Dissertations / Theses on the topic 'Suivi automatisé'
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Tran, Thanh Thanh Tung. "Interface de contrôle automatisé d’un système de caméras robotisées pour la télétraumatologie." Mémoire, Université de Sherbrooke, 2011. http://hdl.handle.net/11143/6079.
Full textGrégoire, Étienne. "Utilisation de l'analyse par ondelettes pour un suivi automatisé d'endommagement de structures par l'analyse des modes propres." Thesis, Université Laval, 2012. http://www.theses.ulaval.ca/2012/28704/28704.pdf.
Full textMinaud, Étienne. "Écologie hivernale des abeilles mellifères : contribution des traits d'histoire de vie des individus et des colonies au succès d'hivernation." Electronic Thesis or Diss., université Paris-Saclay, 2024. http://www.theses.fr/2024UPASB024.
Full textIn temperate regions, low temperatures and a lack of floral resources make winter a critical period for the survival of honey bees, Apis mellifera, which overwinter based on a set of adaptations at both individual and colony levels. But over the past 30 years, high winter mortality rates have been reported worldwide, raising questions about the sustainability of the beekeeping sector and that of many agricultural systems dependent on pollination services. These mortalities are induced by multiple biotic and abiotic stress factors acting in combination. However, we showed through a literature review that their roles in the mechanisms of colony collapse remain poorly documented, highlighting a lack of knowledge about the winter ecology of honey bees. This gap is partly due to the technical challenge associated with monitoring honey bees in winter, given that traditional monitoring techniques imply opening the hives, which disrupts the social thermoregulation of the colony. However, the democratization of "Information and Communications Technology" (ICT) now offers new automated and minimally invasive monitoring tools. In this context, the aim of this thesis is to better understand the mechanisms determining the success or failure of honey bee overwintering, through the automated monitoring of individual and colony life history traits. In addition, we aimed to develop indicators to predict colony collapse in winter and under real field conditions. We first developed a tool for measuring temperature at several points in the hive and allowing to monitor the cluster that honey bees form to protect themselves from the cold, and thus to study the social thermoregulation of colonies during winter. This tool was then deployed in the field to monitor honey bee colonies located along a European climatic gradient, covering Mediterranean, oceanic and continental climates. This monitoring provided the establishment of health indicators of wintering colonies. Based on temperature heterogeneity within the colony, these indicators distinguish the periods of winter survival and the periods of collapse, allowing the anticipation of mortalities. They also allow monitoring of the dynamics of winter brood production by measuring its presence and size, two metrics that we found positively correlated to the European climatic gradient. In winter, colony survival depends on the presence of winter bees, corresponding to the last generations of bees to emerge in autumn. By the individual monitoring by Radio Frequency IDentification (RFID) tracking, we showed that, in addition to their extended longevity, winter bees have more flight activity than summer bees. Their flight activity can be allocated either before or after winter, and our results suggest that these pre-winter flight activities do not affect the longevity or the flight activity performance of bees after winter. Also, we showed that only a small proportion of winter bees survive and participate in the colony flight activity in spring, suggesting a crucial role of these winter bees for the colony rebound after winter. Placed in context, our results support the crucial role of winter bees and social thermoregulation in the success or failure of honey bee colony overwintering. The electronic tools we have developed, and the associated indicators, may represent relevant applied perspectives for limiting winter colony mortality in the field. We also discuss the acceptability of precision beekeeping and show that beekeepers are ready to adopt these electronic tools, although further expectations remain. Finally, we highlight the uncertainty surrounding the future of overwintering, in the face of climate change
Theodorakopoulos, Panagiotis. "Suivi de cibles terrestres par des drones." Phd thesis, Université Paul Sabatier - Toulouse III, 2009. http://tel.archives-ouvertes.fr/tel-00392776.
Full textEl, Maadi Amar. "Vision infrarouge appliquée à la vidéosurveillance extérieure automatisée : reconnaissance, suivi, classification et détection d'événements." Thesis, Université Laval, 2006. http://www.theses.ulaval.ca/2006/23614/23614.pdf.
Full textDerradji, Amira. "Intégration automatisée de l'expertise du patient dans le suivi à distance de sa pathologie chronique." Thesis, Université Grenoble Alpes (ComUE), 2017. http://www.theses.fr/2017GREAM060/document.
