Tesis sobre el tema "Capteurs de Forces"
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Cailliez, Jonathan. "Contributions à la modélisation et la commande de capteurs de forces actifs pour la méso et micro-robotique". Electronic Thesis or Diss., Sorbonne université, 2020. http://www.theses.fr/2020SORUS278.
Texto completoThis thesis focuses on the development of an original instrumentation, with performances beyond the state of the art, for the characterization and the measurement of forces at the small scales. The work covers the measurement of a wide range of forces involved in meso and micro-robotics, from intermolecular forces of the order of a few µN to forces at the Newton level. The focus lies in the development and implementation of sensors based on an active technology particularly adapted for the characterization of forces with a variable gradient thanks to a quasi-infinite sensor stiffness in closed loop. Three main contributions have been made. On the methodological aspect, a new robust hybrid control approach based on Eigen structure assignment has been proposed and experimentally validated for the robust characterization of intermolecular interaction forces using an Atomic Force Microscope (AFM). This characterization has allowed defining the basis of the specifications for the design and the control of active sensors better suited to finely characterize unstable areas in which the force gradients are important. The second contribution lies in the development, design, control and implementation of an original MEMS (Micro-Electro-Mechanical System) type active sensor with the particularity of having a linear electromechanical characteristic over its entire measurement range, i.e. +- 20 µN, with a bandwidth greater than 2kHz. The third contribution lies in the proposition of a new architecture for the active measurement of forces over ranges from mN to N based on a magnetic actuation and an air bearing. This sensor has been implemented for the measurement of magnetic forces with unstable areas when the distance between the sensor tip and the magnetic sample is below a certain threshold. The perspectives to this thesis are numerous in materials science, biology and more generally in physics. It particularly opens a new path in scientific research related to active AFM
Dreyfus, Rémi. "Filaments magnétiques : application à la conception de capteurs de forces et de nageurs microscopiques artificiels". Phd thesis, Université Pierre et Marie Curie - Paris VI, 2005. http://tel.archives-ouvertes.fr/tel-00011193.
Texto completoLe premier chapitre décrit la conception d'un capteur de forces intercolloïdales. Nous présentons différentes expériences permettant de caractériser les particules utilisées. Nous décrivons ensuite la réalisation du montage expérimental et le traitement des données. Enfin, nous comparons cette technique aux autres techniques.
Le second chapitre décrit la conception et la réalisation de nageurs à l'échelle microscopique. Nous fabriquons des filaments magnétiques flexibles en alignant des particules sous l'effet d'un champ magnétique. Les particules adjacentes sont reliées par des agents pontants. Nous avons étudié le comportement de ces filaments sous champ. Sous l'effet d'un champ magnétique oscillant, le filament se déforme : une onde se propage alors le long du filament, ce qui engendre une force propulsive, dont nous démontrons l'effet sur un nageur spermatomorphe. Enfin, nous vérifions des prédictions théoriques antérieures.
Thirion, Adrien. "Algorithmes d'Intelligence Artificielle en temps réel sur cible embarquée avec des capteurs de ballistocardiographie de nouvelle génération". Electronic Thesis or Diss., Université de Toulouse (2023-....), 2024. http://www.theses.fr/2024TLSEP056.
Texto completoArtificial intelligence is not a young discovery, but recent breakthroughs have led to its application in countless fields like medical diagnosis. The novel functionalities it provides can improve the diagnosis of certain challenging-to-predict disorders due to their transient nature, such as sleep disorders, drowsy driving, atrial fibrillation, or chronic stress. These disorders are challenging to detect because affected persons show very few symptoms. In addition, the aging population is moving towards dependency and medical structures lack caregivers.In this context, this work introduces a generic, precise, and unobtrusive vitals monitoring system, called Pulse. It relies on a strain sensor based on nanoparticles developed by the Nanomade startup and adapted for a BallistCardioGraphic (BCG) application in various types of equipment (e.g., a bed or vehicle seat). In addition, a specific software, named BCG-VARS, has been developed to achieve unique performances in simultaneous monitoring of various vital parameters. This real-time software consists in two algorithms that can be embedded. The first one is dedicated to presence detection, actimetry and Breath-to-Breath Interval (BBIs) measurement for each new sample. The second one is related to Inter-Beats Interval (IBIs) measurement using an innovative technique involving hyperparameters tuning and interval prediction on the whole heart pattern, significantly reducing measurement errors. When integrated into a medical bed, average absolute errors of 1.55 beats per minute for IBIs and 1.85 cycles per minute for BBIs were obtained, corresponding with the state-of-the-art which, at this level of performances though, does not offer a generic system.In addition, algorithms perfectly identified subjects' presences, and major movements (lying down, rolling over, or leaving) were detected by the algorithms.Thanks to the features and performances of Pulse system and BCG-VARS software, some Machine Learning (ML) models for medical functionalities have been implemented. All models have been designed to be applied in real-time, with the Pulse embedded solution. First, stress detection using ML techniques has been explored. An innovative algorithm, called VESLA (Variable and Embedded Stress Level Algorithm), has been developed to assess stress evolution. Despite binary nature labels in the dedicated database, VESLA can quantify multiple stress levels, adapting to the application requirements. This algorithm outperforms literature models, achieving an average accuracy of 94.1% with an open-access database. Secondly, Deep Learning (DL) models have been designed for sleep stage classification. Hyperparameters fit-tuning that maximizes system performances while minimizing model weight has been elaborated for the first time. Unlike literature models, these models are designed to be real-time and for short durations to avoid sleep inertia, even for short naps. Finally, prospects for measuring blood pressure with a single BCG sensor have also been explored, providing interesting perspectives for future research.Beyond the main focus of the thesis, several additional objectives have been achieved. Among them, a universal validation solution for any BCG system has been developed, including an easy-to-reproduce mechanical emulator, coherent and standard metrics and graphs for respiratory and cardiac signals, and open-access impulsion files to emulate multiple times the same scenario. Experimental results show waveform strong similarities with emulated data (correlation up to 0.82±0.12)
Karamanoukian, Alexandre. "Développement d'un outil de quantification de la charge mécanique en football à partir de crampons instrumentés de capteurs de force : vers une application à la prévention des blessures". Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPASW009.
