Tesis sobre el tema "Architectures robotique"
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Fijany, Amir. "Algorithmes et architectures parallèles en robotique". Paris 11, 1988. http://www.theses.fr/1988PA112258.
Fijany, Amir. "Algorithmes et architectures parallèles en robotique". Grenoble 2 : ANRT, 1988. http://catalogue.bnf.fr/ark:/12148/cb37613611m.
QUESNE, JEAN-FRANCOIS. "Vision robotique : architectures data-flow pour le traitement des images en temps reel". Paris 11, 1992. http://www.theses.fr/1992PA112030.
Idasiak, Vincent. "Apports du genie logiciel a la programmation en robotique sur des architectures distribuees heterogenes". Paris 6, 1996. http://www.theses.fr/1996PA066202.
Buessler, Jean-Luc. "Architectures neuro-mimétiques modulaires : application à l'asservissement visuel de systèmes robotiques". Mulhouse, 1999. http://www.theses.fr/1999MULH0587.
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
Plyer, Aurélien. "Architectures massivement parallèles en vision artificielle bas niveau". Paris 13, 2013. http://scbd-sto.univ-paris13.fr/secure/edgalilee_th_2013_plyer.pdf.
In this work we study the gain offered by massively parallel architecture for low-level vision processing. Reviewing the recent evolutions of computer architectures, we underline the massively parallel solutions which are now available to every programmer, the GPU. Exploiting the computing power of these solutions requires a change in programming methodology. However, as far as low-level vision is concerned, we show that most problems can be solved using a restricted number of programming patterns. Finally, we propose a new model to evaluate the complexity of solutions developed on GPUs. Then we apply these programming principles to various low-level vision problems. The first one is optical flow (OF) estimation, which is at the core of many video processing problems. We present an OF estimation on GPU, called FOLKI, which allows good estimation quality on various real-world video sequences with unprecedented computing performance. An application of this work concerns particle image velocimetry, a measurement technique of paramount importance for experimental fluid mechanics. Then we turn toward super-resolution (SR). We first introduce an original and very fast solution, which uses the FOLKI optical flow estimate for image registration. Then various solutions of increasing computational complexity are proposed, which lead to better resolution and robustness. Using these techniques we show very original SR results on video with complex motions (walking person, moving vehicle). Finally the last chapter shows on-going work on 3D measurement contexts in experimental physics and robotics
Djerroud, Halim. "Architecture robotique pour la navigation parmi les obstacles amovibles pour un robot mobile". Electronic Thesis or Diss., Paris 8, 2021. http://www.theses.fr/2021PA080050.
In this thesis, we address the autonomous navigation of a mobile robot in a congested indoor environment. This problem is related to navigation among movable obstacles (NAMO). We propose a robotic architecture allowing navigation among: fixed, removable and interactive obstacles. The objective of the robot is to reach a position, while avoiding fixed obstacles, to move removable obstacles if they obstruct the path or to ask interactive obstacles (human, robots, etc.) to give way.In our first contribution, we propose a hierarchical robotic architecture named VICA (VIcarious Cognitive Architecture), whose decisional level is coupled to a cognitive architecture. We are inspired by Alain Berthoz's work on simplexity, which describes how living organisms prepare actions and anticipate reactions. The robotic architecture is composed of a global planner allowing navigation in an unknown environment and a local planner dedicated to obstacle management.The second one implements a global planner whose goal is to bring the robot as close as possible to its goal, using the H* algorithm we have developed.The third one proposes a local planner for obstacle management. The proposed solution consists in using multi-agent simulation in order to anticipate the behavior of obstacles.The implementation of this solution is realized in the VICA architecture developed under ROS (Robot Operating System). In parallel, we have developed an experimental robot to validate our results
Renaudo, Erwan. "Des comportements flexibles aux comportements habituels : meta-apprentissage neuro-inspiré pour la robotique autonome". Thesis, Paris 6, 2016. http://www.theses.fr/2016PA066508/document.