Full textFor several years, the deployment of information and communication technologyintothemanagementofchronicalpathologiesistakingaconsiderableplace, more particularly in the evolution of health’s practices and in the improvement of the well-being of the patient Chronical pathologies are of long duration and they need to be under a regular monitoring of the healthcare professional, composed of multidisciplinary or different actors in charge with the patients. On the other side the patients are alsochargedoffollowingahealthcareprotocolathomepreviouslydefinedbythe health care team. Nevertheless, the different forms of representing the contests of this protocol, it is not always complete and comprehensible for the patients. Furthermore, each one of the patients is unique and a proper definition of the health care protocol must be personalised and conform to his individual treatment and even to his personal wishes or constraints. But this is not the case of information guides or medical references that are supplied in general. With the intent to improve the interaction between the patient and the healthcareprofessionalsrelatedtothehealthcareprotocol,wepropose(i)alanguagefor the computerised representation of the healthcare protocol, sibling the healthcare professionals and the patients, enough simple, intuitive and easy to understand, (ii) an ontology for the patient expertise (based on his experience on the disease) allowingsotheinteractionofthepatientwithhishealthcareprotocolbyreporting all the unexpected behaviours. These behaviours are events that are not defined in the initial health care protocol
Benamara, Mohamed Adel. "Suivi visuel d'objets dans un réseau de caméras intelligentes : application au systèmes de manutention automatisés." Thesis, Lyon, 2018. http://www.theses.fr/2018LYSE2136.
Full textIntralogistics (or internal logistics) focuses on the management and optimization of internal production and distribution processes within warehouses, distribution centers, and factories. Automated handling systems play a crucial role in the internal logistics of several industries such as e-commerce, postal messaging, retail, manufacturing, airport transport, etc. These systems are composed by multiple high-speed conveyor lines that provide safe and reliable transportation of a large volume of goods and merchandise while reducing costs.The automation of the conveying process relies on the identification and the real-time tracking of the transported loads. In this thesis, we designed a tracking solution that employs a network of smart cameras with an overlapping field of view. The goal is to provide tracking information to control an automated handling system.Multiple object tracking is a fundamental problem of computer vision that has many applications such as video surveillance, robotics, autonomous cars, etc. We integrated several building blocks traditionally applied to traffic surveillance or human activities monitoring to constitute a tracking pipeline. We used this baseline tracking pipeline to characterize contextual scene information proper to the conveying scenario. We integrated this contextual information to the tracking pipeline to enhance the performance. In particular, we took into account the state of moving objects that become stationary in the background subtraction step to prevent their absorption to the background model. We have also exploited the regularity of objects trajectory to enhance the motion model associated with the tracked objects. Finally, we integrated the precedence ordering constraint among the conveyed object to reidentify them when they are close to each other.We have also tackled practical problems related to the optimization the execution of the proposed tracking problem in the multi-core architectures of smart cameras. In particular, we proposed a dynamic learning process that extracts the region of the image that corresponds to the conveyor lines. We reduced the number of the processed pixel by restricting the processing to this region of interest. We also proposed a parallelization strategy that adaptively partitions this region of interest of the image, in order to balance the workload between the different cores of the smart cameras.Finally, we proposed a multiple cameras tracking algorithms based on event composition. This approach fuses the local tracking generated by the smart cameras to form global object trajectories and information from third party systems such as the destination of the object entered by operators on a terminal. We validated the proposed approach for the control of a sorting system deployed in a postal distribution warehouse. A network of cameras composed of 32 cameras tracks more than 400.000 parcel/day in injections lines. The tracking error rate is less than 1 parcel in a 1000 (0.1%)
Brethes, Ludovic. "Suivi visuel par filtrage particulaire. Application à l'interaction homme-robot." Phd thesis, Université Paul Sabatier - Toulouse III, 2005. http://tel.archives-ouvertes.fr/tel-00139428.
Full textToulotte, Pierre-Frédéric. "Attelage virtuel pour véhicules automatisés." Phd thesis, Université de Valenciennes et du Hainaut-Cambresis, 2006. http://tel.archives-ouvertes.fr/tel-00112889.
Full textParmi les techniques de commande non linéaire envisageables, celles basées sur les modèles flous de type Takagi-Sugeno (TS) ont été retenues. Ils sont composés de modèles linéaires interconnectés par des fonctions scalaires non linéaires ayant la propriété de somme convexe.
L'étude de la stabilité et de la stabilisation de tels modèles se fait à l'aide de la seconde méthode de Lyapunov. Dans le souci d'adjoindre des notions de robustesses et/ou de performances, plusieurs solutions sont envisageables. Celle retenue dans ce mémoire fait appel à des modèles incertains et à un placement des pôles des modèles linéaires dans des régions convexes pré-spécifiées du plan complexe. Des conditions suffisantes sous forme d'inégalités matricielles linéaires qui permettent de garantir ces propriétés dans le cas général des modèles TS sont proposées. Elles sont ensuite aussi bien utilisées dans le cas d'une régulation d'inter-distance seule que pour l'attelage virtuel complet. Les résultats obtenus sont proposés en simulation et en temps réel sur un véhicule prototype spécialement instrumenté.
Magnier, Caroline. "Production acoustique d'une flottille côtière : Application au suivi environnemental et à l'identification automatisée de sources sonores anthropiques." Thesis, Université Grenoble Alpes (ComUE), 2018. http://www.theses.fr/2018GREAU040/document.
