Tesis sobre el tema "Contrôle de réseaux autonomes"
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Aljnidi, Mohamad. "Vers un système d'administration de la sécurité pour les réseaux autonomes". Phd thesis, Télécom ParisTech, 2009. http://pastel.archives-ouvertes.fr/pastel-00570696.
Texto completoDE, MEDEIROS Adelardo A. D. "Contrôle d'exécution pour robots mobiles autonomes: architecture, spécification et validation". Phd thesis, Université Paul Sabatier - Toulouse III, 1997. http://tel.archives-ouvertes.fr/tel-00010029.
Texto completoWetterwald, Michelle. "Contrôle de terminaux multi-modes autonomes dans des environnements sans fil hétérogènes et indépendants". Electronic Thesis or Diss., Paris, ENST, 2012. http://www.theses.fr/2012ENST0064.
Texto completoRecent years have witnessed a massive evolution of mobile communications. When no agreement between the network providers exists, changing the attached network still means breaking the session and relying on the application to recover the lost data. In parallel, it is hardly possible for a mobile user to control the connectivity of his terminal. The objective of this thesis is to present the concept of an innovative technological framework for the autonomous control of multimode terminals in heterogeneous and non-federated wireless environments. The aim is to enable a self-configuring terminal to connect and roam seamlessly across independent networks, while respecting its user’s choices and preferences. The target scheme involves abstraction and cross-layer mechanisms. It takes into account constraints based on heterogeneous wireless systems, autonomous architectures and enables generic services such as smart access network selection, connectivity and session management. This scheme applies to the mobile terminal, with mechanisms independent of the network infrastructure. The thesis analyses how existing technologies are enhanced and combined with new features to achieve this objective and gives a description of the overall concept and of its implementation. A simulated model is used to assess the validity of the proposed framework. Diverse applications to real systems that implemented the components of this framework are presented, highlighting the generality and key benefits of the concept
Wetterwald, Michelle. "Contrôle de terminaux multi-modes autonomes dans des environnements sans fil hétérogènes et indépendants". Thesis, Paris, ENST, 2012. http://www.theses.fr/2012ENST0064/document.
Texto completoRecent years have witnessed a massive evolution of mobile communications. When no agreement between the network providers exists, changing the attached network still means breaking the session and relying on the application to recover the lost data. In parallel, it is hardly possible for a mobile user to control the connectivity of his terminal. The objective of this thesis is to present the concept of an innovative technological framework for the autonomous control of multimode terminals in heterogeneous and non-federated wireless environments. The aim is to enable a self-configuring terminal to connect and roam seamlessly across independent networks, while respecting its user’s choices and preferences. The target scheme involves abstraction and cross-layer mechanisms. It takes into account constraints based on heterogeneous wireless systems, autonomous architectures and enables generic services such as smart access network selection, connectivity and session management. This scheme applies to the mobile terminal, with mechanisms independent of the network infrastructure. The thesis analyses how existing technologies are enhanced and combined with new features to achieve this objective and gives a description of the overall concept and of its implementation. A simulated model is used to assess the validity of the proposed framework. Diverse applications to real systems that implemented the components of this framework are presented, highlighting the generality and key benefits of the concept
Razafindralambo, Tahiry. "Mouvements Autonomes : vers la Créativité dans les Réseaux sans fil". Habilitation à diriger des recherches, Université des Sciences et Technologie de Lille - Lille I, 2013. http://tel.archives-ouvertes.fr/tel-00914798.
Texto completoAlliche, Abderrahmane Redha. "Contrôle du réseau cloud basé intelligence artificielle". Electronic Thesis or Diss., Université Côte d'Azur, 2024. http://www.theses.fr/2024COAZ4022.
