Dissertations / Theses on the topic 'Architectures de contrôle hybride'
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Benzerrouk, Ahmed. "Architecture de contrôle hybride pour systèmes multi-robots mobiles." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00669559.
Valette, Etienne. "Vers une approche anthropocentrée des architectures de contrôle pour les systèmes intelligents de production." Electronic Thesis or Diss., Université de Lorraine, 2022. http://www.theses.fr/2022LORR0140.
Last decades have seen the growth in size and complexity of industrial systems and flows (both physical and informational). Hyper competitive markets, demand atomization and customer requirements level increase have brought about the need to combine the robustness and performance of centralized systems with the responsiveness of decentralized systems. For the 20 last years, the relevance of these Hybrid Control Architectures (HCA) has been demonstrated through numerous works. However, they are today hardly present in the industrial landscape. This situation could find some of its roots in a certain lack of genericity and/or Human-System acceptability. In this research work, the explored path consists in proposing a reference formal framework for the design, modelling, simulation, visualization and evaluation of complex systems' constitutive components and interactions/relations. The purpose of this framework is to bridge the genericity gap identified for Holonic and Hybrid Control Architectures Design regarding complex Multi-Agent Systems (MAS), but also to promote human inclusion into these. To this end and to promote the socio-technical representation of systems, the proposed relationships model is grounded on the nature of human societies' ones
Ben, Saad Seifallah. "Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins." Thesis, Brest, 2016. http://www.theses.fr/2016BRES0052/document.
In the underwater environment, the needs of data acquisition have significantly increased over the last decades. As electromagnetic waves show poor propagation in sea water, acoustical sensing is generally preferred. However, the emergence of small and low cost autonomous underwater vehicles (AUV) allow for rethinking the underwater use of optical sensors as their small coverage can be significantly improved by using a fleet of coordinated underwater robots.This paper presents a strategy to coordinate the group of robots in order to systematically survey the seabed to detect small objects or singularities. The proposed hybrid coordination strategy is defined by two main modes. The first mode relies on a swarm algorithm to organize the team in geometrical formation. In the second mode, the robot formation is maintained using a hierarchical coordination. A finite state machine controls the high level hybrid strategy by defining the appropriate coordination mode according to the evolution of the mission. Before sea validation, the behavior and the performance of the hybrid coordination strategy are first assessed in simulation. The control of individual robots relies on visual servoing, implemented with the OpenCV library, and the simulation tool is based on Blender software.The dynamics of the robots has been implemented in a realistic way in Blender by using the Bullet solver and the hydrodynamic coeficcients estimated on the actual robot. First results of the hybrid coordination strategy applied on a fleet of 3 AUV’s, show execution of a video acquisition task by a group of autonomous robots controlled by vision and coordinated by a hybrid strategy
Jiménez, Jose-Fernando. "Architecture dynamique et hybride pour la reconfiguration optimale des systèmes de contrôle : application au contrôle de fabrication." Thesis, Valenciennes, 2017. http://www.theses.fr/2017VALE0031/document.
Discrete-event control systems have the opportunity to resolve significant challenges of modern society. In particular, these represent a fundamental solution to manage and control the new technological advances in compliance to the increased consciousness of sustainable development. The parameterization, configuration and decision-making of these control systems are critical aspects that impact the performance and productivity required. Dynamic control architecture approaches, such as reconfigurable control systems, have been proposed for modelling such systems. However, such approaches have failed to address the recovery of the reconfiguration process as these focus on the continuity of execution rather than on the optimisation of the reconfiguration. This dissertation proposes a reference architecture for a reconfigurable control system, named Pollux, designed to manage and adjust optimally and in real time the architecture of a control system, either to guide operational execution or to respond to a system perturbation. Considering a proposed framework of an optimal configuration of control architectures based on shared governance, this proposed approach aims to orchestrate a flexible and customizable decisional entity, a representation that characterize the unique configuration and control solution of the control architecture, and a three-module reconfiguration mechanism that integrates the optimality-based principles into the reconfiguration process, to ensure a recovery of global performance and/or minimise the degradation caused by perturbations. Our approach is applied in the manufacturing domain and is validated in a simulation and a real flexible manufacturing system cell located at the University of Valenciennes, France. The validation conducted in three experimental scenarios verified the benefits of our approach and encourage us to continue research in this direction
Ravey, Alexandre. "Conception et gestion de l'énergie des architectures pour véhicules hybrides électriques." Phd thesis, Université de Technologie de Belfort-Montbeliard, 2012. http://tel.archives-ouvertes.fr/tel-00863541.