Full textMarine traffic is the main contributor to anthropogenic underwater noise: since the 1970s, the increase in deep-sea shipping has increased the ambient noise by more than 10 dB in some areas. In response to this concern, the Marine Strategy Framework Directive (MSFD) recommends acoustic monitoring. Few studies are concerned with coastal activity and the noises radiated by small craft while these coastal environments are the purveyors of 41.7% of the ecosystem services produced by the oceans.Between the academic and the industrial world, this PhD was to answer the different scientific and industrial questions on the topic of the coastal traffic in terms of the influence in the soundscape and the detection and classification of the coastal craft.Without information on the coastal maritime traffic, a visual identification protocol is proposed using GoPro® images processing and produced the same data as the AIS (position, speed, size and type of craft); It allows to create maritime traffic maps on a disk of 1.6km radius. The traffic is characterized by two acoustic descriptors: the SPL linked to the distance of the nearest boat and the ANL linked to the number of boats present in a 500 m radius disc. The spatiotemporal monitoring of these descriptors allows to identify the impact on the maritime traffic on the coastal acoustic landscape. The acoustic detection and the classification are performed after individual characterization of the noise by a set of acoustic parameters and using of supervised machine learning algorithm. A specific protocol for the creation of the classification tree is proposed by comparing the acoustic data with the physical and contextual characteristics of each boat.The methods are applied on the flotilla of coastal boats present in the Bay of Calvi (Corsica) during summer
Teuliere, C. "Approches déterministes et bayésiennes pour un suivi robuste : application à l'asservissement visuel d'un drone." Phd thesis, Université Rennes 1, 2010. http://tel.archives-ouvertes.fr/tel-00589519.
Full textRicha, Rogerio. "Suivi 3D Robuste pour la Chirurgie Cardiaque Robotisee." Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2010. http://tel.archives-ouvertes.fr/tel-00640517.
Full textSchaerer, Joël. "Segmentation et suivi de structures par modèle déformable élastique non-linéaire. Application à l'analyse automatisée de séquences d'IRM cardiaques." Phd thesis, INSA de Lyon, 2008. http://tel.archives-ouvertes.fr/tel-00473199.
Full textSchaerer, Joël. "Segmentation et suivi de structures par modèle déformable élastique non-llinéaire : application à l'analyse automatisée de séquences d'IRM cardiaques." Lyon, INSA, 2008. http://theses.insa-lyon.fr/publication/2008ISAL0128/these.pdf.
Full textTowards an automated interpretation of medical images of the heart The development of imaging techniques can now collect inside the human body and also to characterize the functional status of organs of a patient. Thus, the anatomy and movement of a heart patient can be studied in Magnetic Resonance lmaging (MRI). However, this result aIso result in an increase of information (several hundreds or even thousands of images) that the doctor must understand and synthesize to establish his diagnosis. Lt is therefore essential to develop new software capable of 'digest' this wealth of information in order to highligt the useful result. The proposed development in this thesis falls within this framework. The method being developed aims to quickly generale 30 maps detailed the normality of movement of the heart from the analysis of all the images acquired by the radiologist during an examination in the patient. Il exploits the knowledge available at present on the anatomy and physiology and heart based on a priori model of the anatomy and dynamics cardiac called Elastic deformation gauge. This multidisciplinary work was conducted in collaboration with mathematicians, among others. The theory was developed and translated into a program
Galvan, Montiel Damaris. "Modélisation du processus de conception : proposition d'un processus élémentaire." Châtenay-Malabry, Ecole centrale de Paris, 2003. http://www.theses.fr/2003ECAP0919.
Full textDame, A. "Méthode unifiée de suivi et d'asservissement visuels basée sur l'information mutuelle." Phd thesis, Université Rennes 1, 2010. http://tel.archives-ouvertes.fr/tel-00558196.
Full textBardet, François. "Suivi et catégorisation multi-objets par vision artificielle." Phd thesis, Clermont-Ferrand 2, 2009. http://www.theses.fr/2009CLF21972.
Full textFontmarty, Mathias. "Vision et filtrage particulaire pour le suivi tridimensionnel de mouvements humains: applications à la robotique." Phd thesis, Université Paul Sabatier - Toulouse III, 2008. http://tel.archives-ouvertes.fr/tel-00400305.
Full textBadri, Julie. "Système de vision hybride : modélisation et application au suivi haute résolution." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2008. http://tel.archives-ouvertes.fr/tel-00730993.
Full textZuber, Emmanuel. "Approche biométrique de la dynamique de réactions antigène-anticorps : cas de deux systèmes automatisés de suivi en temps réel des cinétiques." Lyon 1, 1997. http://www.theses.fr/1997LYO1T113.