Texto completoThe exponential growth of Internet traffic in recent decades has prompted the emergence of Content Delivery Networks (CDNs) as a solution for managing high traffic volumes through data caching in cloud servers located near end-users. However, challenges persist, particularly for non-cacheable services, necessitating the use of cloud overlay networks. Due to a lack of knowledge about the underlay network, cloud overlay networks introduce complexities such as Triangle inequality violations (TIV) and dynamic traffic routing challenges.Leveraging the Software Defined Networks (SDN) paradigm, Deep Reinforcement Learning (DRL) techniques offer the possibility to exploit collected data to better adapt to network changes. Furthermore, the increase of cloud edge servers presents scalability challenges, motivating the exploration of Multi-Agent DRL (MA-DRL) solutions. Despite its suitability for the distributed packet routing problem in cloud overlay networks, MA-DRL faces non-addressed challenges such as the need for realistic network simulators, handling communication overhead, and addressing the multi-objective nature of the routing problem.This Ph.D. thesis delves into the realm of distributed Multi-Agent Deep Reinforcement Learning (MA-DRL) methods, specifically targeting the Distributed Packet Routing problem in cloud overlay networks. Throughout the thesis, we address these challenges by developing realistic network simulators, studying communication overhead in the non-overlay general setting, and proposing a distributed MA-DRL framework tailored to cloud overlay networks, focusing on communication overhead, convergence, and model stability
Plascencia, Cruz Luis Emmanuel. "Contrôle de la communication par lumière visible dans un environnement de véhicule de peloton". Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPAST075.
Texto completoUsing VLC for such different applications requires a smooth integration of the technology into the protocol stack. The first question is how an application module can be aware that a VLC link is available, how it can discover the neighbors, and how it can find the intended communication peer. In WLANs, for instance, the MAC layer beaconing and the IPv6 neighbor discovery protocol (NDP) play critical roles in neighbor/route discovery at both the MAC and network layers, allowing data transmission to the intended neighbor. Unfortunately, to our knowledge, there is no work has been done on neighbor discovery for VLC networks, and the WLAN/IPv6 protocols cannot be plugged into VLC, mainly because of the unique uni-directional and narrow FOV characteristics. More specifically, to make VLC operational in natural vehicular environments, it is necessary to design a Medium Access Control (MAC) protocol that ensures continuous V2V information exchange with the presence of the challenging issues coming from the mobility dynamics, multi-user interference, and environmental noise
Kariniotakis, Georges. "Contribution au développement d'un système de controle avancé pour les systèmes éolien-diesel autonomes". Paris, ENMP, 1996. http://www.theses.fr/1996ENMP1153.
Texto completoThe contribution of the thesis consists in the development of advanced models for the dynamic behaviour of a wind-diesel system as well as for the short-term prediction of the power output of a wind farm. In order to simulate the transient behaviour of an autonomous system, a generic model has been developed that incorporates models for all the power system components. A methodology has been developed for the robust identification of the unknown power system parameters. Following this development, the next step was to develop forecasting models based on recurrent high order neural networks and on fuzzy logic for the power output of a wind farm. The developed models on the wind power forecasting problem were found to outperform existing approaches in the literature. The consideration of the developed models in the control system contributes to improve the power system management and to increase wind power penetration while maintaining a high level of security in the network
Liu, Bing. "Contrôle et optimisation des systèmes de transport intelligents dans le voisinage des intersections". Thesis, Ecole centrale de Lille, 2016. http://www.theses.fr/2016ECLI0008/document.
Texto completoThis thesis is devoted to study the potential applications of autonomous vehicles and V2X communications to construct the intelligent transportation systems. Firstly, the behavior of platoon in connected vehicle environment is studied. A platoon control algorithm is designed to obtain safe spacing as well as accordance of velocity and acceleration for vehicles in the same lane. Secondly, in larger scale, the platoons around an intersection are considered. The throughput in a traffic signal period can be improved by taking advantage of the redundant road capacity. Within diverse constraints, vehicles can choose to accelerate to join in the preceding platoon or to decelerate to depart from the current one. Thirdly, an unsignalized intersection in VANET is considered. In light traffic conditions, vehicles can regulate their velocities before arriving at the intersection according to the conflict zone occupancy time (CZOT) stored at the manager, so that they could get through the intersection without collision or stop. The delay can be reduced accordingly. Finally, an universal autonomous intersection management algorithm, which can work even with heavy traffic, is developed. The vehicle searches for safe entering windows in the CZOT. Then based on the found windows and the motion of preceding vehicle, the trajectories of vehicles can be planned using a segmented dynamic programming method. All the designed algorithms are successfully tested and verified by simulations in various scenarios
Bullot, Thomas. "Un plan de connaissance à base de vues situées pour une plus grande autonomicité des réseaux de télécommunication : application au contrôle des réseaux GMPLS". Troyes, 2008. http://www.theses.fr/2008TROY0024.