Delpech, Nicolas. "Architecture orientée objet de contrôle-commande de robots." Toulouse, ENSAE, 1994. http://www.theses.fr/1994ESAE0002.
Pach, Cyrille. "ORCA : architecture hybride pour le contrôle de la myopie dans le cadre du pilotage des systèmes flexibles de production." Phd thesis, Université de Valenciennes et du Hainaut-Cambresis, 2013. http://tel.archives-ouvertes.fr/tel-00919382.
Vilca, Ventura José Miguel. "Safe and flexible hybrid control architecture for the navigation in formation of a group of vehicles." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22607/document.
Beyond the interest of robotics laboratories for the development of dedicated strategies for single vehicle navigation, several laboratories around the world are more and more involved in the general challenging field of cooperative multi-robot navigation. In this context, this work deals with the navigation in formation of a group of Unmanned Ground Vehicles (UGVs) dedicated to structured environments. The complexity of this Multi-Robot System (MRS) does not permit the direct use of neither classical perception nor control techniques. To overcome this problem, this work proposes to break up the overall control dedicated to the achievement of the complex task into a group of accurate and reliable elementary behaviors/controllers (e.g., obstacles avoidance, trajectory tracking, target reaching, navigation in formation, formation reconfiguration, etc.). These behaviors are linked to different information given by the sensors to the actions of vehicles. To guarantee the performances criteria (e.g., stability, convergence, state errors) aimed by the control architecture, the potentialities of hybrid controllers (which controlling continuous systems in the presence of discrete events) are considered. This control architecture is validated for a single vehicle to perform safe and flexible autonomous navigation using an appropriate strategy of navigation through suitable set of waypoints. This flexible navigation allows different vehicle maneuvers between waypoints (e.g., target reaching or obstacle avoidance) without using any trajectory planning nor replanning. The designed control law based on Lyapunov synthesis guarantees the convergence to assigned waypoint while performing safe trajectories. Furthermore, an algorithm to select suitable waypoints’ positions, named Optimal Multi-criteria Waypoint Selection (OMWS), in structured environments while taking into account the safe and reliable vehicle movements, and vehicle constraints and uncertainties is proposed. Subsequently, the control architecture is extended to Multi-Robot Formation (MRF) using a combination of Leader-Follower and behavior-based approaches. An important cooperative MRS issues in this thesis is the dynamic reconfiguration of the formation according to the context of navigation (e.g., to pass from a triangle configuration towards a line if the width of the navigation way is not sufficient). The proposed Strategy for Formation Reconfiguration (SFR) guarantees the stability and the safety of the MRS at the time of the transitions between configuration (e.g., line towards square, triangle towards line, etc.). Therefore, a safe, reactive and dynamic MRF is obtained. Moreover, the degrees of multi-robot safety, stability and reliability of the system are quantified via suitable metrics. Simulations and experiments using urban vehicles (VIPALABs) of the Institut Pascal laboratory allow to perform exhaustive experiments of the proposed control architecture for the navigation in formation of a group of UGVs
Nou, Julien. "Gestion optimale de l'énergie thermique dans un procédé hybride : solaire/géothermie pour le chauffage de bâtiments." Phd thesis, Université de Perpignan, 2011. http://tel.archives-ouvertes.fr/tel-00756810.
Rizzo, Audrey. "L'approche CRONE dans le domaine des architectures complexes des suspensions de véhicules automobiles : la suspension CRONE Hydractive." Thesis, Bordeaux 1, 2012. http://www.theses.fr/2012BOR14564/document.
This thesis follows some previous work of the CRONE team applied to carsuspensions. It allows to purpose one car suspension, called CRONE car suspension, whichimproves the compromise between low frequency road filtering and car holding and thecompromise between hight frequency road filtering and wheel holding. To hold the wheel acriterium on the wheel holding is developed. This criterium can be used to analyse and tunedall kind of car suspension around the wheel pulsation. Moreover, to fight against thecompromise between the driver input and the raod input, a control laws is developed andapplied to a bi-state car suspension called hydractive car suspension. Finally, the influence ofthe car suspension tuning on the vehicle dynamic and more precisely on the ESP, ABSsystems is studied and illustrated with some first experiments
Rojas, Castro Dalia Marcela. "The RHIZOME architecture : a hybrid neurobehavioral control architecture for autonomous vision-based indoor robot navigation." Thesis, La Rochelle, 2017. http://www.theses.fr/2017LAROS001/document.