In this work, we study how the notion of behavioral habit, inspired from the study of biology, can benefit to robots. Robot control architectures allow the robot to be able to plan to reach long term goals while staying reactive to events happening in the environment (Kortenkamp et Simmons, 2008). However, these architectures are rarely provided with learning capabilities that would allow them to acquire knowledge from experience. On the other hand, learning has been shown as an essential abiilty for behavioral adaptation in mammals. It permits flexible adaptation to new contexts but also efficient behavior in known contexts (Dickinson, 1985). The learning mechanisms are modeled as model-based (planning) and model-free (habitual) reinforcement learning algorithms (Sutton et Barto, 1998) which are combined into a global model of behavior (Daw et al., 2005). We proposed a robotic control architecture that take inspiration from this model of behavior and embed the two kinds of algorithms, and studied its performance in a robotic simulated task. None of the several methods for combining the algorithm we studied gave satisfying results, however, it allowed to identify some properties required for the planning process in a robotic task. We extended our study to two other tasks (one being on a real robot) and confirmed that combining the algorithms improves learning of the robot's behavior
Nagrath, Vineet. "Software architectures for cloud robotics : the 5 view Hyperactive Transaction Meta-Model (HTM5)". Thesis, Dijon, 2015. http://www.theses.fr/2015DIJOS005/document.
Software development for cloud connected robotic systems is a complex software engineeringendeavour. These systems are often an amalgamation of one or more robotic platforms, standalonecomputers, mobile devices, server banks, virtual machines, cameras, network elements and ambientintelligence. An agent oriented approach represents robots and other auxiliary systems as agents inthe system.Software development for distributed and diverse systems like cloud robotic systems require specialsoftware modelling processes and tools. Model driven software development for such complexsystems will increase flexibility, reusability, cost effectiveness and overall quality of the end product.The proposed 5-view meta-model has separate meta-models for specifying structure, relationships,trade, system behaviour and hyperactivity in a cloud robotic system. The thesis describes theanatomy of the 5-view Hyperactive Transaction Meta-Model (HTM5) in computation independent,platform independent and platform specific layers. The thesis also describes a domain specificlanguage for computation independent modelling in HTM5.The thesis has presented a complete meta-model for agent oriented cloud robotic systems and hasseveral simulated and real experiment-projects justifying HTM5 as a feasible meta-model
Renaudo, Erwan. "Des comportements flexibles aux comportements habituels : meta-apprentissage neuro-inspiré pour la robotique autonome". Electronic Thesis or Diss., Paris 6, 2016. http://www.theses.fr/2016PA066508.
In this work, we study how the notion of behavioral habit, inspired from the study of biology, can benefit to robots. Robot control architectures allow the robot to be able to plan to reach long term goals while staying reactive to events happening in the environment (Kortenkamp et Simmons, 2008). However, these architectures are rarely provided with learning capabilities that would allow them to acquire knowledge from experience. On the other hand, learning has been shown as an essential abiilty for behavioral adaptation in mammals. It permits flexible adaptation to new contexts but also efficient behavior in known contexts (Dickinson, 1985). The learning mechanisms are modeled as model-based (planning) and model-free (habitual) reinforcement learning algorithms (Sutton et Barto, 1998) which are combined into a global model of behavior (Daw et al., 2005). We proposed a robotic control architecture that take inspiration from this model of behavior and embed the two kinds of algorithms, and studied its performance in a robotic simulated task. None of the several methods for combining the algorithm we studied gave satisfying results, however, it allowed to identify some properties required for the planning process in a robotic task. We extended our study to two other tasks (one being on a real robot) and confirmed that combining the algorithms improves learning of the robot's behavior
Fiack, Laurent. "Les effets de l’environnement sur le développement et l’organisation d'architectures de traitement matériel auto-organisées". Thesis, Cergy-Pontoise, 2015. http://www.theses.fr/2015CERG0772/document.