Texto completoThis work stands at the crossroads of two ambitious initiatives for the renewal of telecommunication networks. Two key issues are acknowledged by most actors in this field: on the one hand, the ever increasing multiplicity and variety of data transfer technologies induces a growing complexity of control and management activities as well as increasing difficulties to share management information among domains. Overcoming these issues requires unified management and control architectures which will facilitate automation of these functions. On the other hand, such unified architectures won't be achieved, among other prerequisites, without unified mechanisms for representation and sharing of knowledge about network state and the nature of services to be provided. Basing on the Multi-Agent Systems technologies, we have designed and implemented an autonomic networking platform. In order to experiment this platform, we apply it to a specific case: multi-layer GMPLS optical networks, for which we have defined and specified behaviors of autonomic management. This application was evaluated in a network simulator that we have developed. The results of these experiments are compared to those obtained with common solutions
Paillat, Jean-Luc. "Conception et contrôle de robots à géométrie variable : applications au franchissement d'obstacles autonome". Phd thesis, Université d'Angers, 2010. http://tel.archives-ouvertes.fr/tel-00589292.
Texto completoN'Goran, Arnold. "Contrôle optimal et gestion énergétique d'une station d'énergie autonome par optimisation robuste". Thesis, Université Paris sciences et lettres, 2020. http://www.theses.fr/2020UPSLM050.
Texto completoPower microgrid control involves solving a complex optimisation problem when it must deal with the intermittent, poorly forecasted production of renewable energy sources and with the short-term dynamics of the storage devices used to address intermittency issue. This thesis aims to shed light on the compared practical performance of optimization methods in control with the implementation of different strategies, exact or approximated, analytical or numerical, deterministic, stochastic or robust
Tagne, Fokam Gilles. "Commande et planification de trajectoires pour la navigation de véhicules autonomes". Thesis, Compiègne, 2014. http://www.theses.fr/2014COMP2004/document.
Texto completoMy research focuses on trajectory planning and control of autonomous vehicles. This work is a part of an extremely ambitious project launched by the Heudiasyc laboratory about autonomous driving at high speed (longitudinal speed greater to 5m/s ~= 18 km/h). With regard to the control of autonomous vehicles at high speed, a lateral controler using higher-order sliding mode control is proposed. Given the implicit similarity between the sliding mode and the principle of immersion and invariance, two controllers using the principle of immersion and invariance have been subsequently proposed in order to improve the performance with respect to the sliding mode. The development of these new controllers shows very strong robust stability which leads us to study the intrinsic properties of the system. A study of the passivity properties of the system is also crried out, showing some interesting characteristics of the system. Hence, a robust passivity-based controller has been developed. Regarding the navigation, we have developed two navigation algorithms based on the tentacles method. Subsequently, a feasibility study of trajectory generation strategies for high speed driving is conducted. The outcome of the simulation proved that the algorithms gave out good results with respect to the expected ogjectives of obstacle avoidance and global reference path following. Control and motion planning algorithms developed were validated offline by simulation with real data. They have been also tested on a realistic simulator
Pham, Hoang Anh. "Coordination de systèmes sous-marins autonomes basée sur une méthodologie intégrée dans un environnement Open-source". Electronic Thesis or Diss., Toulon, 2021. http://www.theses.fr/2021TOUL0020.