Texto completoThe majority of injuries in football are non-contact injuries, with muscular strains being the most common. Fatigue and excessive training load are known risk factors, with injuries being most frequent at the end of matches and during overloaded weeks. Despite recent improvements in training load and fatigue monitoring, injury burden remained stable during the last two decades, raising questions about the efficiency of injury prevention strategies. More specifically, the lack of valid tools to estimate ground reaction forces (GRFs) and impacts sustained by players leads to an incorrect biomechanical load/fatigue estimation.The development of instrumented studs (IS) capable of recording on-field GRFs represent, therefore, a major breakthrough.The first step of this study was to assess the validity of a pair of football shoes fitted with IS. The results demonstrated that this tool is a highly valid device for obtaining on-field GRFs.The second aim of this study was to examine the kinetic and spatio-temporal parameters adaptations induced by an exhaustive on-field run at constant with the help of IS. Significant changes were found among all subjects, thus proving the usefulness of this tool to measure fatigue in situ. Results also demonstrated some large inter-individual variability.Finally, the third aim was to assess these changes among professional players throughout a competitive football season. The nature of these variations was then used to estimate biomechanical fatigue induced by training. Repeating this simple procedure throughout the year allowed us to better estimate players' biomechanical
Bernard, Julien. "Évaluation du profil biomécanique du coureur cycliste". Thesis, Poitiers, 2015. http://www.theses.fr/2015POIT2261/document.
Texto completoNumerous studies investigated and still investigate pedaling motion in cycling from a biomechanical point of view. These studies involve various fields, like technologic for improving the material which has considerably evolved, physiologic for physical capacities and energy efficiencies' improvement according to pedaling styles, and biomechanics for motion's expertise and pedaling efficiency in particularly. This work takes part in the last scientific field: the biomechanics of movement.This work received a call for proposals of the AFLD (Agence Française de la Lutte contre le Dopage) in order to: "[SIC] rearm regarding doping by adopting original and practical approaches, considering scientific environment of doped athletes" by focusing on the themes of "[SIC] Work, power and energy efficiency".In this context, the general objective of this work is the biomechanical evaluation of cyclist's profile in laboratory conditions. For this, an experimental platform has been validated and allowed us to follow two central issues i) How is created the force produced to the pedal? ii) What can be expected from a mechanical energy evaluation of pedaling motion? These two points are discussed through incremental protocol tests as required by the French Cycling Federation. The results were obtained on a cohort of Elite cyclists
Yong, Julien. "Contribution à l'étude d'un capteur de force piézoélectrique résonant à forte raideur pour interfaces haptiques aéronautiques". Toulouse 3, 2013. http://thesesups.ups-tlse.fr/1958/.
Texto completoThis thesis is part of the research project GASVT (Artificial Generation of Visual and Tactile Sensations) on the theme of human / machine interface, implemented by the company Ratier-Figeac in the competitiveness cluster Aerospace Valley. The objective is then to answer to a request for aerospace supplier who wishes to acquire the technology currently active flight controls (joystick driver), allowing the pilot to have a visual and tactile feeling of the path of an aircraft. In the driveline, the force feedback is essential since it allows to provide the information necessary for torque control of the handle. The objective of the study was focused on the realization of a piezoelectric sensor based on the principle of a resonant transducer where the variation of stress is associated with changes on the resonant frequency of the transducer through the change of the mechanical impedance. Based on this principle, a sensor for measurement of forces in tension and compression was studied. This sensor must also reach a high stiffness compatible with the loop force feedback system and power failure of the electric embedded network. Finally, in order to meet the requirements of the application, a sensor dedicated to aeronautical applications (rod instrumentation), ensuring redundancy (sensor triplex) has been studied, performed and characterized. The thesis then concerns the definition of sensor structures for three measures of independent efforts, combined with the power electronics and control necessary for the transcription of the change in resonant frequency of the actuator into a signal effort reflecting the tension and compression. Command control modes should also be taken into account in the overall mechatronic approach
Huard, Mathieu. "Modélisation géométrique et reconstruction de formes équipées de capteurs d'orientation". Thesis, Grenoble, 2013. http://www.theses.fr/2013GRENM090/document.
Texto completoThis PhD thesis in applied mathematics was conducted within the Electronic Systems andSensors department of the CEA-Leti (Atomic Energy and Alternative Energies Commission - Laboratory for Electronics and Information Technologies), a major organism for technological research located in Grenoble, France. This work originated from a partnership with the applied mathematics laboratory (LJK) of the Joseph Fourier university (UJF). The Leti develops embedded systems equiped with micro-sensors (magnetometers, accelerometers...) from which it is possible to retrieve informations about their spatial orientation. These systems allow for innovative applications in the field of shape acquisition and reconstruction. The problem of reconstructing surfaces from unstructured orientation data is ill-posed. However, previous work done within the Leti came up with a valid reconstruction protocol. The micro-sensors were integrated into the Morphosense ribbon : this flexible ribbon instrumented with sensor knots according to a known geometry is at the core of a number of reconstruction algorithms for the curves followed by the ribbon. When lied on a physical surface, Morphosense ribbons then allow the acquisition and reconstruction of a network of curves on the surface, that are then used for the reconstruction of the entire surface. We first propose new algorithms for curve reconstruction thanks to the Morphosense ribbon. Those new methods now integrate the orientation informations provided by the sensors in their entirety, as well as the mechanical properties of the ribbon that force it to follow geodesic curves on a surface. From this point of view, the curve reconstruction can be considered optimal, as it integrates all the information embedded in the ribbons' structure. We then study a set of methods for the reconstruction of surfaces using a network of ribbon curves. Such a network generally leads to problems linked to the closure of the network and missing data estimation. The closure of the network is essentially a numerical problem related to differential constraints. The missing data corresponds to the lack of information on the surface outside the network of curves. In order to deal with these problems and propose practical solutions for the reconstruction, hypotheses either on the surface models or the topology of the network of curves are required. Therefore, the developed methods fall within the two following approaches.– On the one hand, reconstruction methods for developable and quasi-developable surfaces, which are a good approximation for the surfaces considered in numerous applications.– On the other hand, reconstruction methods from networks of curves with specific topologies (quasi-planar curves, open network) so as to deal with the closure problem.The set of methods developed in this work allow to formulate a global process for the reconstruction of surfaces, with flexible algorithms adapting to the different practical situations, so as to propose a solution both simple and precise in each case. The validation of our results in the case of real sensors data provided by the Morphosense ribbons also led us to develop metrological device. Finally, notice that the general context of reconstruction from orientation data studied here raises original theorical problems, to which we tried to answer with innovative solutions through interpolation and optimization algorithms
Weill-Duflos, Antoine. "Interfaces et capteurs pour une chaine de micro-téléopération". Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066147/document.