Full textGianni, Frédérick. "Suivi de parties de corps pour l'interprétation de gestes de communication à partir de séquence monoculaire." Toulouse 3, 2007. http://thesesups.ups-tlse.fr/834.
Full textThis thesis take place in the context of communication gestures production analysis during a man machine interaction or during a sign language dircurs. To interpret those gestures, we have proposed tracking methods of different body parts from a monocular images sequence. We have, first, defined the functions and modalities of production of communication gestures. We describe the notations sytem and body parts used to build meaning. We recall which kind of gestures are used during an visuo-gestural interaction. Following the analysis of gestures productions and of methods used to extract the paramters needed for the interpretation, we explain the composition of a gestural language to interact with larges display surfaces. Next, we propose an arm posture estimation methode from the positions of its articulations in the image. Then, we present two methode that able us to retrieve the position of the shoulder and wrist articulations of a person in the image. The first method track the upper body contour using an active shape model. Using this model we can infer the position of the shoulder articulation, the inference is evaluated on the reconstruction error. The second method, original and robust, track the head and hands of a person using particles filters. The we propose an optimisation of the tracking introducing an simulated annealing embeded in the particles filters. This method is evaluated in position precision and in the tracking quality frame by frame
Ait, Fares Wassima. "Détection et suivi d'objets par vision fondés sur segmentation par contour actif basé région." Phd thesis, Université Paul Sabatier - Toulouse III, 2013. http://tel.archives-ouvertes.fr/tel-00932263.
Full textPereyrol, Frédéric. "Interaction produit-procédé : extension de la modélisation de la commande avec suivi automatique du produit." Montpellier 2, 1993. http://www.theses.fr/1993MON20147.
Full textKrid, Mohamed Larbi. "Commande en suivi de chemin et en roulis des robots mobiles rapides en présence de glissements et d'instabilités." Phd thesis, Université Pierre et Marie Curie - Paris VI, 2012. http://tel.archives-ouvertes.fr/tel-00831602.
Full textMougin, Jérémy. "Développement d'outils pour le suivi de la matière organique dans le bassin Artois-Picardie." Electronic Thesis or Diss., Université de Lille (2022-....), 2023. http://www.theses.fr/2023ULILR003.
Full textThe origin and fate of organic matter in watercourses are still poorly understood and requirethe implementation of innovative solutions in line with the problems of the environment studied.For that purpose, a mobile laboratory was entirely designed, built and then automated. Itprovides a secure structure for embedding on-line monitoring equipment, including fluorescenceprobes, allowing high frequency monitoring of the selected study site, here the Marque Rivièrein Hem (France).In addition to this high frequency data, this mobile laboratory allows sampling, a necessarystep for a more complete characterisation of dissolved organic matter. An innovative methodologyhas been developed within the framework of this project, through an optimised samplingalgorithm named « OSA ». It is based on the analysis of high frequency data generated by thelaboratory to drive an automatic sampler-filter.The samples collected provided additional insights on the behaviour of dissolved organicmatter at this site and allowed identifying some of its sources. The influence of wastewatertreatment plants located upstream of the study site was particularly pointed out, showing arelevant impact on the variability of organic matter in the river. The operational strategy alsomade it possible to monitor specific and short events, such as soil leaching following heavyrainfall, with specific organic matter inputs
Rodriguez, Florez Sergio Alberto. "Contributions des systèmes de vision à la localisation et au suivi d'objets par fusion multi-capteur pour les véhicules intelligents." Phd thesis, Université de Technologie de Compiègne, 2010. http://tel.archives-ouvertes.fr/tel-00635330.
Full textLenain, Roland. "Contribution à la modélisation et à la commande de robots mobiles en présence de glissement : application au suivi de trajectoire pour les engins agricoles." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2005. http://tel.archives-ouvertes.fr/tel-00683718.
Full textAmadou, Boubacar Habiboulaye. "Classification Dynamique de données non-stationnaires :Apprentissage et Suivi de Classes évolutives." Phd thesis, Université des Sciences et Technologie de Lille - Lille I, 2006. http://tel.archives-ouvertes.fr/tel-00106968.
Full textBaba, Abdellatif. "Cartographie de l'environnement et suivi simultané de cibles dynamiques par un robot mobile." Phd thesis, Université Paul Sabatier - Toulouse III, 2007. http://tel.archives-ouvertes.fr/tel-00260984.
Full textGidel, Samuel. "Méthode de détection et de suivi multi-piétons multi-capteurs embarquée sur un véhicule routier: application à un environnement urbain." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2010. http://tel.archives-ouvertes.fr/tel-00719262.
Full textMEYER, ANSTETT COLETTE. "Analyse d'images de cellules en culture : description automatique de cellules musculaires lisses vasculaires et suivi de leur comportement." Université Louis Pasteur (Strasbourg) (1971-2008), 1986. http://www.theses.fr/1986STR13063.