Texto completoThis thesis studies the coordination of autonomous underwater robots in the context of coastal seabed exploration or facility inspections. Investigating an integrated methodology, we have created a framework to design and simulate low-cost underwater robot controls with different model assumptions of increasing complexity (linear, non-linear, and finally non-linear with uncertainties). By using this framework, we have studied algorithms to solve the problem of formation control, collision avoidance between robots and obstacle avoidance of a group of underwater robots. More precisely, we first consider underwater robot models as linear systems of simple integrator type, from which we can build a formation controller using consensus and avoidance algorithms. We then extend these algorithms for the nonlinear dynamic model of a Bluerov robot in an iterative design process. Then we have integrated a Radial Basis Function neural network, already proven in convergence and stability, with the algebraic controller to estimate and compensate for uncertainties in the robot model. Finally, we have presented simulation results and real basin tests to validate the proposed concepts. This work also aims to convert a remotely operated ROV into an autonomous ROV-AUV hybrid
Meekhun, Dariga. "Réalisation d'un système de conversion et de gestion de l'énergie d'un système photovoltaïque pour l'alimentation des réseaux de capteurs sans fil autonomes pour application aéronautique". Thesis, Toulouse, INSA, 2010. http://www.theses.fr/2010ISAT0031/document.
Texto completoFlight tests of a commercial aircraft consist in gathering data during flight to validate aircraft design. However they are very expensive for various reasons. One of them is that most of the sensors implemented to collect data are wired. As an example, for the sole system that monitors the vibrations onboard a large (more than 100 seats) aircraft, more than 100 sensors may be deployed. Such networks are complex to implement, mainly because of the required wiring. A wireless solution is therefore of great interest; however, such a cable-less implementation implies both wireless transmission of data together with energy autonomy.The purpose of this work is therefore to describe a design of a power generation system, focusing on photovoltaic, together with the associated management strategies for an autonomous wireless sensor network deployed for large aircraft in-flight tests. This work is a part of SACER project. The main requirements are related to the thickness of the system (less than 3,2mm in order not to disturb the aerodynamic air flow) and the output power (3 W per sensor node in order to power the sensor, data processing and transmission system). In addition, the system has to properly work at extremely high and low temperature (-50 to 100°C). Our system consists of three primary components to consider: Energy Harvesting system, Energy storage device and Energy management system.In this work, we firstly present the comparison of the performance of different photovoltaic technologies at different temperatures concerning their availability and achievable power density in aircraft applications. Secondly, we will investigate the possibility of using batteries and supercapacitor. Finally the power management system, composed by a photovoltaic panel, a power conditioning (MPPT function), supercapacitors and a DC/DC regulator, is presented
Hireche, Chabha. "Etude et implémentation sur SoC-FPGA d'une méthode probabiliste pour le contrôle de mission de véhicule autonome Embedded context aware diagnosis for a UAV SoC platform, in Microprocessors and Microsystems 51, June 2017 Context/Resource-Aware Mission Planning Based on BNs and Concurrent MDPs for Autonomous UAVs, in MDPI-Sensors Journal, December 2018". Thesis, Brest, 2019. http://www.theses.fr/2019BRES0067.
Texto completoAutonomous systems embed different types of sensors, applications and powerful calculators. Thus, they are used in different fields of application and perform various simple or complex tasks. Generally, these missions are executed in nondeterministic environments with the presence of random events that can affect the mission's progress. Therefore, it is necessary to regularly assess the health of the system and its hardware and software components in order to detect failures using Bayesian Networks.Subsequently, a decision is made by the mission planner by generating a new mission plan that ensures the mission in response to the detected event. This decision is made using the Markov Decision Process model based on constraints such as the mission objective, the health status of sensors and embedded applications, the mission policy "safety policy" or "mission first policy", etc. As autonomous systems perform different tasks that require different performance, it is necessary to consider the use of hardware accelerators on SoC-FPGA in order to meet high-performance computing constraints and unload the CPU if needed
Morin-Duponchelle, Guillaume. "Reconnaissance automatisée de points d’intérêts pour un robot d’inspection dans un environnement contraint et dégradé : inspection visuelle et chimique par un robot hexapode". Electronic Thesis or Diss., Brest, École nationale supérieure de techniques avancées Bretagne, 2022. http://www.theses.fr/2022ENTA0009.