Texto completoTeleoperation opens up new possibilities for interaction with the micro-world. Adequate systems make it possible for human to manipulate elements on microscopic scales. An added haptic feedback provides information crucial for a natural interaction. A bilateral coupling between the subsystems offers the best haptic transparency. This thesis addresses the design of a complete haptic teleoperation chain by focusing on its key elements. Three parts are detailed: The first part describes improvements of the high fidelity one degree of freedom haptic interface designed previously. First, the precision of the forces produced is improved. This improvement is related to the measurement of the motor velocity at high sampling frequencies. Then, the device is precisely caracterized. The second part describes the design of two new force sensors designed specifically for interactions with the micro-world. The forces are measured by compensation. Two approach are observed to expand the frequencies of forces measurable by the sensors. First approach try to reduce the mass, a new sensor on a micrometric scale is built with MEMS technologies. The second approach offer a new design of the sensor. In particular, the stiffness in the guidance is removed. The third part describes the design of a new haptic interface with multiple degrees of freedom. This interface combines the performances of the one degree of freedom interface with a 2D configuration. The key elements of its design are the an air bearing for frictionless guidance and linear induction motors for reduced inertia
Chabour, Ferhat. "Commande sans capteur de position d'une machine synchrone à rotor bobiné : application à l'alterno-démarreur séparé StARS". Compiègne, 2007. http://www.theses.fr/2007COMP1705.
Texto completoValeo Company produces for the automotive industry several synchronous machines intended to operate either in starter mode or in alternator mode. One of the manufactured machines is the Starter-Alternator Reversible System (StARS) that is a wound rotor belt-driven machine. Actually, StARS is supplied by a full-wave voltage inverter and its self-commutation is controlled by an integrated shaft-mounted position sensor. The removal of the latter is a very promising passage. In addition to the suppression of the costs due to the sensor and its installation, the elimination of the sensor's wiring improves the reliability and the robustness of the system. The main purpose of this thesis is to investigate the StARS sensorless control. At zero speed, initial rotor position detection and motor parameter identification are presented. In medium and high speed range, the sensorless operation of the StARS is based on the estimation of the machine rotational electromotive forces. At low speed, the rotor position is detected by estimating the stator flux which is obtained by integration of the measured back electromotive force. The proposed sensorless control can perform a switchover from starting to sensorless open-loop operation. It has a simple structure and uses two current sensors. Experimental results are presented to demonstrate the successful operation of the investigated sensorless method
BUEB, JEAN-LUC. "Mesures de contractions d'organes in vitro : evolution des capteurs de force, et comparaison de 2 modeles de capteurs isometriques". Strasbourg 1, 1987. http://www.theses.fr/1987STR10737.
Texto completoBrondeau, François de. "Mise au point d'un capteur piézoélectrique (PVF2) pour l'enregistrement des forces occlusales". Bordeaux 2, 1991. http://www.theses.fr/1991BOR2OM02.
Texto completoReynaud, Laurent. "Stratégies de mobilité optimisées pour la tolérance aux perturbations dans les réseaux sans fil". Thesis, Lyon, 2017. http://www.theses.fr/2017LYSE1060/document.
Texto completoThroughout this thesis, we seek to propose and design optimized strategies that are adapted to a widespread class of use cases in which communications between network nodes may be disrupted by adverse deployment conditions, assuming that standard fault repair mechanisms are unable to address and mitigate the effects created by these disruptions. Such use cases include the applicative context of emergency communication networks, which are often met in the wake of disasters, or more generally after the occurrence of any unexpected event which may leave the existing networks of an affected area partially or even totally damaged. The aforementioned disruptions can be of different nature: they may result from a detrimental network dimensioning (e.g. low number of network nodes, excessive node scattering surface, insufficient radio communication range, . . . with respect to the other considered deployment parameter values). They may also stem from external causes, e.g. the unexpected presence of obstacles on the area of interest, or the existence of extrinsic interference sources that may disturb the considered network. In general, it can be observed that given such disruptions, a network which is not inherently designed to operate in these conditions is likely to under-perform and, as a result, to offer a significantly decreased quality of experience to its users. In this regard, we seek to compare our perception of the traditional concept of mobility as seen in common infrastructure, ad hoc or disruption- and delay-tolerant wireless networks with the principles of controlled mobility, according to which a network node may directly control its own movement and affect its trajectory accordingly. More precisely, we investigate the means to define a virtual force system which encompasses multiple repulsive, attractive, friction and alignment forces, all of which may be applied to network nodes in order to enforce this principle of controlled mobility.We then explain how virtual forces can concretely be implemented and used in a realistic network deployment, and we specify a protocol solution and its variations, which we enforce within controlled mobility strategies with the prospect that those prove best suited to the considered network environments. We first take as an applicative background a scenario aiming to fight the spread of an invasive species, the Asian hornet, and we outline a practical deployment relying on a wireless ad hoc network formed with unmanned aerial nodes which all enforce our first proposed controlled mobility strategy. We then seek to identify the best value intervals for the key parameters of our virtual force-based protocol, anticipating that configured with these values, the deployed network will yield its best performance in terms of delays and packet delivery. Later, we introduce a scenario related to the deployment of an emergency communication network, still on the basis of wireless ad hoc network principles. We then present an analysis of how a second proposed controlled mobility strategy performs in this applicative environment. In particular, we show how this strategy behaves when the number of network nodes increases. At that point, we address the context of networks deployed in challenging conditions, and of the use of disruption- and delaytolerant mechanisms. We aim here at designing a third type of strategy that jointly uses disruption- and delay-tolerant mechanisms as well as controlled mobility principles, in order to significantly increase the overall network performance. We then investigate and explain how this strategy allows transmitting a fraction of the user traffic with short delays, when an end-to-end route is available along a communication chain, while the other fraction of the traffic is delivered with longer delays, with the support of delay-tolerant routing mechanisms
Castano, Cano Davinson. "Design of Multi-Axis Resonant Force/Torque Sensor for Robotics". Thesis, Besançon, 2016. http://www.theses.fr/2016BESA2089.