The work described in this dissertation is a contribution to the problem of autonomous indoor vision-based mobile robot navigation, which is still a vast ongoing research topic. It addresses it by trying to conciliate all differences found among the state-of-the-art control architecture paradigms and navigation strategies. Hence, the author proposes the RHIZOME architecture (Robotic Hybrid Indoor-Zone Operational ModulE) : a unique robotic control architecture capable of creating a synergy of different approaches by merging them into a neural system. The interactions of the robot with its environment and the multiple neural connections allow the whole system to adapt to navigation conditions. The RHIZOME architecture preserves all the advantages of behavior-based architectures such as rapid responses to unforeseen problems in dynamic environments while combining it with the a priori knowledge of the world used indeliberative architectures. However, this knowledge is used to only corroborate the dynamic visual perception information and embedded knowledge, instead of directly controlling the actions of the robot as most hybrid architectures do. The information is represented by a sequence of artificial navigation signs leading to the final destination that are expected to be found in the navigation path. Such sequence is provided to the robot either by means of a program command or by enabling it to extract itself the sequence from a floor plan. This latter implies the execution of a floor plan analysis process. Consequently, in order to take the right decision during navigation, the robot processes both set of information, compares them in real time and reacts accordingly. When navigation signs are not present in the navigation environment as expected, the RHIZOME architecture builds new reference places from landmark constellations, which are extracted from these places and learns them. Thus, during navigation, the robot can use this new information to achieve its final destination by overcoming unforeseen situations.The overall architecture has been implemented on the NAO humanoid robot. Real-time experimental results during indoor navigation under both, deterministic and stochastic scenarios show the feasibility and robustness of the proposed unified approach
Ali, Marwan. "Nouvelles architectures intégrées de filtre CEM hybride." Phd thesis, École normale supérieure de Cachan - ENS Cachan, 2012. http://tel.archives-ouvertes.fr/tel-00847144.
Mehat, Jean. "Contrôle et programmation des architectures pyramidales." Paris 8, 1989. http://www.theses.fr/1990PA080475.
Control and programmation of computers built with processing elements interconencted through a pyramidal netzork are studied. The introduction places the study in the context of computers built since world war ii, and definies parallelism and simd architectures. In chapter 2, the proprieties of pyramidal interconnection networks are described, and compared with thoses of hypercubes and meshes; existing massively parallel pyramid machines pclip, gam, papia and sphinx are described. In chapter 3, algorithms illustrgting processing on the pyramids are presented; two modes of programming these machines: hierarchical and unanimous, are distinguished. In chapter 4, a controller for the pyramid based on control transmission is described ; it allows synchronization in the order of 100ns, and identification of processes. For the exchanges through the anonymous ports interconnenction the processing elements of adjacent levels. In the chapter 5, a programming language implementing the concepts presented in chapters 3 and 4 is described. After exposing the points not solved by pyr-e, a-pyramidel architectures that would benefit from its adaptation are described in the conclusion
Griesbach, schuch Nivea. "Métrologie Hybride pour le contrôle dimensionnel en lithographie." Thesis, Université Grenoble Alpes (ComUE), 2017. http://www.theses.fr/2017GREAT063/document.
The industry of semiconductors continues to evolve at a fast pace, proposing a new technology node around every two years. Each new technology node presents reduced feature sizes and stricter dimension control. As the features of devices continue to shrink, allowed tolerances for metrology errors must shrink as well, pushing the evolution of the metrology tools.No individual metrology technique alone can answer the tight requirements of the industry today, not to mention in the next technology generations. Besides the limitations of the metrology methods, other constraints such as the amount of metrology data available for higher order analysis and the time required for generating such data are also relevant and impact the usage of metrology in production. For the production of advanced technology nodes, neither speed nor precision may be sacrificed, which calls for cleverer metrology approaches, such as the Hybrid Metrology.Hybrid Metrology consists of employing different metrology strategies together in order to combine their strengths while mitigating their weaknesses. This hybrid approach goal is to improve the measurements in such a way that the final data presents better characteristics that each method separately. One of the techniques than can be used to combine the data coming from different metrology techniques is called Data Fusion. There are a large number of developed methods of Data Fusion, using different mathematical tools, to address the data fusion process.The first goal of this thesis project was to start developing the topics of Data Fusion and Hybrid Metrology within the two laboratories whose cooperation made this work possible: LTM (Laboratoire des Technologies de la Microélectronique) and LETI (Laboratoire d'électronique et de technologie de l'information). This thesis presents the concepts of Data Fusion in the context of Hybrid Metrology applied to dimensional measuring for the