Texto completoThe thesis subject concerns the automatic recognition of points of interest (PI) for an inspection robot in a constrained and degraded environment. The objective of this thesis work is to develop a robotic platform capable of carrying out autonomous missions based on detected visual and chemical PIs, a so-called bimodal problem. The combination of visual and chemical percepts optimizes localization accuracy and ensures information redundancy. The field of study concerns 3 application cases: case 1, the inspection is carried out in a confined space (industrial environment). Case 2, the inspection is carried out in an environment with a proven risk of loss of signal and predominantly rocky (mine, underground quarry). Case 3, the inspection is carried out in an environment that has undergone significant deformations and therefore a modified and chaotic geometry of the inspection sites (natural disasters such as earthquakes or landslides in an urban environment). In this study, a contextual case analysis method is proposed and presented in order to analyze the constraints of the different complex environments for the robotic solution. The thesis therefore brings together different issues: the study of environmental constraints, the choice of the robotic solution, autonomous navigation and visual and chemical servoing. Following this contextual analysis, a state of the art is oriented on the terrestrial robotic platform to determine the most suitable robotic solution to operate in the 3 application cases. The hexapod robots were chosen for their ability to overcome obstacles, their stability, and their carrying capacity for sensors, in particular. A method is proposed to reach the source of the percept in an unstructured environment by relying on visual and chemical PIs. For the evaluation of the proposed methodology, the visual PIs considered are of the QR code type and the detection of the concentration of a gas concerning chemical servoing. The effectiveness of the proposed scheme is first demonstrated by simulations. Finally, a hexapod prototype is designed, built and developed using the ROS software architecture. The developed hexapod carried out a mission within an industrial environment and inside a shipbuilding including a series of obstacles (case 1 of the study). The results of this robotic approach arefinally presented, commented and discussed
Rengifo, cadavid Carolina. "Contrôle plateforme pour la validation du véhicule autonome sur simulateur dynamique à hautes performances". Thesis, Paris, HESAM, 2020. http://www.theses.fr/2020HESAE023.
Texto completoThe work presented in this manuscript takes part in the context of driving simulation and more specifically in the one of dynamic driving simulators used for the validation of advanced systems and the autonomous vehicle. In order to address the issues of performance and motion perception, we have presented different approaches to improve the Motion Cueing Algorithms (MCA). All our studies show that the model predictive control (MPC) strategy is the best choice to MCA on high-performance driving simulators. Indeed, compared to other strategies, it allows to better take advantage of the workspace without endangering the simulator and/or the driver. However, in this MCA, the real-time optimization and the perception model must be guaranteed in order to improve the driver's immersion in the virtual environment. Therefore, we compared different techniques to solve constrained optimization problems. We proposed a based optimization technique, which provides an intuitive and fast solution to the MPC constrained optimization problem. Finally, we established recommendations for MCA parameterization according to the self-declared driving behavior allowing a better perception of motion in a driving simulator, in interactive driving and in autonomous mode
Rolland, de Rengerve Antoine. "Apprentissage Interactif en Robotique Autonome : vers de nouveaux types d'IHM". Thesis, Cergy-Pontoise, 2013. http://www.theses.fr/2013CERG0664/document.