Texto completoWrist force/torque sensors used in robotic applications increase the performances and flexibility of the automated tasks. They also offer new possibilities in the manufacturing process, where physical contact between the work-piece and environment is required. The wide spreading of these sensors is for now restricted by their features. As an alternative to the existing straingauges force sensors, our work presents a resonant composite structure, which is sensitive to multiple components of force that are considered via the pre-stress effect. Structurally bonded piezoelectric patches are used to bring the structure to its resonance, which is shifted according to applied forces. The relationship between force and frequency shift is modelled considering the multi-physics of this smart structure. A prototype was tested and validated
Benayad, Ahmed. "Conception de capteurs-émetteurs et réalisation d'un ensemble de télémesure pour l'étude de la marche normale ou appareillée en rééducation fonctionnelle". Vandoeuvre-les-Nancy, INPL, 1991. http://www.theses.fr/1991INPL060N.
Texto completoMehdi-Souzani, Charyar. "Numérisation 3D intelligente d'objets de formes inconnues basée sur des critères de qualité". Phd thesis, École normale supérieure de Cachan - ENS Cachan, 2006. http://tel.archives-ouvertes.fr/tel-00199739.
Texto completoGoyhenex, Gehin Claudine. "Conception et réalisation d'un capteur résonant piézoélectrique pour la mesure de force statique". Chambéry, 1998. http://www.theses.fr/1998CHAMS005.
Texto completoLakhmi, Riadh. "Étude de micropoutres sérigraphiées pour des applications capteurs". Thesis, Bordeaux 1, 2011. http://www.theses.fr/2011BOR14358/document.
Texto completoThe project concerns the conception, fabrication and characterization of cantilever-type MEMS structures for sensors applications. An alternative process to silicon related ones, associating the screen-printing technique to a sacrificial layer (SrCO3), was used to realize piezoelectric cantilevers (PZT material utilized as actuator and transducer) in a first time. Detections in gas phase were performed successfully with and without sensitive layer thanks to the unusual 31-longitudinal vibration mode. Namely, we were able to detect toluene at concentrations as low as 20ppm with a PEUT sensitive layer. Other species like water, ethanol or hydrogen could be detected without sensitive layer in order to get rid of the sensitive layer-related issues (ageing for example). Preliminary characterizations were carried out in liquid phase in a view to perform liquid phase detection. Besides, a cantilever-based force sensor, fabricated thanks to the same fabrication process was designed. This last one integrates a piezoresistor allowing the transduction of the mechanical signal linked to the strain overcome by the microcantilever. Force detections in static mode (without any actuator) permitted the sensors’ characterization. Indeed, their sensitivity, force range, minimal detectable force and linearity were carried out
Etcharry-Bouyx, Frédérique. "Comportements de grasping : essai d'analyse clinique et de corrélations anatomiques". Lyon 1, 2000. http://www.theses.fr/2000LYO1T223.
Texto completoHelali, Saloua. "Conception et réalisation de matériaux biofonctionnels pour des dispositifs capteurs impédimétriques". Ecully, Ecole centrale de Lyon, 2005. http://bibli.ec-lyon.fr/exl-doc/shelali.pdf.
Texto completoThe biofonctionnalisation is a key step for the realization of the biosensor and thus for obtaining good analytical performances. Two procedure of fonctionnalization of the gold surface were studied by impedance spectroscopy. Initially, we formed on the gold electrode a mixed self-assembled monolayer consisting of 1,2 dipalmitoyl-Sn-glycero-3-phosphoethanolamine-N-(biotinyl) (biotinyl-EP) and acid 6-mercaptohexadecanoic (MHDA). The tethered neutravidin was used the biotin sites present in the mixed monolayer, with those associated to the biotinyl-antibody. Two antibody-antigen system : Biotinyl-antiHemoglobine/Hemoglobine and Biotinyl-Fab K47/Atrazine fragment were detected. Second procedure that of the immobilization of a layer of the magnetic particles marked by the streptavidine by applying magnetic fields of 300 mT
Stanko, Tibor. "Reconstruction de surfaces lisses maillées à partir de capteurs inertiels". Thesis, Université Grenoble Alpes (ComUE), 2017. http://www.theses.fr/2017GREAM087/document.