semiconductors industry. This concept can be extensively used in many other fields of applications.In this work the basics of state-of-the-art metrology techniques is presented and discussed. The focus is the CD-SEM, for its fast and almost-non-destructive metrology; the AFM, for its accurate profile view of patterns and non-destructive characteristic; the Scatterometry, for its precision, global and fast measurements; and the FIB-STEM, as a reference on accuracy for any type of profile, although destructive. The strengths and weaknesses of these methods were discussed in order to introduce the need of Hybrid Metrology and to identify the role that each of those methods can play in this context.Several experiments were performed during this thesis work in order to provide further knowledge about the characteristics and limitations of each metrology method and to be used as either inputs or reference on the different Hybrid Metrology scenarios proposed.The selected method for fuse the data coming from different metrology methods was the Bayesian approach. This technique was evaluated in different experimental contexts, both for Height and CD metrology combining different metrology methods. Results were evaluated for both the debiasing step alone and for the complete fusion flow. In both cases, it was clear the advantages of using a Hybrid Metrology approach for improving the measurement precision and accuracy.The presented Hybrid Metrology technique may be used by the semiconductor industry in different steps of the fabrication process. This technique can also provide information for machine calibration, such as a CD-SEM tool being calibrated based on Hybrid Metrology results generated using the CD-SEM itself together with Scatterometry data
Gan, Shiyu. "Development of a vehicle management tool for multi-architecture and multi-application." Thesis, Bourgogne Franche-Comté, 2018. http://www.theses.fr/2018UBFCK043.
The presented work deals with the question which hybrid architecture is most adapted for which type of vehicle. Therefore, a multi-architecture/multi-application approach capable to identify the most energy efficient hybrid architecture considering both the dimensions of key components (battery, electric motor, internal combustion engine) and the optimal control is presented. Basis of the model is the energetic macroscopic representation (EMR), which has been combined with object oriented programming (OOP) in order to enhance its modularity and reuse capabilities. The obtained results show, that different hybrid architectures are most adapted for different applications. Moreover, the robustness of the results using real time control algorithms are studied, showing that control strategy matters. The obtained results contribute to simplify and harmonize the design of hybrid solutions for multiple applications
Rouhana, Nicolas. "Architectures de contrôle de qualité de service." Paris 6, 2001. http://www.theses.fr/2001PA066368.
Cortes, Buitrago Gloria. "Simulations et contrôle pédagogique : architectures logicielles réutilisables." Université Joseph Fourier (Grenoble), 1999. http://www.theses.fr/1999GRE10165.
Sandoval, torres Cinda Luz. "Contrôle d’une source d’énergie hybride : Pile à combustible-Supercondensateur." Thesis, Paris, ENSAM, 2016. http://www.theses.fr/2016ENAM0067/document.
Energy generation from fossil fuels combustion is predicted to have severe future impacts in the world’s economy and ecology. Fuel cells and supercapacitors are an alternative power source, environmentally friendly.This dissertation presents a regulation architecture developed to coordinate a hybrid renewable source for typical solicitations of electric vehicles in a scaled operating range of 1 kW. The hybrid system is composed of a Polymer Electrolyte Membrane (PEM) fuel cell module, a supercapacitors bank and their respective power conditioning units. In order to optimize the overall operation, the proposed strategy is organized into three hierarchical levels, and the power demand for each energy source is determined in real time with a basis on a frequency distribution and a cutoff frequency, defined in accordance with the dynamical capabilities of the sources.Even if numerous researches have been reported on the subject, few studies have taken into account the proper dynamics of each source in order to optimize the global performance of the hybrid power supply.The goal of this work is to implement a complete simulator integrating not only dynamical models of each energy source, but also dynamical models of the power conditioning units. The control strategy consists of nested loops, arranged in three functional levels of hierarchy. The central idea is to find the optimal set point for each energy source, according to their own physical properties. Contrary to the existing control strategies, this strategy dynamically calculates the appropriate power demand for each energy source. Due to the complexity of the system, cascade control loops are proposed, organized into blocks, according to the system functionality and dynamics.A functional simulation is obtained, where the system ensures the adequate supercapacitor state of charge and soft current demands to keep the fuel cell working in its safe operating region. Thus, lower fuel consumption and rapid response to load demands are guaranteed to improve efficiency.Results demonstrate that the control strategy allows the regulation of the DC bus voltage under UDDS and ECE-15 driving cycles as load profiles. The fuel cell works within its maximum efficiency region, without falling in the degradation zone. In addition, the supercapacitor state of charge remains within the recommended range
Brum, Raphael Martins. "Conception hybride CMOS et mémoires magnétiques : applications aux architectures programmables." Thesis, Montpellier 2, 2014. http://www.theses.fr/2014MON20141.