Texto completoAn autonomous robot collaborating with humans should be able to learn how to navigate and manipulate objects in the same task. In a classical approach, independent functional modules are considered to manage the different aspects of the task (navigation, arm control,...) . To the contrary, the goal of this thesis is to show that learning tasks of different kinds can be tackled by learning sensorimotor attractors from a few task nonspecific structures. We thus proposed an architecture which can learn and encode attractors to perform navigation tasks as well as arm control.We started by considering a model inspired from place-cells for navigation of autonomous robots. On-line and interactive learning of place-action couples can let attraction basins emerge, allowing an autonomous robot to follow a trajectory. The robot behavior can be corrected and guided by interacting with it. The successive corrections and their sensorimotor coding enables to define the attraction basin of the trajectory. My first contribution was to adapt this principle of sensorimotor attractor building for the impedance control of a robot arm. While a proprioceptive posture is maintained, the arm movements can be corrected by modifying on-line the motor command expressed as muscular activations. The resulting motor attractors are simple associations between the proprioceptive information of the arm and these motor commands. I then showed that the robot could learn visuomotor attractors by combining the proprioceptive and visual information with the motor attractors. The visuomotor control corresponds to a homeostatic system trying to maintain an equilibrium between the two kinds of information. In the case of ambiguous visual information, the robot may perceive an external stimulus (e.g. a human hand) as its own hand. According to the principle of homeostasis, the robot will act to reduce the incoherence between this external information and its proprioceptive information. It then displays a behavior of immediately observed gestures imitation. This mechanism of homeostasis, completed by a memory of the observed sequences and action inhibition capability during the observation phase, enables a robot to perform deferred imitation and learn by observation. In the case of more complex tasks, we also showed that learning transitions can be the basis for learning sequences of gestures, like in the case of cognitive map learning in navigation. The use of motivational contexts then enables to choose between different learned sequences.We then addressed the issue of integrating in the same architecture behaviors involving visuomotor navigation and robotic arm control to grab objects. The difficulty is to be able to synchronize the different actions so the robot act coherently. Erroneous behaviors of the robot are detected by evaluating the actions predicted by the model with respect to corrections forced by the human teacher. These situations can be learned as multimodal contexts modulating the action selection process in order to adapt the behavior so the robot reproduces the desired task.Finally, we will present the perspectives of this work in terms of sensorimotor control, for both navigation and robotic arm control, and its link to human robot interface issues. We will also insist on the fact that different kinds of imitation behavior can result from the emergent properties of a sensorimotor control architecture
Moussa, Hassan. "Contribution to the Decentralized Energy Management of Autonomous AC-Microgrid". Electronic Thesis or Diss., Université de Lorraine, 2017. http://www.theses.fr/2017LORR0161.
Texto completoThis thesis deals with islanded AC microgrid that allows any integration of Distributed Energy Resources (DERs) that may provide their existing supply energy in a controlled manner to insure overall system functioning. The interconnection of a DER to a microgrid is done usually by using a Distributed Interface Converter (DIC), a general power electronics interface block, which consists of a source input converter module, a Voltage Source Inverter module (VSI), an output interface module, and the controller module. The thesis realizes several control laws based on decentralized methods. The major focus is on the Droop functions that are responsible for providing a power distribution balance between different Energy Resources connected to a microgrid. The aim is to insure system stability and better dynamic performance when sharing the power between different DGs as function to their nominal power. Developing a closed loop stability analysis is useful for studying system dynamics in order to obtain a desired transient response that allows identifying the proper loop control parameters. Power Quality enhancement in microgrids is also a purpose of this research. The reduction of harmonic distortions of the output voltage when supplying linear and non-linear loads are taken in consideration in this thesis. Further aspects will be studied about how to deal with constant power loads connected to the grid and the large perturbations exerted. This results to further research studies that deal with large-signal stability of microgrids
Rolland, de Rengervé Antoine. "Apprentissage Interactif en Robotique Autonome : vers de nouveaux types d'IHM". Phd thesis, Université de Cergy Pontoise, 2013. http://tel.archives-ouvertes.fr/tel-00969519.
Texto completoMoussa, Hassan. "Contribution to the Decentralized Energy Management of Autonomous AC-Microgrid". Thesis, Université de Lorraine, 2017. http://www.theses.fr/2017LORR0161/document.
Texto completoThis thesis deals with islanded AC microgrid that allows any integration of Distributed Energy Resources (DERs) that may provide their existing supply energy in a controlled manner to insure overall system functioning. The interconnection of a DER to a microgrid is done usually by using a Distributed Interface Converter (DIC), a general power electronics interface block, which consists of a source input converter module, a Voltage Source Inverter module (VSI), an output interface module, and the controller module. The thesis realizes several control laws based on decentralized methods. The major focus is on the Droop functions that are responsible for providing a power distribution balance between different Energy Resources connected to a microgrid. The aim is to insure system stability and better dynamic performance when sharing the power between different DGs as function to their nominal power. Developing a closed loop stability analysis is useful for studying system dynamics in order to obtain a desired transient response that allows identifying the proper loop control parameters. Power Quality enhancement in microgrids is also a purpose of this research. The reduction of harmonic distortions of the output voltage when supplying linear and non-linear loads are taken in consideration in this thesis. Further aspects will be studied about how to deal with constant power loads connected to the grid and the large perturbations exerted. This results to further research studies that deal with large-signal stability of microgrids
Gueye, Soguy Mak-Karé. "Coordination modulaire de gestionnaires autonomes par contrôle discret". Thesis, Grenoble, 2014. http://www.theses.fr/2014GRENM097/document.