Full textDurand, Dominique. "Suivi et simulation de la qualité de l'eau en milieu littoral par télédétection et modélisation." Phd thesis, Nice, 2000. http://pastel.archives-ouvertes.fr/pastel-00956574.
Full textHartert, Laurent. "Reconnaissance des formes dans un environnement dynamique appliquée au diagnostic et au suivi des systèmes évolutifs." Phd thesis, Université de Reims - Champagne Ardenne, 2010. http://tel.archives-ouvertes.fr/tel-00549782.
Full textGranata, Consuelo. "CONTRIBUTION A LA CONCEPTION D'INTERFACES ET DE COMPORTEMENTS INTERACTIFS POUR DES ROBOTS PERSONNELS." Phd thesis, Université Pierre et Marie Curie - Paris VI, 2012. http://tel.archives-ouvertes.fr/tel-00684772.
Full textCaron, Guillaume. "Estimation de pose et asservissement de robot par vision omnidirectionnelle." Phd thesis, Université de Picardie Jules Verne, 2010. http://tel.archives-ouvertes.fr/tel-00577133.
Full textLavergne, Fabien. "Méthodologie de synthèse de lois de commandes non-linéaires et robustes : application au suivi de trajectoire des avions de transport." Toulouse 3, 2005. http://www.theses.fr/2005TOU30248.
Full textThe work presented in this PhD thesis report is situated within the framework of the nonlinear and robust control of transport aircrafts. The purpose of this thesis is to couple the properties of nonlinear controllers (adaptation to the aircraft nonlinearities, explicit controllers synthesis, easy and decoupled setting once the synthesis is achieved, genericity of the obtained control laws) with essential robustness properties. Indeed, to guarantee the flight safety, both in manual handling and in automatic control, the control laws have to present strong robust stability and performances properties. After an introduction to the industrial and research context, a "techniques, methods and tools" part allows us to point out the thesis contributions in the nonlinear robust control and automatic modelling domains. The nonlinear robust control technique presented, called RMI control (for "Robust Multi-Inversion") is based on the now classical Nonlinear Dynamic Inversion (NDI) technique, notably studied at Airbus for some years (Fabrice VILLAUME, Jean DUPREZ), and is robustified by adding a complementary observation loop. We also present an automatic tool creating nonlinear, multivariable and embeddable models, as well as neural networks correlated methods. This tool is mandatory for the industrialization of our model-based flight control laws. Then the applicative part of the thesis underlines the specificities of the "aircraft" system and proposes flight control laws architectures, associated reference trajectories, and the advanced validation of the whole system by simulations performed on Airbus' certified simulator. Finally, after a conclusion on the main results and perspectives linked to the thesis, we propose annexes allowing to go further into the details of certain parts of our study
Jolivet, Romain. "Performance dans la formule sanguine de l'automate multiparamétrique ARGOS 5 DIFF et intérêt de son utilisation dans le suivi de la L. L. C." Paris 5, 1992. http://www.theses.fr/1992PA05P126.
Full textDecroix, François-Xavier. "Apprentissage en ligne de signatures audiovisuelles pour la reconnaissance et le suivi de personnes au sein d'un réseau de capteurs ambiants." Thesis, Toulouse 3, 2017. http://www.theses.fr/2017TOU30298/document.
Full textThe neOCampus operation, started in 2013 by Paul Sabatier University in Toulouse, aims to create a connected, innovative, intelligent and sustainable campus, by exploiting the skills of 11 laboratories and several industrial partners. These multidisciplinary skills are combined in order to improve users (students, teachers, administrative staff) daily comfort and to reduce the ecological footprint of the campus. The intelligence we want to bring to the campus of the future requires to provide to its buildings a perception of its intern activity. Indeed, optimizing the energy resources needs a characterization of the user's activities so that the building can automatically adapt itself to it. Human activity being open to multiple levels of interpretation, our work is focused on extracting people trajectories, its more elementary component. Characterizing users activities, in terms of movement, uses data extracted from cameras and microphones distributed in a room, forming a sparse network of heterogeneous sensors. From these data, we then seek to extract audiovisual signatures and rough localizations of the people transiting through this network of sensors. While protecting person privacy, signatures must be discriminative, to distinguish a person from another one, and compact, to optimize computational costs and enables the building to adapt itself. Having regard to these constraints, the characteristics we model are the speaker's timbre, and his appearance, in terms of colorimetric distribution. The scientific contributions of this thesis are thus at the intersection of the fields of speech processing and computer vision, by introducing new methods of fusing audio and visual signatures of individuals. To achieve this fusion, new sound source location indices as well as an audiovisual adaptation of a multi-target tracking method were introduced, representing the main contributions of this work. The thesis is structured in 4 chapters, and the first one presents the state of the art on visual reidentification of persons and speaker recognition. Acoustic and visual modalities are not correlated, so two signatures are separately computed, one for video and one for audio, using existing methods in the literature. After a first chapter dedicated to the state of the art in re-identification and speaker recognition methods, the details of the computation of the signatures is explored in chapter 2. The fusion of the signatures is then dealt as a problem of matching between audio and video observations, whose corresponding detections are spatially coherent and compatible. Two novel association strategies are introduced in chapter 3. Spatio-temporal coherence of the bimodal observations is then discussed in chapter 4, in a context of multi-target tracking
Neumann, Markus. "Automatic multimodal real-time tracking for image plane alignment in interventional Magnetic Resonance Imaging." Phd thesis, Université de Strasbourg, 2014. http://tel.archives-ouvertes.fr/tel-01038023.