With the downscaling of the CMOS technology, it is becoming increasingly difficult to design power-efficient and dense static random-access memories (SRAM). In the last two decades, alternative memory technologies have been actively researched both by academia and industry. Among them, STT-MRAM is one of the most promising, having near-zero static power consumption, competitive performance with respect to SRAM and easy integration with CMOS fabrication processes. Furthermore, MRAM is a non-volatile memory technology, providing for new features and capabilities when embedded in reconfigurable devices or processors. In this thesis, applications of MRAM to embedded processors and field-programmable gate-arrays (FPGAs) were investigated. A comparison of several self-referenced read circuits, with application for both memory arrays and sequential cells is provided, based on MTJ compact models provided by our project partners. To demonstrate the feasibility of the proposed circuits, we laid-out and fabricated independent, self-contained sequential cells and a hybrid, multi-context CMOS/MTJ memory array, using state-of-the-art 28nm FDSOI CMOS technology, combined with a 200nm perpendicular STT-MTJ process. Finally, we used these building blocks to implement instant on/off and backward-error recovery capabilities in an embedded processor. Results obtained by simulation allowed us to verify that these features have minimal impact on performance. An initial layout implementation allowed us to estimate the impact on silicon footprint, which could be further reduced by improvements in the MTJ integration process
Claisse, Julien. "Dynamique des populations : contrôle stochastique et modélisation hybride du cancer." Phd thesis, Université Nice Sophia Antipolis, 2014. http://tel.archives-ouvertes.fr/tel-01066020.
Njeh, Mohamed. "Contribution au contrôle des pulsations de couple d'une propulsion hybride." Poitiers, 2011. http://nuxeo.edel.univ-poitiers.fr/nuxeo/site/esupversions/df030f33-74b2-48ca-a265-d7a9aaebe169.
The research presented in this PhD thesis concerns the development of new control strategies to attenuate the insanteneous torque ripples of a hybrid diesel/electric propulsion. On a diesel engine, torque ripples are quasiperiodic for a given rotational speed. We present two strategies to control fixed and variable speed to reduce torque ripples. In the first approach, the state model is expressed in a rotating frame at the frequency of the harmonic rejection. This particular model leads to consider a harmonic ripple as a exogenous constant signal. This control strategy is based on a dynamic output feedback synthesis. The second approach is based on internal model control. The controller has a copy of the exogenous disturbance of the model. This is a problem of persistent disturbance rejection and reference tracking. We will adapt these approaches for control of variable speeds. In this case, the system models and controllers are with varying parameters (Linear Parameter Varying). We present a synthesis method based on S-procedure and full-block multipliers to solve the problem of output feedback. These strategies are applied to an experimental benchmark consists of mono-cylinder diesel engine coupled to a permanent magnets synchronous machine
Becci, Graciela Monica. "Automation and control architecture for hybrid pipeline robots." Thesis, Durham University, 2010. http://etheses.dur.ac.uk/598/.
LeBreux, Marc. "Contrôle flou et par anticipation d'un accumulateur/échangeur de chaleur hybride." Mémoire, Université de Sherbrooke, 2005. http://savoirs.usherbrooke.ca/handle/11143/1314.
Gauthier, Jean-Philippe. "Contrôle actif des ondulations de couple appliqué à la propulsion hybride." Mémoire, Université de Sherbrooke, 2007. http://savoirs.usherbrooke.ca/handle/11143/1382.
Poulet, Philippe. "Contrôle d’un système énergétique hybride à base de pompe à chaleur." Thesis, Aix-Marseille, 2015. http://www.theses.fr/2015AIXM4392.
This thesis is a contribution to the problem of control and management of energy within the heat-pump-based hybrid systems with variable input power. After a state of the art on energy systems and heat pump, a presentation of experimental tools, designed and operated throughout the thesis is given. The third part consists of the physical modeling of the heat pump. This is the central component used for the control of the hybrid system. Then, the control strategy is described and validated through the simulation results and the experiments. The last part is dedicated to the energy management of hybrid system. Specifically, an algorithm to optimize the energy produced is proposed and validated on representative sites in France ; the study-case of this work
Mouzakitis, Alexandros. "Hybrid control architecture for navigation of autonomous mobile robots." Thesis, University of South Wales, 2002. https://pure.southwales.ac.uk/en/studentthesis/hybrid-control-architecture-for-navigation-of-autonomous-mobile-robots(3b3f0e2d-42f9-4bdc-b55e-b5c4cbed937f).html.