Since a few years, due to physical limitations, it has not been possible to increase the micro-processors frequency anymore.To tackle more and more complex applications, the current trend is to increase the number of computation cores.However, beyond tens of cores, some issues emerge.Among them, we can cite memory management, communications, programming or task scheduling.To address these challenges, we have designed a computer which is able to self-organize its own internal architecture dependingon the nature and the richness of the informations sensed in the environment in which it is placed.This computer is part of a sensori-motor loop of a mobile robot, thus allowing a large panel of complex applications, running in a dynamic environment.It is made of a 2D mesh network of processing elements which are reconfigurable surfaces, that can host a processor or a hardware accelerator.The self-organization of the architecture takes the form of the emergence of computation areas on the chip surface, among the processing elements.The developpment and the evolution of these areas are driven by a hardware neural network, integrated in the programmable computation layer.The novelty of this self-organizing map neural network is that it is completely distributed, and that the neurons are sparsely connected.We think indeed that these conditions are necessary for the scalability of an architecture.This neuronal layer takes its inputs from a pre-processing sublayer which extracts the relevant information in the environment.In the context of this work, this layer is implemented as a bio-inspired vision system, also validated in a robotics context
Shawky, Mohamed. "Architectures parallèles, vision et véhicules autonomes : étude et mise en oeuvre". Compiègne, 1992. http://www.theses.fr/1992COMP0532.
Botero-Galeano, Diego. "Development of algorithms and architectures for driving assistance in adverse weather conditions using FPGAs". Phd thesis, INSA de Toulouse, 2012. http://tel.archives-ouvertes.fr/tel-00771869.
Côté, Carle. "MARIE, une architecture d'intégration de composants logiciels hétérogènes pour le développement de systèmes décisionnels en robotique mobile et autonome". Thèse, Université de Sherbrooke, 2011. http://hdl.handle.net/11143/5797.
Adouane, Lounis. "Architectures de contrôle comportementales et réactives pour la coopération d'un groupe de robots mobiles". Phd thesis, Université de Franche-Comté, 2005. http://tel.archives-ouvertes.fr/tel-00128160.
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.
Passama, Robin. "Conception et développement de contrôleurs de robots - Une méthodologie basée sur les composants logiciels". Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2006. http://tel.archives-ouvertes.fr/tel-00084351.
Haffar, Mohamad. "Approche de Co-Simulation en vue de la validation et de l'évaluation de performance des systèmes de communication : Application à des architectures de distribution électriques". Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-01003130.
Naoulou, Abdelelah. "Architectures pour la stéréovision passive dense temps réel : application à la stéréo-endoscopie". Phd thesis, Université Paul Sabatier - Toulouse III, 2006. http://tel.archives-ouvertes.fr/tel-00110093.
Dine, Abdelhamid. "Localisation et cartographie simultanées par optimisation de graphe sur architectures hétérogènes pour l’embarqué". Thesis, Université Paris-Saclay (ComUE), 2016. http://www.theses.fr/2016SACLS303/document.
Simultaneous Localization And Mapping is the process that allows a robot to build a map of an unknown environment while at the same time it determines the robot position on this map.In this work, we are interested in graph-based SLAM method. This method uses a graph to represent and solve the SLAM problem. A graph optimization consists in finding a graph configuration (trajectory and map) that better matches the constraints introduced by the sensors measurements. Graph optimization is characterized by a high computational complexity that requires high computational and memory resources, particularly to explore large areas. This limits the use of graph-based SLAM in real-time embedded systems. This thesis contributes to the reduction of the graph-based computational complexity. Our approach is based on two complementary axes: data representation in memory and implementation on embedded heterogeneous architectures. In the first axis, we propose an incremental data structure to efficiently represent and then optimize the graph. In the second axis, we explore the use of the recent heterogeneous architectures to speed up graph-based SLAM. We propose an efficient implementation model for embedded applications. We highlight the advantages and disadvantages of the evaluated architectures, namely GPU-based and FPGA-based System-On-Chips
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
Koenig, Anne. "Tram : une architecture blackboard dédiée à la robotique autonome mobile". Grenoble INPG, 1989. http://www.theses.fr/1989INPG0057.