Texto completoThis thesis presents a complete framework for 3D shape reconstruction using inertial and magnetic sensors. When placed onto a shape, these sensors provide local surface orientations along a curve network on the shape, but their absolute position in the world space is unknown. The challenges with this type of 3D acquisition are threefold. First, sensor measurements are noisy and inconsistent. Second, since positions are unknown, the acquired curve network has to be reconstructed from orientations. Finally, the smooth surface needs to be inferred from a collection of curves with normals. To compute the shape from measured data, our main insight is to formulate the reconstruction as a set of optimization problems. Using discrete representations, these optimization problems are resolved efficiently and at interactive time rates.We present two main contributions. First, we introduce a novel method for creating well-connected networks with cell-complex topology using only orientation and distance measurements and a set of user-defined constraints. By working directly with orientations, our method robustly resolves problems arising from data inconsistency and sensor noise. Our approach is driven by a simple principle mostly overlooked in previous works: at each intersection in a curve network, the positions and the normals of two intersecting curves have to coincide.Second, we address the problem of surfacing a closed 3D curve network with given surface normals. Thanks to the normal vector input, the patch-finding problem can be solved unambiguously and an initial piecewise smooth triangle mesh is computed. The input normals are propagated throughout the mesh. Together with the initial mesh, the propagated normals are used to estimate mean curvature vectors. We then compute the final mesh by combining the standard Laplacian-based variational methods with the curvature information extracted from the input normals. The normal input increases shape fidelity and allows to achieve globally smooth and visually pleasing shapes.Previous approaches used static devices placed along a network with fixed connectivity between the sensors (ribbon, grid). We explore a new dynamic setup, which used a single mobile node of sensors. As a consequence, a dense set of data can be acquired along an arbitrary smooth curve network on a surface.The proposed framework was tested on real-world data acquired using two devices equipped with mobile sensors. A quantitative evaluation was performed by computing the error of reconstruction for fabricated surfaces with known ground truth. Even for complex shapes, the mean error remains around 1%
Uhart, Maylis. "Amélioration de la précision du placement de fibres robotisé en utilisant un schéma de commande hybride externe force / vision". Nantes, 2014. http://www.theses.fr/2014NANT2028.
Texto completoComposite materials are increasingly used in the demanding field of aeronautics. To meet this growing need, the company Coriolis Composites has developed an Automated Fibre Placement device already on the market. This process uses an industrial manipulator robot. This fibre placement task requires a compacting strength adapted to the material used. For the robot, the reference trajectories in position of each tape are prescribed off-line. However, accuracy problems of tape placement appear. This thesis shows the use of force servoing to control the compacting strength and the use of visual servoing to control the lateral position of the tape. An experimental setup has been designed based on industrial devices similar to Coriolis Composites ones and a software application has been developed using a six axis force sensor and an industrial camera. The proposed scheme is composed of three external loops which generate the position setpoint for the industrial controller. The use of this force - visual combined servoing has improved the accuracy and the quality of the placement tapes
Nazeer, Sébastien. "Conception et réalisation de micro-capteurs de pression pour l’instrumentation d’interface à retour d’effort". Thesis, Paris 11, 2012. http://www.theses.fr/2012PA112140/document.
Texto completoThis PhD work presents the design and realization of a 3D flexible force sensor that can be integrated in surgical gloves or tools to qualify and quantify the grip forces including normal and shear stress. A state of the art first presents the suitable technologies for this application. Then, the choice is focused on the design and dimensioning, using Hooke’s law, of a capacitive tri-axis sensor of 8 x 8 x 3 cells/cm² matrix from a flexible dielectric of low Young’s modulus around 1 MPa. Designed cells have a nearby nominal capacitance of 0.5 pF. A variation of 30% is expected at maximum force range of 100 N/cm². The aimed dynamic is 1 to 1000. It corresponds to a resolution of 0.15 fF or 100 mN/cm². The flexible sensor fabrication is tackled by taking into account the characterization of support materials, notably the Kapton, in a stream of microfabrication. Metallization and adhesion of electrodes on PDMS problems lead to the development of a process based on film transfer technology adapted to electrodes buried in PDMS. On the basis of ANSYS simulations, the operating physical principle is validated. They are confirmed by static and in charge electrical measurements of the tactile sensor for forces ranging from 10 mN to 20 N
Safour, Salaheddine. "Contribution à la conception et au développement d'un capteur de force piézoélectrique sans fil pour la direction assistée électrique". Thesis, Université Paris-Saclay (ComUE), 2016. http://www.theses.fr/2016SACLS490.
Texto completoOriginal equipment manufacturer for automotive components with high safety requirements are continually working to improve the system safety and prepare their integration to the driverless car. Within this context, we worked on the design and development of a force sensor for the electric power steering (EPS) system with the challenge of providing a wireless solution, easy to manufacture and to integrate to the system. In this thesis, modeling and experimental activities have focused mainly on two aspects: the force sensor and its wireless power supply system. For force measurement, a solution based on piezoelectric material was proposed. The use of such material to measure the dynamic component of the force is widespread; however, static force measurement remains extremely limited to MEMS applications (pressure measurement). The technic utilizes the bulk acoustic wave (BAW). The resonance frequency of a piezoelectric specimen positioned within a mechanical structure varies with an externally applied force. Analytic modeling activities, finite element method based and multi-scale approach with experimentation activities allow the understanding of the physical mechanisms behind the observed behavior of the transducer and to propose guidance for optimal design of the force transducer. A demonstrator was set up and showed a static force measurement capability up to 1500N.The wireless power supply is achieved by the resonant magnetic coupling technique. In order to analyze the effect of the environment of the electric power steering system characterized by conductive and ferromagnetic parts, a modeling approach based on the finite element method and the lumped-element method was adopted. Afterwards, a design was proposed and a prototype was carried out. The experimental measurement shows that the design meets the company requirements
FRITSCH, MARIE-CATHERINE. "Commande floue, en force et en position, d'un robot guide par capteur". Université Louis Pasteur (Strasbourg) (1971-2008), 1993. http://www.theses.fr/1993STR13210.
Texto completoKovaleski, Joao Luiz. "Etude, modélisation et réalisation de capteurs d'accélération et force à base de polymère piézoélectrique PVF2". Grenoble 1, 1992. http://www.theses.fr/1992GRE10122.
Texto completoLavarec, Erwann. "Estimation de mouvements 3D à l'aide d'une caméra et de capteurs proprioceptifs". Montpellier 2, 2001. http://www.theses.fr/2001MON20201.