Chapuis, Cédric. "Architecture et contrôle du patinage d'un véhicule mono et multi-source de puissance." Thesis, Lyon, INSA, 2012. http://www.theses.fr/2012ISAL0104/document.
The technical progress made during last years in the battery field and the environmental standards hardening lead to an increased interest in hybrid and electric vehicles. The possibility to use several power sources inside a vehicle leads to question the traditional vehicle architectures and to study multi-power sources architectures. After a state of the art on architectures and torque transmission systems, the VELROUE project's prototype is presented. This prototype is later used as a validation platform. Then, the rear wheels slipping control of the VELROUE vehicle which is equipped with an internal combustion engine on the front axle and with two electric motors connected to the rear wheels is studied. Next, different vehicle models are described to analyze energy transfers inside the system using Bond Graph, to synthesize anti-slipping control laws and to simulate the vehicle behavior in order to validate the anti-slipping functions (ASR). A first PID-like controller is initially introduced to serve as reference. The main contribution of this thesis deals with the synthesis and implementation of nonlinear controls either using linearizing feedback, or based on the flatness theory. The synthesis controls models come from classical hypothesis: longitudinal and vertical dynamics and pitch on a double bicycle model. A control strategy is also developed to assure driver's security, to reduce material needs and to enhance the driver approval. Finally, the nonlinear controls developed here are simulated and then experimentally validated on the VELROUE vehicle. A comparison of these commands is performed according to energy, performance, complexity and cost criteria. These control laws developed for ASR are extended to regenerative braking phases (MSR), which is also an originality of this work
Powers, Matthew D. "Applying inter-layer conflict resolution to hybrid robot control architectures." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33979.
Hennig, Matthias, and Klaus Janschek. "Aktionsprimitiv-basierte Steuerungsarchitektur für Anwendungen in der Robotik und Fertigungstechnik." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-83673.
This paper presents a framework for a flexible and robust control architecture for robotic systems. The design incorporates an application independent system concept which allows a simplified engineering process. For this purpose a distinction between a functional behavioural and a sequential control system model is proposed. This approach is based on the utilisation of action primitives within a hybrid control architecture. The use of these primitives affords a high level of modularity through increasing flexibility and expandability of the resulting system. In this paper the proposed framework will be discussed as well as a prototypical object-oriented implementation and first results
Abi-Farraj, Firas. "Contributions aux architectures de contrôle partagé pour la télémanipulation avancée." Thesis, Rennes 1, 2018. http://www.theses.fr/2018REN1S120/document.
While full autonomy in unknown environments is still in far reach, shared-control architectures where the human and an autonomous controller work together to achieve a common objective may be a pragmatic "middle-ground". In this thesis, we have tackled the different issues of shared-control architectures for grasping and sorting applications. In particular, the work is framed in the H2020 RoMaNS project whose goal is to automatize the sort and segregation of nuclear waste by developing shared control architectures allowing a human operator to easily manipulate the objects of interest. The thesis proposes several shared-control architectures for dual-arm manipulation with different operator/autonomy balance depending on the task at hand. While most of the approaches provide an instantaneous interface, we also propose architectures which automatically account for the pre-grasp and post-grasp trajectories allowing the operator to focus only on the task at hand (ex., grasping). The thesis also proposes a shared control architecture for controlling a force-controlled humanoid robot in which the user is informed about the stability of the humanoid through haptic feedback. A new balancing algorithm allowing for the optimal control of the humanoid under high interaction forces is also proposed
Baysset, Guillaume. "Modélisation et simulation thermique de différentes architectures de chaine de traction d'un véhicule hybride." Electronic Thesis or Diss., Ecole centrale de Nantes, 2022. http://www.theses.fr/2022ECDN0022.
To reduce CO2 and pollutant emissions, automotive manufacturers tend to turn increasingly towards electrified powertrains solutions, such as Hybrid Vehicles (HEV). Model Based System engineering (MBSE) and computational tools are useful to support the development of HEV systems. Global optimization needs to investigate the following system design level: architecture, component and control. The aim of this thesis is to develop a global optimization framework to design cooling system for hybrid vehicles. The methodology starts from a set of component and system requirements to automatically generate all possible system architectures. The generation of solution is based on a concept of decision tree. An energentical optimisation under hydraulic, thermal and integration cosntraitns is done on each solution generated. Finally, amulticritetria optimization is used as decision making tool to support engineers on system archtiecture choices early in the development process. This framework has been applied on a Renault project. Results showed that the system is highly dependent on its requirements. Changing system requirements can potentially modify the optimal system architecture regarding the system specifications
Reyss, Olivier. "Stratégies de contrôle embarquables d'un groupe moto-propulseur hybride de type bi-mode." Phd thesis, Université Paris Sud - Paris XI, 2008. http://tel.archives-ouvertes.fr/tel-00345795.