Full textLavergne, Fabien. "Méthodologie de synthèse de lois de commandes non-linéaires etrobustes : Application au suivi de trajectoire des avions de transport." Phd thesis, Université Paul Sabatier - Toulouse III, 2005. http://tel.archives-ouvertes.fr/tel-00011557.
Full textNasser-Barakat, Fatima. "Automatic modal variation tracking via a filter-free random decrement technique application to ambient vibration recordings on high-rise buildings." Thesis, Université Grenoble Alpes (ComUE), 2015. http://www.theses.fr/2015GREAT044/document.
Full textThis thesis proposes a novel approach to automatically monitor the variationsof the frequencies and the damping ratios of actual high-rise buildings subjected to realworldambient vibrations. The approach aims at dealing simultaneously with the followingchallenges: multi-component signals recorded over the aforementioned buildings and havingclosely-spaced frequency modes with low, exponential and damped amplitudes of theirimpulse responses and contaminated with high additive noises. The approach relies on theapplication of the Random Decrement Technique directly over the multi-component signalunder study which leads to the extraction of a Multi-mode Random Decrement Signatureequivalent to the system impulse response. To characterize such a signature, we propose asignal model based on the physical structure of the building from where the modal parameterscan be estimated. For the purpose of non-biased modal estimate, we propose to usean iterative method based on a Maximum-Likelihood Estimation optimized by a simulatedannealing technique. In order to initialize the parameters of the latter, a first step is designedwhich can be considered as an independent estimator of the modal parameters. Theoriginality of this step lies in its ability to automatically define the number of modes of theestimated signature through the use of the statistical properties of a Welch spectrum. Themodal parameters estimated by the spectral-based initialization step are finally refined bythe Maximum-Likelihood Estimation step. The latter reduces the bias in the estimation andyields more reliable and robust results. All these steps are defined in order to be able to automaticallymonitor the health of a building via a long-term real-time tracking of the modalvariations over time without the need to any user intervention . In addition, the proposedapproach has paid very special attention to the automatic estimation of the most problematicmodal parameter, i.e., the damping ratio. Such features making two of the original featuresas compared to existing techniques. The adaptability and functionality of AMBA is validatedover six actual buildings excited by real-world ambient vibrations. From the obtained results,AMBA proved high efficiency in automatically estimating the frequencies and moreover thedamping ratios in case of closely-spaced frequency modes and very low signal-to-noise ratiolevel. AMBA as well demonstrated a good performance for tracking the modal variationsover time
Maya, Mauro. "Commande référencée capteur des robots non holonomes." Phd thesis, École Nationale Supérieure des Mines de Paris, 2007. http://tel.archives-ouvertes.fr/tel-00142742.
Full textLa commande de robots non holonomes a été très étudiée ces quinze dernières années. Cependant, lorsque l'on souhaite stabiliser la pose complète du robot, la synthèse de lois de commande robustes vis-à-vis d'erreurs d'estimation de l'état du robot (qui dans la pratique découlent typiquement d'erreurs sur les modèles des capteurs) reste un problème ouvert. La problématique principale de cette thèse se situe à ce niveau.
Les résultats développés dans cette thèse portent essentiellement sur deux aspects. Le premier concerne la façon d'utiliser les signaux capteurs pour la synthèse de lois de commande. Plusieurs méthodes de synthèse de commande sont proposées dans ce travail, en particulier, par analogie avec la commande des robots manipulateurs, nous proposons une synthèse directe dans l'espace des signaux capteurs. La deuxième partie de ce travail, plus fondamentale, porte sur l'analyse et l'évaluation des propriétés de robustesse des schémas de commande vis-à-vis d'incertitudes sur les modèles de capteurs. Des résultats théoriques de stabilité sont établis, puis validés et complétés par des simulations ainsi que par des résultats expérimentaux.
ARTUS, Guillaume. "Application de l´approche par fonctions transverses à la commande de véhicules non-holonomes manoeuvrants." Phd thesis, École Nationale Supérieure des Mines de Paris, 2005. http://tel.archives-ouvertes.fr/tel-00009247.