Birem, Merwan. "Localisation et détection de fermeture de boucle basées saillance visuelle : algorithmes et architectures matérielles". Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22558/document.
In several tasks of robotics, vision is considered to be the essential element by which the perception of the environment or the interaction with other users can be realized. However, the potential artifacts in the captured images make the task of recognition and interpretation of the visual information extremely complicated. It is therefore very important to use robust, stable and high repeatability rate primitives to achieve good performance. This thesis deals with the problems of localization and loop closure detection for a mobile robot using visual saliency. The results in terms of accuracy and efficiency of localization and closure detection applications are evaluated and compared to the results obtained with the approaches provided in literature, both applied on different sequences of images acquired in outdoor environnement. The main drawback with the models proposed for the extraction of salient regions is their computational complexity, which leads to significant processing time. To obtain a real-time processing, we present in this thesis also the implementation of the salient region detector on the reconfigurable platform DreamCam
Damez, Lionel. "Approche multi-processeurs homogènes sur System-on-Chip pour le traitement d'image". Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2009. http://tel.archives-ouvertes.fr/tel-00724443.
Dromnelle, Rémi. "Architecture cognitive générique pour la coordination de stratégies d'apprentissage en robotique". Electronic Thesis or Diss., Sorbonne université, 2021. http://www.theses.fr/2021SORUS039.
The main objective of this thesis is to propose a new method for online adaptation of robotic learning, allowing robots to dynamically and autonomously adapt their behavior according to variations in their own performance. The developed method is sufficiently general and task-independent that a robot using it can perform different dynamic tasks of various nature without any algorithm or parameter adjustment by the programmer. The algorithms underlying this method consist of a meta-control system that allows the robot to call upon two decision-making experts following a different behavioral strategy. The model-based expert builds a model of the effects of long-term actions and uses this model to decide; this strategy is computationally expensive, but quickly converges to the solution. The model-free expert is inexpensive in terms of computational resources, but takes time to converge to the optimal solution. In this work, we have developed a new criterion for the coordination of these two experts allowing the robot to dynamically change its strategy over time. We show in this work that our behavior coordination method allows the robot to maintain an optimal performance in terms of performance and computation time. We also show that the method can cope with abrupt changes in the environment, changes in goals or changes in the behavior of the human partner in the case of interaction tasks
Gobillot, Nicolas. "Validation d’architectures temps-réel pour la robotique autonome". Thesis, Toulouse, ISAE, 2016. http://www.theses.fr/2016ESAE0006/document.
A robot is a complex system combining hardware and software parts. In order to simplify the robot design, the whole system is split in several separated modules. However, the complexity of the functional and temporal validation to improve the safety counterweights the robot design simplicity. We can find scheduling analysis tools for task-based software. These tools are used to check and validate the schedulability of the tasks involved in a software, run on a specific hardware. However, these methods considers the tasks as monolithic entities, without taking into account their internal structure. The resulting analyses may be too much pessimistic and therefore not applicable to robotic applications. In this work, we have modeled the internal structure of the tasks as state-machines and used these state-machines into the schedulability analysis in order to improve the analysis precision. Moreover, the tools developed during this work have been tested on real robotic use-cases
Bueno, Ruas de Oliveira Lucas. "Conception architecturale des systèmes robotiques orientée services". Thesis, Lorient, 2015. http://www.theses.fr/2015LORIS374/document.