Dorval, Luc. "Étude sur le contrôle du procédé d'électroérosion hybride utilisant l'air comme milieu diélectrique." Thesis, Université Laval, 2007. http://www.theses.ulaval.ca/2007/24687/24687.pdf.
Anouar, Adil. "Évaluation et contrôle d'un système hybride à énergie renouvelable pour un site isolé." Thèse, Université du Québec à Trois-Rivières, 2003. http://depot-e.uqtr.ca/3994/1/000103597.pdf.
Tang, Hon-ping. "A hybrid multi-agent system architecture for manufacturing cell control." Click to view the E-thesis via HKUTO, 2005. http://sunzi.lib.hku.hk/HKUTO/record/B38628727.
Tang, Hon-ping, and 鄧漢平. "A hybrid multi-agent system architecture for manufacturing cell control." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2005. http://hub.hku.hk/bib/B38628727.
Ribeiro, Christiane. "Contributions au contrôle de l'affinité mémoire sur architectures multicoeurs et hiérarchiques." Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-00685111.
Pousa, Ribeiro Christiane. "Contributions au contrôle de l'affinité mémoire sur architectures multicoeurs et hiérarchiques." Thesis, Grenoble, 2011. http://www.theses.fr/2011GRENM030/document.
Multi-core platforms with non-uniform memory access (NUMA) design are now a common resource in High Performance Computing. In such platforms, the shared memory is organized in an hierarchical memory subsystem in which the main memory is physically distributed into several memory banks. Additionally, the hierarchical memory subsystem of these platforms feature several levels of cache memories. Because of such hierarchy, memory access costs may vary depending on the distance between tasks and data. Furthermore, since the number of cores is considerably high in such machines, concurrent accesses to the same distributed shared memory are performed. These accesses produce more stress on the memory banks, generating load-balancing issues, memory contention and remote accesses. Therefore, the main challenge on a NUMA platform is to reduce memory access latency and memory contention. In this context, the main objective of this thesis is to attain scalable performances on multi-core NUMA machines by controlling memory affinity. The first goal of this thesis is to investigate which characteristics of the NUMA platform and the application have an important impact on the memory affinity control and propose mechanisms to deal with them on multi-core machines with NUMA design. We focus on High Performance Scientific Numerical workloads with regular and irregular memory access characteristics. The study of memory affinity aims at the proposal of an environment to manage memory affinity on Multi-core Platforms with NUMA design. This environment provides fine grained mechanisms to manage data placement for an application by using compilation time and architecture information. The second goal is to provide solutions that show performance portability. By performance portability, we mean solutions that are capable of providing similar performances improvements on different NUMA platforms. In order to do so, we propose mechanisms that are independent of machine architecture and compiler. The portability of the proposed environment is evaluated through the performance analysis of several benchmarks and applications over different platforms. Last, the third goal of this thesis is to design memory affinity mechanisms that can be easily adapted and used in different parallel systems. Our approach takes into account the different data structures used in High Performance Scientific Numerical workloads, in order to propose solutions that can be used in different contexts. We evaluate the adaptability of such mechanisms in two parallel programming systems. All the ideas developed in this research work are implemented in a Framework named Minas (Memory affInity maNAgement Software). Several OpenMP benchmarks and two real world applications from geophysics are used to evaluate its performance. Additionally, Minas integration on Charm++ (Parallel Programming System) and OpenSkel (Skeleton Pattern System for Software Transactional Memory) is also evaluated
Jalier, Camille. "Communication et contrôle dans les architectures homogènes de circuits pour télécommunications." Thesis, Montpellier 2, 2010. http://www.theses.fr/2010MON20033/document.
This PhD research aims to solve challenges about control and communication in the design of digital embedded systems for 4G telecom applications. The application complexity added to the increasing productivity gap force to think about new design methodologies and the underlying architectures. Several new research directions is proposed in this work. A methodology for design space exploration and a digital architecture based on homogeneous and flexible processing units interconnected by a Network-on-Chip is proposed. A processing unit is a cluster of DSPs controled by a MIPS processor to compute telecom applications. To meet low power constraints, we propose optimization techniques based on resource management including task migration
Nadeau, Jonathan. "Commande prédictive nonlinéaire d'un système de freinage hybride électro-hydraulique régénératif." Thèse, Université de Sherbrooke, 2017. http://hdl.handle.net/11143/10378.