Texto completoMerrien, Arnaud. "Conception de capteurs de force pour l'étude de la saisie d'objets en prises pollicidigitale et palmaire". Le Mans, 2001. http://www.theses.fr/2001LEMA1023.
Texto completoBouchez, Jean-Luc. "Capteur d'effort triaxial intelligent à transmission optique : Application à la préhension et au prépositionnement". Nancy 1, 1989. http://www.theses.fr/1989NAN10007.
Texto completoDesmaële, Denis. "Design of a planar resonant force sensor with an application to cell mechanics". Paris 6, 2011. http://www.theses.fr/2011PA066477.
Texto completoLakhmi, Riadh. "Etude de micropoutres sérigraphiées pour des applications capteurs". Phd thesis, Université Sciences et Technologies - Bordeaux I, 2011. http://tel.archives-ouvertes.fr/tel-00671386.
Texto completoFail, Abderrahim. "Etude de capteurs-émetteurs et des procédés de télétransmission associés : applications à la rééducation des membres inférieurs". Vandoeuvre-les-Nancy, INPL, 1990. http://www.theses.fr/1990INPL055N.
Texto completoChedevergne, Fany. "Baropodomètre écologique : développement d'un chausson à semelle instrumentée pour l'analyse de la marche". Besançon, 2008. http://www.theses.fr/2008BESA2024.
Texto completoMore and more often, practitioners use the plantar pressure analysis to observe their patient's balance and gait troubles. The health of the neuro-muscular system can be known by qualifying and quantifying the foot laying on the floor. It ables to diagnose, to follow the cure and also to prevent from possible traumas Severals and various baropodometrical tools are available but their functionalities can't totally answer the medical demands. Few of them can record barefoot walk and none do it over numerous step with good reproducibility. That's why this study deals with a new baropodometrical device developed in our lab which is a medical shoe equipped with force sensors. The analysis of the first prototype reveals a limited use fitting only healthy people. After several mechatronical improvements, a new prototype, which could be used with any individual whatever the pathology he suffers, is proposed. Beside, a data processing is developed to plot easily and rapidly the dynamics solicitation of the foot during the gait The first clinical applications lead to the conclusion that the device is still perfectible concerning its measurement accuracy. Nevertheless, the evolution of the plantar pressure distribution is clearly given along the time. The prototype is usable in a clinical context as weIl as in an ecological context at the patient's home. The balance and the locomotion analysis could be proceed with a more spontaneous and regular method. This would be better for following elderly people to prevent them from faIls, or diabetic individuals and their risk of ulcer, or operated patient during their readaptation, and more widely anyone with any pathology
Ospina, Triviño Andrés Felipe. "Intrinsic tactile sensing system for robotic dexterous manipulation". Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066369/document.
Texto completoTactile sensing and slip detection plays an important role in enabling robotic dexterous object manipulation. Thus developing a high-resolution fully integrated tactile sensor system is of great interest. This work deals the design and implementation of an intrinsic tactile sensing system based on a set of 3-axis force MEMs sensors and the detection of slippage with such system. In order to create a tactile system the 3-axis force sensors are protected by a coating, a study about the coating is made. Two different intrinsic systems based on an array of 3-axis force sensors are developed, the first one is used a feasibility test of this kind of system. The second intrinsic system is adapted to a robotic finger with soft surface. The proposed systems measures three-force components, the normal torque to the contact surface, and the position of the contact centroid applied to its sensitive surface. Both systems are characterized and tested. The detection of slippage with an intrinsic tactile system is tested. The application of the limit surface theory and the viscoelastic model of contact make the detection of slippage
Sanchez, Loza Jose Manuel. "Shape sensing of deformable objects for robot manipulation". Thesis, Université Clermont Auvergne (2017-2020), 2019. http://www.theses.fr/2019CLFAC012/document.
Texto completoDeformable objects are ubiquitous in our daily lives. On a given day, we manipulate clothes into uncountable configurations to dress ourselves, tie the shoelaces on our shoes, pick up fruits and vegetables without damaging them for our consumption and fold receipts into our wallets. All these tasks involve manipulating deformable objects and can be performed by an able person without any trouble, however robots have yet to reach the same level of dexterity. Unlike rigid objects, where robots are now capable of handling objects with close to human performance in some tasks; deformable objects must be controlled not only to account for their pose but also their shape. This extra constraint, to control an object's shape, renders techniques used for rigid objects mainly inapplicable to deformable objects. Furthermore, the behavior of deformable objects widely differs among them, e.g. the shape of a cable and clothes are significantly affected by gravity while it might not affect the configuration of other deformable objects such as food products. Thus, different approaches have been designed for specific classes of deformable objects.In this thesis we seek to address these shortcomings by proposing a modular approach to sense the shape of an object while it is manipulated by a robot. The modularity of the approach is inspired by a programming paradigm that has been increasingly been applied to software development in robotics and aims to achieve more general solutions by separating functionalities into components. These components can then be interchanged based on the specific task or object at hand. This provides a modular way to sense the shape of deformable objects.To validate the proposed pipeline, we implemented three different applications. Two applications focused exclusively on estimating the object's deformation using either tactile or force data, and the third application consisted in controlling the deformation of an object. An evaluation of the pipeline, performed on a set of elastic objects for all three applications, shows promising results for an approach that makes no use of visual information and hence, it could greatly be improved by the addition of this modality
Démoulin, Damien. "Les billes magnétiques comme capteurs de force : application à la pression de croissance de filaments d'actine". Phd thesis, Université Pierre et Marie Curie - Paris VI, 2012. http://pastel.archives-ouvertes.fr/pastel-00733095.
Texto completoAlauze, Xavier. "Optimisation d'un capteur de force à atomes ultrafroids piégés dans un réseau optique". Thesis, Sorbonne université, 2018. http://www.theses.fr/2018SORUS215.