Robotics has experienced an increasing evolution and interest from the society in recent years. Robots are no longer produced exclusively to perform repetitive tasks in factories, they have been designed to collaborate with humans in several important application domains. Robotic systems that control these robots are therefore becoming larger, more complex, and difficult to develop. In this scenario, Service-Oriented Architecture (SOA) has been investigated as a promising architectural style for the design of robotic systems in a flexible, reusable, and productive manner. Despite the existence of a considerable amount of Service-Oriented Robotic Systems (SORS), most of them have been developed in an ad hoc manner. The little attention and limited support devoted to the design of SORS software architectures may not only hamper the benefits of SOA adoption, but also reduce the overall quality of robotic systems, which are often used in safety-critical contexts. This thesis aims at improving the understanding and systematization of SORS architectural design
Adhami, Louai. "Une architecture logicielle intégrée pour la chirurgie mini-invasive robotisée : Focalisation sur la planification". Paris, ENMP, 2002. http://www.theses.fr/2002ENMP1083.
Pinoteau, Jérémie. "Traitement d’informations tactiles dans une architecture neuronale en boucle fermée". Paris 6, 2013. http://www.theses.fr/2013PA066596.
In recent years, roboticians have taken biology as a source of inspiration and have tried with increasing effort to reproduce biological functions and structures in artificial systems. In particular, robotics and neuro-engineering have often merged into a unitary discipline that tries to reproduce basic principles of the nervous system with the goal of both making robots interact with the world in a human-like fashion and exploiting artificial models as benchmarks for testing novel scientific hypotheses. Following these objectives, the work presented here has been carried out to develop a closed loop neural architecture for active sensing and fine touch discrimination. Neural coding principles observed at the periphery of the somatosensory pathway were reproduced by emulating the spiking dynamics of primary afferents and cuneate neurons. Second order neuron responses were supplied to a classifier which computed the probability estimates of the stimulus and devised a movement policy for the fingertip in a dynamic recognition task scenario. The closed loop system was completed with a neuro-mimetic model of the cerebellum for the low-level control of the fingertip. In a real-world application, an artificial fingertip provided the inputs to the mechanoreceptor model. Testing the closed loop architecture on a Braille reading task showed that both primary afferent and cuneate neuron populations efficiently and reliably transmitted enough information to perform a perfect discrimination. The presented neural architecture could contribute to the study of both the neural bases of fine touch in humans, and neuro-mimetic solutions for processing tactile signals in humanoid robots
Cuperlier, Nicolas. "Apprentissage et prédiction de séquences sensori-motrices : architecture neuromimétique pour la navigation et la planification d'un robot mobile". Cergy-Pontoise, 2006. http://www.theses.fr/2006CERG0316.
Navigation of an autonomous mobile robot in an unknown environment is a complex task that raises numerous issues in perception, categorisation, planning, and motor control. Solving all these problems in an integrated manner remains a challenge for roboticians. Thus, we propose a unified neuronal framework, based on the modeling of different parts of the mammalian brain’s functionalities: the hippocampus, the prefrontal cortex and the basal ganglia. Key topics are the multi-modal data integration like vision (the prevailing input), path integration, motivation, and also the inner and outer interactions between the structures. A first part of our work consists in modeling neural networks able to learn and predict sensory-motor combinations (transition cells) which are inputs of a cognitive map used to plan according to conflicting motivations. The cognitive map is learned without using any Cartesian coordinates nor occupancy grids. Already known transitions are used in exploration in order to preferentially explore unknown zones to reduce exploration time and enhance the completion of the cognitive map. Links of this map are learned or reinforced according to the behavior and enable to take into account dynamical changes of the environment. Exploration periods may be alternated with planning periods. The second part of this thesis brings an interesting solution for computing and selecting the final movement to perform. It also gives a stable motor control. Instead of using a (( Winner Takes All )) mechanism to select the movement, we increase the planned movement accuracy via a soft competition. Hence several movements are proposed and fed in another layer where the final motor command is obtained as the stable solution of a dynamical system: a one dimensional neural field coding for the heading direction. This field allows to endow the system with a final movement selection leading to a better movement generalization and consequently to a more reliable movement while planning. Our model gives a control architecture allowing to exhibit on a mobile robot navigation behaviors inspired from biology. This architecture can be considered as an attempt to explain underlying mechanisms implemented by mammals for these kind of behaviors. Furthermore, we can list the following benefits of our model: on-line localization, active exploration, planning and mapping in an uncompletely explored environment. These benifits cast an original light on the S. L. A. M problem (Simultaneous Localization and Map building of an unknown environment)
AGOSTINI, YVES PRUSKI A. "ARCHITECTURE COOPERATIVE POUR LA COMMANDE D'UN FAUTEUIL ROULANT ROBOTISE /". [S.l.] : [s.n.], 1996. ftp://ftp.scd.univ-metz.fr/pub/Theses/1996/Agostini.Yves.SMZ9615.pdf.