Full textNotre objectif est le développement et l´expérimentation d´une nouvelle approche de commande des systèmes non-linéaires en vue du suivi d´une cible, associée par exemple à un véhicule de référence. L´originalité de ce travail est que la cible n´est pas contrainte dans ces mouvements et peut donc suivre des trajectoires non réalisables par le véhicule commandé.
Il devient ainsi possible d´effectuer le suivi d´un véhicule de référence quelque soit le mouvement de celui-ci (marche avant, marche arrière, manoeuvres...).
L´approche de commande étudiée ici est basée sur le concept de fonction transverse, et consiste à effectuer une stabilisation pratique du repère cible.
Dans un premier temps, nous analysons l´influence des paramètres de commande sur le suivi du repère.
A partir de cette analyse, nous proposons ensuite de nouvelles commandes qui permettent d´améliorer la précision du suivi et le comportement du système lors des phases transitoires.
Enfin, nous présentons des résultats d´expérimentations obtenus sur le système robotique du laboratoire Icare.
Cette phase expérimentale a nécessité de développer un estimateur de la vitesse de la cible. Celui-ci est basé sur la fusion des données issues de la vision et de celles issues des mesures odométriques.
Germa, Thierry. "Fusion de données hétérogènes pour la perception de l'homme par robot mobile." Phd thesis, Toulouse 3, 2010. http://thesesups.ups-tlse.fr/1016/.
Full textThis work has been realized under the CommRob European project involving several academic and industrial partners. The goal of this project is to build a robot companion able to act in structured and dynamic environments cluttered by other agents (robots and humans). In this context, our contribution is related to multimodal perception of humans from the robot (users and passers-by). The multimodal perception induces the development and integration of perceptual functions able to detect, to identify the people and to track the motions in order to communicate with the robot. Proximal detection of the robot's users uses a multimodal perception framework based on heterogeneous data fusion from different sensors. The detected and identified users are then tracked in the video stream extracted from the embedded camera in order to interpret the human motions. The first contribution is related to the definition of perceptual functions for detecting and identifying humans from a mobile robot. The second contribution concerns the spatio-temporal analysis of these percepts for user tracking. Then, this work is extended to multi-target tracking dedicated to the passers by. Finally, as it is frequently done in robotics, our work contains two main topics: on one hand the approaches are formalized; on the other hand, these approaches are integrated and validated through live experiments. All the developments done during this thesis has been integrated on our platform Rackham and on the CommRob platform too
Brulin, Mathieu. "Analyse sémantique d'un trafic routier dans un contexte de vidéo-surveillance." Thesis, Bordeaux 1, 2012. http://www.theses.fr/2012BOR14589/document.
Full textAutomatic traffic monitoring plays an important role in traffic surveillance. Video cameras are relatively inexpensive surveillance tools, but necessitate robust, efficient and automated video analysis algorithms. The loss of information caused by the formation of images under perspective projection made the automatic task of detection and tracking vehicles a very challenging problem, but essential to extract a semantic interpretation of vehicles behaviors. The work proposed in this thesis comes from a collaboration between the LaBRI (Laboratoire Bordelais de Recherche en Informatique) and the company Adacis. The aim is to elaborate a complete video-surveillance system designed for automatic incident detection.To reach this objective, traffic scene analysis proceeds from low-level processing to high-level descriptions of the traffic, which can be in a wide variety of type: vehicles entering or exiting the scene, vehicles collisions, vehicles' speed that are too fast or too low, stopped vehicles or objects obstructing part of the road... A large number of road traffic monitoring systems are based on background subtraction techniques to segment the regions of interest of the image. Resulted regions are then tracked and trajectories are used to extract a semantic interpretation of the vehicles behaviors.The motion detection is based on a statistical model of background color. The model used is a mixture model of probabilistic laws, which allows to characterize multimodal distributions for each pixel. Estimation of optical flow, a gradient difference estimation and shadow and highlight detection are used to confirm or invalidate the segmentation results.The tracking process is based on a predictive filter using a motion model with constant velocity. A simple Kalman filter is employed, which allow to predict state of objets based on a \textit{a priori} information from the motion model.The behavior analysis step contains two approaches : the first one consists in exploiting information from low-level and mid-level analysis. Objects and their trajectories are analysed and used to extract abnormal behavior. The second approach consists in analysing a spatio-temporal slice in the 3D video volume. The extracted maps are used to estimate statistics about traffic and are used to detect abnormal behavior such as stopped vehicules or wrong way drivers.In order to help the segmentaion and the tracking processes, a structure model of the scene is proposed. This model is constructed using an unsupervised learning step. During this learning step, gradient information from the background image and typical trajectories of vehicles are estimated. The results are combined to estimate the vanishing point of the scene, the lanes boundaries and a rough depth estimation is performed. In parallel, a statistical model of the trafic flow direction is proposed. To deal with periodic data, a von-Mises mixture model is used to characterize the traffic flow direction
Escamilla, Núñez Héctor. "Contribution au guidage des avions en trafic à haute densité." Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30074/document.