Texto completoThe aim of the ForCa-G project (for Casimir-Polder Force and Gravitation) is to measure short range forces between an atom and a macroscopic surface. Our force sensor involves 87Rb atoms trapped in a vertical optical lattice where two-photon Raman transitions allow to create a coherent superposition of spatially separated states and thus realize an atom interferometer to measure the variation of the potential in the vertical direction. Given the high position dependence of atom-surface interaction forces, a very high spatial resolution of the sensor is required. A micrometric spatial resolution of the force measurement is achieved by reducing the size of the atomic source using evaporative cooling. The relative sensitivity, obtained for the measurement of the gravitational force, of 5 x 10-6 at 1 s, which averages down to 8 x 10-8 in 1 h, is at the state of the art for such a spatial resolution. Improving this resolution implies an increase in atomic density. A study of atomic interactions is then carried out in the particular configuration of our trapped atom interferometer where we have a coherent control over the wavepackets overlap. In order to improve the spatial resolution further, we will select a single eigenstate of the system. For that, we lift the degeneracy of the energy increment between adjacent wells using a super-lattice
Roche, Denis. "Conception et réalisation d'un capteur piézoélectrique de contraintes de cisaillement pour structure adaptative". Lyon, INSA, 1995. http://www.theses.fr/1995ISAL0062.
Texto completoThe scope for our work is the conception, the modelling and the realisation of a piezoelectric sensor for the measurement of static and dynamic shear stresses in hydrodynamic flow. The values of the shear stresses ta be measured in a laminar or a turbulent flow are only of a few Pascal. The usual types of piezoelectric sensors can not perform this measurement with a satisfactory accuracy. Three different solutions have been investigated in out:'thesis work. The use of the shear mode of a piezoelectric ceramic has first been studied. Surface Acoustic Wave (SAW) devices have then been proposed. As these surface waves are very sensitive to external perturbation,. The shear stresses are responsible for a resonance frequency shift. The third device is a floating element type sensor. It consists of a sensing armature, in contact with the flow, and attached ta a fixed one by at least two piezoelectric bimorphs. The floating armature allows the measurement of the drag force counterbalancing the shear effort. This sensor has a high sensitivity and can perform quasi-static and dynamic shear stress measurement using a simple charge amplifier. Another concept, based on the last principle, is the composite transducer. This sensor is entirely embedded and constitutes a composite material, which has the shear stress sensitivity required
Gafsi, Rachid. "Capteurs de contraintes et de perturbations a fibres optiques". Châtenay-Malabry, Ecole centrale de Paris, 1997. http://www.theses.fr/1997ECAP0509.
Texto completoKelarestaghi, Manoochehr. "Diagnostic de la qualité d'usinage en fraisage : techniques de recconnaissance de formes floues et de fusion des capteurs". Compiègne, 1999. http://www.theses.fr/1999COMP1227.
Texto completoBoukallel, Mehdi. "Etude, conception et réalisation d'un capteur de micro et nano-forces : application à la mesure d'élasticité des ovocytes". Phd thesis, Université de Franche-Comté, 2003. http://tel.archives-ouvertes.fr/tel-00259349.
Texto completoLaprise, Nathalie. "Utilisation de l'imagerie numérique aéroportée (capteurs Daedalus et Meis) pour identifier différents niveaux de perturbations d'un feu de forêt /". Thèse, Chicoutimi : Université du Québec à Chicoutimi, 1997. http://theses.uqac.ca.
Texto completoAhmed-Zaid, Abderrahmane. "Optimisation des capteurs solaires plans à air : application au séchage de produits agricoles et de la pêche". Valenciennes, 1999. https://ged.uphf.fr/nuxeo/site/esupversions/c9ed80bf-6fe0-471f-8990-e26e2ff42a85.
Texto completoBoucher, Mathieu. "Limites et précision d'une analyse mécanique de la performance sur ergocycle instrumenté". Poitiers, 2005. http://www.theses.fr/2005POIT2260.
Texto completoIn biomechanics, the modelling of the human body is a major stake to estimate, in an imposed task, muscular effort and subjacent metabolic expenditure. In parallel, the evaluation of physical abilities in sport medicine needs to characterize the athletes' motion and their interactions with the external environment, in order to compare physiological measurements more objectively. These two orientations are based mainly on the activities of cycling. The objective of this work is thus to study the limits of the mechanical analysis of the performance on ergocycle using inverse dynamics technique. These limits depend on the measuring instruments and on the adequacy between the data input of the cycling model and the data measured. The evaluations of the uncertainty of the quantities used in the calculation of the intersegment effort allow to estimate the consequences of them on the precision of each mechanical parameter used in the analysis of the performance
Beaulieu, Cyril. "De la mesure des sollicitations extérieures réelles à la simulation et l'optimisation de structures stratifiées en matériaux composites : réalisation d'une pédale dynamométrique". Besançon, 2004. http://www.theses.fr/2004BESA2051.
Texto completoNazeer, Sebastien. "Conception et réalisation de micro-capteurs de pression pour l'instrumentation d'interface à retour d'effort". Phd thesis, Université Paris Sud - Paris XI, 2012. http://tel.archives-ouvertes.fr/tel-00717751.
Texto completoIsavudeen, Ali. "Architecture Dynamiquement Auto-adaptable pour Systèmes de Vision Embarquée Multi-capteurs". Thesis, Paris Est, 2017. http://www.theses.fr/2017PESC1071.
