp4?_=8\" \/><a href=\"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/video-IMT.2.mp4\">https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-content\/uploads\/2024\/02\/video-IMT.2.mp4<\/a><\/video><\/div>\n<p><strong>Probl\u00e8mes rencontr\u00e9s :<\/strong><br \/>\n_ D\u00e9finition du temps de latence ad\u00e9quat pour laisser le ressort \u00e0 m\u00e9moire de forme refroidir pour permettre le mouvement inverse.<br \/>\n_ Elongation dans un seul sens<\/p>\n<p><strong>Potentielles solutions :<\/strong><br \/>\n_ Essayer de changer le g\u00e9n\u00e9rateur avec un meilleur calibrage<br \/>\n_ Installer un bouton qui va permettre d\u2019ouvrir et de fermer le passage du courant sur chacun des ressorts \u00e0 m\u00e9moire de forme.<\/p>\n<p><strong>Ce que j\u2019ai appris :<\/strong><br \/>\n_ Bases de Arduino, en passant par le codage et le montage<br \/>\n_ Ouverture d\u2019esprit sur sur les m\u00e9tiers[\/vc_column_text][\/vc_column][\/vc_row]<\/p>\n","protected":false},"excerpt":{"rendered":"<p>[vc_row][vc_column][vc_column_text] Id\u00e9e : Faire un poisson (une nageoire) IMT Atlantique 2024 &#8211; Groupe 1 : Ditsouga, Maxence, Quentin, Antoine Vient de : https:\/\/robotics24.net\/blog\/soft-robotics-examples-research-and-applications\/ Pourquoi ? Les chercheurs en biologie marine rencontrent souvent des limites quand il s\u2019agit d\u2019observer la faune. En effet, pour \u00e9viter d\u2019effrayer les autres poissons et la faune marine une \u00e9quipe du [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"aioseo_notices":[],"_links":{"self":[{"href":"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-json\/wp\/v2\/pages\/1132"}],"collection":[{"href":"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-json\/wp\/v2\/comments?post=1132"}],"version-history":[{"count":10,"href":"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-json\/wp\/v2\/pages\/1132\/revisions"}],"predecessor-version":[{"id":1171,"href":"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-json\/wp\/v2\/pages\/1132\/revisions\/1171"}],"wp:attachment":[{"href":"https:\/\/selmalepart.org\/lowsoro\/ressources\/wp-json\/wp\/v2\/media?parent=1132"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}