Full textThis work is developed with the perspective of SESAR and Next-Gen projects, where new applications of Air Traffic Management (ATM) such as the Full 4D Management concept, are centered on Trajectory-Based Operations (TBO), deeply related with the extension of the flexibility in separation between aircraft, and hence, with the augmentation of air traffic capacity. Therefore, since a shift from fixed routes and Air Traffic Control (ATC) clearances to flexible trajectories is imminent, while relying on higher levels of onboard automation, the thesis hinges around topics that should enable or ease the transition from current systems to systems compliant with the new expectancies of Trajectory-Based Operations. The main axes of the manuscript can be summarized in three topics: 4D trajectory generation, 4D guidance, and mass estimation for trajectory optimization. Regarding the trajectory generation, the need of airspace users to plan their preferred route from an entry to an exit point of the airspace without being constrained by the existent configurations is considered. Thus, a particular solution for 4D smooth path generation from preexisting control points is explored. The method is based on Bezier curves, and is able to control the Euclidian distance between the given control points and the proposed trajectory. This is done by reshaping the path to remain within load factor limits, taking into account a tradeoff between path curvature and aircraft intended speed, representing a milestone in the road towards Trajectory-Based Operations. It is considered that accurate 4D guidance will improve safety by decreasing the occurrence of near mid-air collisions for planned conflict free 4D trajectories. In consequence, two autopilots and two guidance approaches are developed with the objective of diminishing the workload for air traffic controllers associated to a single flight. The backstepping and feedback linearization techniques are used for attitude control, while direct and indirect nonlinear inversion are adopted for guidance. Furthermore, the impact of inaccurate mass knowledge in trajectory guidance, with consequences in optimization, fuel consumption, and aircraft performance, has led to the implementation of an on-board aircraft mass estimation. The created approach is based on least squares, providing an initial mass estimation, and online computations of the current mass, both with enough accuracy to meet the objectives related to TBO. The methods proposed in this thesis are tested in a six degrees of freedom Matlab model with its parameters chosen similar to an aircraft type B737-200 or A320-200. The simulation is based on a full nonlinear modelling of transport aircraft dynamics under wind disturbances. Trained neural networks are used to obtain the aerodynamic coefficients corresponding the aircraft forces and moments
Seddiki, Lynda. "Développement et commande T-S d'une machine de rééducation des membres inférieurs en chaîne musculaire fermée." Phd thesis, Université de Reims - Champagne Ardenne, 2008. http://tel.archives-ouvertes.fr/tel-00346008.
Full textGuyonneau, Rémy. "Méthodes ensemblistes pour la localisation en robotique mobile." Phd thesis, Université d'Angers, 2013. http://tel.archives-ouvertes.fr/tel-00961501.
Full textXu, Tiantian. "Propulsion Characteristics and Visual Servo Control of Scaled-up Helical Microswimmers." Phd thesis, Université Pierre et Marie Curie - Paris VI, 2014. http://tel.archives-ouvertes.fr/tel-00977906.
Full textOndel, Olivier. "Diagnostic par reconnaissance des formes : Application à un ensemble convertisseur-machine asynchrone." Phd thesis, Ecole Centrale de Lyon, 2006. http://tel.archives-ouvertes.fr/tel-00113102.
Full textLa maintenance et la surveillance de ces deux systèmes permettent de rentabiliser les installations. Il est donc important de développer des outils de diagnostic pour détecter de manière précoce les défauts pouvant apparaître aussi bien sur le convertisseur que sur la machine.
Notre approche est basée sur l'utilisation des méthodes de reconnaissance des formes. Un vecteur de paramètres, appelé vecteur forme, est extrait de chacune des mesures effectuées sur la machine. Les règles de décisions utilisées permettent de classer les observations, décrites par le vecteur forme, par rapport aux différents modes de fonctionnement connus avec ou sans défaut.
Des défauts ont été créés au rotor et au stator de la machine asynchrone, alimentée soit à partir du réseau, soit par le biais d'un onduleur de tension.
La procédure de décision, basée sur la règle des k - plus proches voisins, associée à une fonction d'appartenance, permet de détecter l'évolution des modes de fonctionnements ainsi que les défauts avérés. Par la suite, le suivi d'évolution de ces modes est réalisé par une approche de type Kalman : un estimateur récursif de Kalman est utilisé pour déterminer les paramètres du modèle dynamique rendant compte de l'évolution d'un mode et un prédicteur de Kalman pour prévoir une évolution vers de nouvelles zones de l'espace. Ces algorithmes ont montré l'efficacité de l'application de la reconnaissance des formes au diagnostic.