Texto completoAn embedded multi-sensor vision system involves several types of image sensors such as colour, infrared or low-light sensor.Characteristics of the sensors are often various (different resolution, frame rate and pixel depth).Hence, the vision system has to deal with several heterogeneous image streams.That multiplicity and the heterogeneity of the sensors help to face various environmental contexts.We consider a multi-sensor vision system that has to work in different area (city, sea, forest) and handle several operations (multispectral fusion, panoramic, multifocus).The vision system has to also face various luminosity conditions : day, night or low-light condition.The challenge of designing architecture for such a vision system is that the working context can dynamically vary.The designer has to take in account this dynamic variation of the working context.The architecture should be enough flexible to adapt its processing to the requirements of the context.It also has to be able to detect any variation of the context and adapt itself according to the context.Above all, the design should satisfy area and power constraints of an embedded and portable system.In this thesis, we propose an embedded monitor enabling dynamic auto-adaptation of the current multi-stream architecture of Safran.The monitor accomplishes two tasks for the auto-adaptation of the architecture.First, he continuously observes changes of both external and internal contexts.Then, he decides the adaptation that the architecture needs in response to the context variation.Observation of the external context is about the type of the area and the luminosity conditions.While, observation of the internal context focuses on the current status of the vision system and its architecture.To perform the adaptation, the monitor sends adaptation commands toward controllers of the architecture.We introduce a Network-on-Chip (NoC) based interconnexion layer to fulfill monitoring communication.This NoC is inspired from our previous work cite{Ng2011}.This layer allows observing and commanding the processing stages without compromising the existing pixels streams.Routers of the NoC are responsible for routing observation data from processing stages to the monitor and adaptation commands from the monitor toward processing stages.The proposed NoC takes in account the heterogeneity of working frequencies.Finally, we present a memory controller that enables dynamic allocation of the frame memory.When the working context changes, memory resources requirements change too.For an optimised and economical resources utilisation, we propose to dynamically adapt the frame buffer allocation.Also, the proposed has the possibility to dynamically manage the bandwidth of the frame memory.We introduce a pondered round robin-based method with the ability to adapt the weights on-the-fly.Our proposition has been evaluated with a typical Safran multi-stream architecture.It has been implemented in a FPGA target.Area performances have been evaluated through synthesis for a ALTERA Cyclone V FPGA (5CGX).Latency performances have been evaluated thanks to ModelSim simulations
Pampagnin, Luc-Henri. "Reconnaissance d'objets tridiéensionnels en perception monoculaire et multisensorielle : application à la robotique spatiale". Toulouse 3, 1990. http://www.theses.fr/1990TOU30149.
Texto completoChenebault, Christian. "Developpement d'un prehenseur dote de capteurs tactiles d'efforts et d'un porteur six axes pour la realisation robotisee d'assemblages de haute precision". Poitiers, 1987. http://www.theses.fr/1987POIT2259.
Texto completoGana, Racha. "Développement d'un capteur magnétique de nano-force à raideur négative et caractérisation mécanique des ovocytes humains". Thesis, Besançon, 2016. http://www.theses.fr/2016BESA2067/document.
Texto completoThe oocyte selection method for insemination, in the context of medically assisted procreation for humans, does not guarantee a good rate of success. Several academic studies have been conducted in order to complete this method by other more objective. We are interested in the mechanical characterization which requires an appropriate device. In this context, we carried out a design and a manufacturing work to develop a platform for the mechanical characterization of human oocytes. The main component of this platform is the nano-force sensor. This sensor, which uses a principle of passive magnetic springs, is composed of an indenter which compresses the oocyte. In this configuration, the indenter is stable along two directions. The third direction, initially unstable is stabilized by the reaction of the oocyte that has to be characterized. The originality of this sensor is the exploitation of the unstable direction for the force measurment. In parallel, a modeling work of the oocytes mechanical behavior was performed in order to identify some relevant mechanical parameters for their qualification. This work allowed us, first, to make a critical study of existing models in the literature, and secondly, to develop a model, based on a physical approach, which takes into account the oocyte complex three-dimensional structure
Yusifli, Elmar. "Développement d'une instrumentation embarquée pour le contrôle de dermes équivalents en culture". Thesis, Bourgogne Franche-Comté, 2017. http://www.theses.fr/2017UBFCD020.
Texto completoThe skin is an organ which can regenerate and heal. It is the first shield of protection of our body against external physico-chemical aggression. For several decades, researches have been conducted to control the dermis culture for several applications such as grafting large burns. The technological aspect of this area has been the subject of several works. In the 2000s, the team of our laboratory proposed the dermis culture method associated with silicon microsystems. This is the only current method that allows the measurement of isometric forces of the equivalent dermis during its culture.In a first stage of study, in order to produce a miniaturized and low-cost bio-device, we proposed new methods to measure isometric forces in reconstructed skins in culture between two silicon beams. Thus, the optimal dimensions were calculated and new beams were fabricated. The chosen optimization is related to improve the sensitivity of the force measurement. To quantify the deflection of the beams due to the isometric forces applied by the dermis in culture, we opted for the measurement of the displacements of the beams under the influence of the isometric forces by using surface acoustic waves (SAW). This choice is justified by the simplicity of the integration of the interdigital transducers (IDT) that generate the SAW, the possibility of using a wireless interrogation and the physical realization of the cross-correlation of the generated waves.Using simulation, we have identified the frequency deviations caused by wave deformations. Indeed, the dissymmetry of the cross-correlation curve of the signals generated and received by IDT is closely related to the frequency deviation of the received wave. We have evidenced that the beam deflection generates the dissymmetry in the time axis which can be measured more precisely within the limits of sampling. Two demonstrators were designed and manufactured in the clean room to validate the instrumentation and the principle of transducing a chirped signal with a SAW. The obtained results show that the proposed SAW-based force measuring method allows us to measure force, but in a higher intensity range than expected. Subsequently, we studied the method of force measurement by piezoresistors. Considering that the technique is based on the variation of resistivity of the deformed material, we decided to replace the silicon grids provided for the attachment of the dermis in culture by the piezoresistive material implanted on the silicon micro-beams. To improve the low-resolution detection, a series of calculations and simulations of the positions and the dimensions of the piezoresistive material and the micro-beams have been carried out and presented. Another study that we conducted in parallel concerns the development of an on-board instrumentation to monitor the growth of the dermis in culture based on a vision system. Considering of the strict conditions of our specifications that required the portability and autonomy of the final system, we developed an embedded vision system based on a camera module and a FPGA card. The high definition camera mounted on the system of final culture box with a lens allows to take fluorescence images of cells in culture