Carbou, Jean-Damien. "Conception d'une architecture pour la commande à distance d'un robot d'intervention". Montpellier 2, 2004. http://www.theses.fr/2004MON20234.
Rodriguez, Aura Nancy. "Asset : une architecture générale pour la télérobotique". Toulouse 3, 2003. http://www.theses.fr/2003TOU30002.
Galerne, Simon. "Architecture ouverte de commande adaptée à la robotique de coopération homme-machine : application au domaine médical". Paris 12, 1989. http://www.theses.fr/1989PA120043.
Ammounah, Anas. "Architecture de contrôle pour un robot humanoïde à actionnement hydraulique". Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG056.
HYDROïD is the first humanoid robot with hydraulic control in Europe. This research platform was created to emulate the human body. The emulation of the human body is important because the objective of the humanoid robot in the future is to cooperate and interact with humans, and even to replace them in dangerous scenarios. This interaction requires safety aspects. Emulation and having an anthropomorphic robot like the human body simplifies the achievement of this goal. Many aspects of emulation have already been realized, the actuation of the robot emulates human muscles, the hybrid mechanisms emulate human kinematics and agonist-antagonist effect, the mechanical design of the robot emulates the thin morphology and mass distribution of the human body, and the hydraulic flow emulates the blood flow inside the body.In this thesis, we have sought to emulate the architecture of the human nervous system, i.e., the physical structure, transmission, and processing of information. We proposed a layered control architecture for HYDROïD. A distributed architecture with 12 local controllers has been designed to be placed on the body of the robot to control 36 hydraulically operated kinematic joints. A central PC with a real-time operating system manages the whole-body motion through real-time middleware and EtherCAT communication. Each local controller is a complete integrated computing unit to control the robot at the joint level. A custom driver was built to control the hydraulic actuation. We investigated two approaches at this level, using a single-loop approach and a multi-threading approach
Ramaswamy, Arunkumar. "A model-driven framework development methodology for robotic systems". Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLY011/document.
Most innovative applications having robotic capabilities like self-driving cars are developed from scratch with little reuse of design or code artifacts from previous similar projects. As a result, work at times is duplicated adding time and economic costs. Absence of integrated tools is the real barrier that exists between early adopters of standardization efforts and early majority of research and industrial community. These software intensive systems are composed of distributed, heterogeneous software components interacting in a highly dynamic, uncertain environment. However, no significant systematic software development process is followed in robotics research. The process of developing robotic software frameworks and tools for designing robotic architectures is expensive both in terms of time and effort, and absence of systematic approach may result in ad hoc designs that are not flexible and reusable. Making architecture meta-framework a point of conformance opens new possibilities for interoperability and knowledge sharing in the architecture and framework communities. We tried to make a step in this direction by proposing a common model and by providing a systematic methodological approach that helps in specifying different aspects of software architecture development and their interplay in a framework
Botelho, Silvia. "Une architecture décisionnelle pour la coopération multi-robots". Toulouse, INPT, 2000. http://www.theses.fr/2000INPT023H.
Frenette, Patrick. "Architecture décisionnelle pour la conduite collaborative de véhicules autonomes". Mémoire, Université de Sherbrooke, 2010. http://savoirs.usherbrooke.ca/handle/11143/1548.