Liu, Mingxing. "Personnage virtuel : contrôleur hybride couplant commande dynamique multi-objectifs et mouvements capturés." Phd thesis, Université Pierre et Marie Curie - Paris VI, 2012. http://tel.archives-ouvertes.fr/tel-00825375.
Schaep, Thomas. "Conception et commande optimale d’une architecture hybride hydraulique de reach stacker." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSEI121/document.
The continuously increasing of the intercontinental trade as well as the globalization lead to the need of higher productivity for ports and container terminals. In order to fulfill the need of competitiveness of terminal operators and in the same time respect the environmental legislation, container handling machine manufacturers are developping new solutions. Hybridization of energy sources is an interesting way but using more energy efficient actuation lines is also suitable. As a consequence, specifications are more and more complex, and can in particular have heterogeneous natures. In this thesis, the focus is made on two main topics linked to those problematics. On the one hand, a methodology concerning the sizing of over-actuated systems thanks to a coupling between inverse problems and dynamic optimization is exposed. On the other hand, the design, control strategies and an experimental validation of an hybrid actuation line applied to an container handling machine is presented. First of all, we propose a new procedure based on the bond graph language allowing the designer to take into account simultaneously two types of specifications, namely a cost function to minimize and functions of time specifying desired outputs of the system. This results in a coupled problem of state-space inversion and optimization. The procedure lead to a bond graph from which it is possible to directly derive the analytical system of the problem. The fundamental theory for proving the effectiveness of this procedure is carried out using the port hamiltonian systems. The bond graph representation of an optimal control problem is then extended to systems involving non linearities on dissipative R elements. In a second part, a new actuation architecture is proposed for a container handling machine, in order to improve the fuel efficiency. On the one hand, a transformer based system to recover the potential energy released during container lowering is exposed. This energy is stored into a hydropneumatic accumulator. Then, it is returned thanks to an extra hydraulic motor coupled to the engine shaft. On the other hand, a resizing of the main hydraulic pumps as well as a more suitable control law is proposed in order to make the engine work at better efficiency points. All those evolutions previously mentionned give now the possibility to perform kinetic energy recuperation during vehicle deceleration without adding any major component. The new architecture combined with more effetive control laws lead to a fuel consumption reduction of 16% up to 18%. Finally, the potential energy recovery system is validated on a test rig. The control laws are implemented and the dynamic and energetic performances are then analysed
Braneci, Mohamed. "Protocoles de contrôle d'erreurs pour des nouvelles architectures de réseaux de telecommunications." Paris, ENST, 1997. http://www.theses.fr/1997ENST0048.
Reyngoud, Benjamin Peter. "Hybrid materials design to control creep in pipes." Thesis, University of Canterbury. Mechanical Engineering, 2015. http://hdl.handle.net/10092/10857.
Blain, Michel. "Loi de contrôle hybride force/impédance pour robots redondants en interaction avec un environnement incertain." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0015/MQ53557.pdf.
Jardine, Jared L. "The Hybrid Game Architecture: Distributing Bandwidth for MMOGs While Maintaining Central Control." Diss., CLICK HERE for online access, 2008. http://contentdm.lib.byu.edu/ETD/image/etd2654.pdf.
Chotin-Avot, Roselyne. "Architectures matérielles pour l'arithmétique stochastique discrète." Paris 6, 2003. http://hal.upmc.fr/tel-01267458.
Heudin, Jean-Claude. "Architectures fondées sur la connaissance pour l'exécution et le contrôle de processus complexes." Paris 11, 1988. http://www.theses.fr/1988PA112347.
This thesis describes studies upon Knowledge-based architectures for real-time control of complex processes. We first introduce a definition of complexity based on three major attributes: parallelism, Real-time and Knowledge. After a careful study of Real-time programming and Knowledge-based related techniques, we present a Real-time distributed executive, called KOSTM, based on an original encoding by means of behavior rules and declarative tasks. But, the use of Artificial Intelligence techniques magnifies the efficiency problem. J Thus, to solve this problem, we design a tagged-RISC architecture for an efficient execution of symbolic processing. As a conclusion we give results and lay out future extensions of this research
Sandt, Frédéric. "Architectures de contrôle pour robots mobiles : vers une conception orientée contraintes du superviseur." Université Joseph Fourier (Grenoble), 1998. http://www.theses.fr/1998GRE10083.
Begna, Sultan Hussein. "Agronomic and physiological aspects of competition for light between corn hybrids differing in canopy architecture and weeds." Thesis, McGill University, 1999. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=35572.