Academic literature on the topic 'Asservissement de forme'
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Journal articles on the topic "Asservissement de forme":
Scott, Rebecca J., and Michael Zeuske. "Le « droit d’avoir des droits »Les revendications des ex-esclaves à Cuba(1872-1909)." Annales. Histoire, Sciences Sociales 59, no. 3 (June 2004): 521–45. http://dx.doi.org/10.1017/s0395264900017704.
Godeau, Florence. "« Félicité rustique » ? L’imaginaire euphorique dans Gemma Bovery de Posy Simmonds." Déméter, no. 11 | Hiver (May 28, 2024). http://dx.doi.org/10.54563/demeter.1436.
Dissertations / Theses on the topic "Asservissement de forme":
Samir, Mourad. "Etude d'une plate-forme biaxiale en rotation destinee a l'etude dynamique de la fonction equilibration chez l'homme." Toulouse 3, 1986. http://www.theses.fr/1986TOU30111.
Escoffier, Stéphanie. "Mesure précise de la polarisation du faisceau d'électrons à TJNAF par polarimétrie Compton pour les expériences GeP et N-Delta." Paris 7, 2001. https://tel.archives-ouvertes.fr/tel-00009775v2.
Escoffier, Stéphanie. "Mesure précise de la polarisation du faisceau d'électrons à TJNAF par polarimétrie Compton pour les expériences G^p _E et N-\Delta." Phd thesis, Université Paris-Diderot - Paris VII, 2001. http://tel.archives-ouvertes.fr/tel-00009775.
Giraud, Victor. "Commande robuste d'objets déformables avec des bras robotiques et application à un procédé industriel." Electronic Thesis or Diss., Université Clermont Auvergne (2021-...), 2024. http://www.theses.fr/2024UCFA0012.
Deformable objects are ubiquitous. In the form of cables, clothing, plastics, they are part ofeveryday life. These objects need to be manipulated, manufactured, and transported. Their defor-mability makes these tasks more challenging than for their rigid counterparts. The work of thisthesis focuses on solving a specific industrial case, which is unresolved and of practical interest :the assembly of heavy-duty tire treads, the part that comes into contact with the road, which isstill a manual process. This industrial process is proposed by the industrial partner Michelin wi-thin the SoftManBot consortium, a Horizon20 program of the European Union with the ambitionto automate the industrial production of deformable objects. The manipulation of deformable ob-jects raises several problems that rigid objects do not present : a modeling problem, a perceptionproblem, a shape servoing problem, and a system engineering problem to make all the precedingcomponents work together.In this thesis, we propose two major contributions. The first one, Optimal Shape Servoing, is astate feedback control based on optimal control that improves the state of the art in shape controlby adding an implicit management of the deformation trajectory - how the object reaches its finaldeformation. Furthermore, the control strategy allows for decoupling and weighting shape andposition errors. Finally, this thesis presents a demonstration-based learning of controller parametersusing a genetic algorithm to mimic the behavior of an object manipulated by a human, in orderto reproduce this deformation during manipulation tasks. Identifying these parameters throughmachine learning strategies combines the best of both worlds - both explainable operation andbehavior close to that performed by a human.Our second contribution, Holistic Architecture for Deformable Object Software, addresses thesystem engineering problem by proposing a modular software architecture that formalizes theneeds and interfaces required for deformable object manipulation problems, both in the labora-tory and in an industrial context, from user interface to gripper drivers. This architecture has beenvalidated and tested through the integration of numerous software components - models, controls,perception, user interfaces, robot controllers, camera drivers, gripper drivers. These componentsare objectively compared using industrial metrics governing the quality of a final product, allowingnot only the automation of the proposed task but also the selection of the most suitable combinationof modules for the same task
Guinet, Mickaël. "Première détermination de la constante de Boltzmann par une méthode optique." Phd thesis, Université Paris-Nord - Paris XIII, 2006. http://tel.archives-ouvertes.fr/tel-00121051.
Dans ce mémoire, je décris les solutions apportées pour obtenir un faisceau laser de fréquence parfaitement contrôlée, largement accordable autour de 10 µm et d'intensité constante. Je décris également les options retenues pour le contrôle en température du gaz d'ammoniac.
Les résultats obtenus sont très encourageants, nous avons après seulement 2 ans déjà obtenu une première mesure de la constante de Boltzmann avec une incertitude relative de 1,9X10-4: k=1,38065(26)X10-23 J.K-1.
Dans ce manuscrit, je présente également plusieurs voies d'amélioration à court et moyen termes.
Je présente enfin une expérience de franges de Ramsey-Bordé référencée sur l'étalon primaire de fréquence localisé à Paris (au SYRTE). La chaîne de mesure absolue de fréquence atteint une résolution de 10-14 et l'incertitude pour la mesure de la frange centrale est également de l'ordre de 10-14. A moyen terme, ce système de mesure par rapport à l'étalon primaire pourra être utilisé pour contrôler la fréquence du laser à CO2 dans les futures expériences de mesure de la constante de Boltzmann.
Guinet, Mickaël. "Première détermination de la constante de Boltzmann par une méthode optique." Phd thesis, Paris 13, 2006. http://www.theses.fr/2006PA132029.
Berguiga, Lotfi. "Etude et réalisation d'un microscope de champ proche optique avec asservissement de type "shear force" : application à l'étude en champ proche du vieillissement de fibres optiques." Dijon, 2001. http://www.theses.fr/2001DIJOS023.
Lopes, da Frota Moreira Pedro. "Model based force control for soft tissue interaction and applications in physiological motion compensation." Thesis, Montpellier 2, 2012. http://www.theses.fr/2012MON20179/document.
The introduction of robotic systems inside the operating room has changed the modern surgery, opening new possibilities to surgeons. The number of robotic systems inside the operation room is increasing every year. The progress of medical robots are associated to the development of new techniques to better control the interaction between the robot and living soft tissues. This thesis focus on the development of a model based force control designed to improve stability and robustness of force control addressed to medical applications. A study of soft tissue modeling is presented and a suitable model to be used in a real-time control is selected. After the analysis, the Kelvin Boltzmann model was chosen to be inserted in the proposed force control scheme based on Active Observers. Stability and robustness are theoretically and experimentally analyzed. The performance of the proposed force control is also investigated under physiological motion disturbances. At the end, to improve the disturbance rejection capability, an extra control loop is added using a disturbance estimation based on the Kelvin Boltzmann model and a Fourier series
Irigoyen, Eizmendi Javier. "Commande en position et force d'un robot manipulateur d'assemblage." Grenoble 2 : ANRT, 1986. http://catalogue.bnf.fr/ark:/12148/cb37598444q.
Silveira, Filho Geraldo. "Contributions aux méthodes directes d'estimation et de commande basées sur la vision." Phd thesis, École Nationale Supérieure des Mines de Paris, 2008. http://pastel.archives-ouvertes.fr/pastel-00005340.