Guitton, Julien. "Architecture hybride pour la planification d'actions et de déplacements". Phd thesis, Université Paul Sabatier - Toulouse III, 2010. http://tel.archives-ouvertes.fr/tel-00648244.
Ferland, François. "Conception d’un mécanisme intégré d’attention sélective dans une architecture comportementale pour robots autonomes". Thèse, Université de Sherbrooke, 2014. http://hdl.handle.net/11143/5984.
Despouys, Olivier. "Une architecture intégrée pour la planification et le contrôle d'exécution en environnement dynamique". Toulouse, INPT, 2000. http://www.theses.fr/2000INPTA19H.
Chapelle, Jérôme. "Une architecture multi-agents pour un apprentissage autonome guidé par les émotions". Montpellier 2, 2006. http://www.theses.fr/2006MON20181.
Lefebvre, Thomas. "Exploration architecturale pour la conception d'un système sur puce de vision robotique, adéquation algorithme-architecture d'un système embarqué temps-réel". Phd thesis, Université de Cergy Pontoise, 2012. http://tel.archives-ouvertes.fr/tel-00782081.
Lemai-Chenevier, Solange. "Ixtet-exec : planning, plan repair and execution control with time and resource management". Toulouse, INPT, 2004. http://www.theses.fr/2004INPT017H.
Joyeux, Sylvain. "Un composant logiciel pour la gestion et l'exécution de plan en robotique : application aux systèmes multi-robots". Phd thesis, Toulouse, ISAE, 2007. http://tel.archives-ouvertes.fr/tel-00293982.
Esteveny, Laure. "Vers un actionnement sûr pour la radiologie interventionnelle robotisée". Thesis, Strasbourg, 2014. http://www.theses.fr/2014STRAD015/document.
In the context of interventional radiology, robotic-assisted surgery limits practitioners’ exposure to radiations and brings more accuracy to perform complex interventions. However, the presence of robot in the environment is a potential danger for the patient and the medical staff in case of unexpected interactions and manipulations.In this PhD thesis, we first focus on safety problems. An intrinsically safe mechanism is proposed. The achieved prototype allows to follow both planned trajectories and moving environments.Secondly, a guidance mechanism based on a passive approach is suggested. With a variable stiffness system, using a compliant mechanism, a resistive force is applied to the user which allows him to be guided in his gesture.Based on medical needs, we then study the possibility to integrate and generalize such systems to multiple degrees of freedom
Medeiros, Adelardo Adelino Dantas de. "Contrôle d'exécution pour robots mobiles autonomes : architecture, spécification et validation". Toulouse 3, 1997. http://www.theses.fr/1997TOU30027.
Meziou, Tarak Najah. "Système réactif pour l'évitement des obstacles en robotique mobile : architecture d'un contrôle d'exécution assurant l'interaction du système et d'une planification globale". Châtenay-Malabry, Ecole centrale de Paris, 1992. http://www.theses.fr/1992ECAP0249.
Amiot, Philippe. "Architecture et intégration d'une machine pyramidale pour le traitement d'images et la vision par ordinateur : sphinx". Paris 11, 1987. http://www.theses.fr/1987PA112414.
This work deals with architecture and integration of SPHINX, an image processing dedicated pyramidal multi-processors system. We first present the specific features of machines dedicated to performing the image processing applications, and the choice we have made in order to construct this system. A hierarchical graphic layout system is described. With given graphical environments, we can generate automatically CMOS parametrable cells from a file containing technological rules and from a textual description with an original method. Then a "Silicon Assembler" which allows hierarchical design of functional blocks according to interconnection structures, is presented. The assemblage program reading files description is written with a Pascal like description language. Furthermore we have generated a cells library and different test circuits necessary for IC focusing before to realise a "PYRAMID" chip of 4 X 8 processing elements to validate choice of architecture and to estimate the system performance. At last, in order to take advantage of VLSI, we have an alike method to improve the testability and the yield in a two dimensional arrangement of processing elements with a scan path and with redundancy