Texto completoComputing systems have become more and more distributed and heterogeneous, making their manual administration difficult and error-prone. The Autonomic Computing approach has been proposed to overcome this issue, by automating the administration of computing systems with the help of control loops called autonomic managers. Many research works have investigated the automation of the administration functions of computing systems and today many autonomic managers are available. However the existing autonomic managers are mostly specialized in the management of few administration concerns. This makes necessary the coexistence of multiple autonomic managers for achieving a global system management. The coexistence of several managers make possible to address multiple concerns, yet requires coordination mechanisms to avoid incoherent management decisions. We investigate the use of control techniques for the design of coordination controllers, for which we exercise synchronous programming that provide formal semantics, and discrete controller synthesis to automate the construction of the controller. We follow a component-based approach, and explore modular discrete control allowing to break down the combinatorial complexity inherent to the state-space exploration technique. This improves scalability of the approach and allows constructing a hierarchical control. It also allows re-using complex managers in different contexts without modifying their control specifications. We build a component-based coordination of managers, with introspection, adaptivity and reconfiguration. This thesis details our methodology and presents case-studies. We evaluate and demonstrate the benefits of our approach by coordinating autonomic managers which addresse the management of availability, and the management of performance and resources optimization
Mohamed, Ahmed Mohamed Mahmoud. "Contrôle et commande d'une flotte de véhicules autonomes". Electronic Thesis or Diss., Aix-Marseille, 2021. http://www.theses.fr/2021AIXM0626.
Texto completoThe works of this thesis are focused on the control and command of a fleet of many vehicles (4 to 10 vehicles). A longitudinal control is proposed based on the decentralized global approach, for which the information of the leader and the predecessor are assumed to be available to compute the control law using a linearization control by inverse dynamics. This control concept allows to follow a reference speed imposed by the leading vehicle, while respecting a safety distance (variable and constant) to avoid collisions. The longitudinal control is coupled with the lateral control that uses a sliding mode approach to follow the leader's desired trajectory. In addition, different sliding mode observers are developed. These observers are intended to calculate the nonlinear dynamics in the controls of each vehicle. The fleet is treated secondly in the multi-lane trajectories (line configuration). Two control approaches are proposed to control the vehicles in the different lanes (three lanes: i, j and k). The vehicles are controlled in the first strategy to follow the speed of the leader. However, in the second approach, the desired speed of the leader is modified when a lateral movement is present in order to respect the fleet notion. The vehicles are also controlled to avoid obstacles and switch to the next lane by generating an obstacle avoidance trajectory that takes into account the safety distance between the vehicles and the obstacle, and between the vehicles themselves
Sidi, Bah Aladé Habib. "Algorithmes distribués dans les réseaux hétérogènes et autonomes". Phd thesis, Université d'Avignon, 2012. http://tel.archives-ouvertes.fr/tel-00879973.
Texto completoAissanou, Farouk. "Décisions multicritères dans les réseaux de télécommunications autonomes". Phd thesis, Institut National des Télécommunications, 2012. http://tel.archives-ouvertes.fr/tel-00997687.
Texto completoAissanou, Farouk. "Décisions multicritères dans les réseaux de télécommunications autonomes". Electronic Thesis or Diss., Evry, Institut national des télécommunications, 2012. http://www.theses.fr/2012TELE0019.
Texto completoToday's data networks are complex entities that operate in dynamic and heterogeneous environments. The architecture and protocols of these networks have to face several challenges such as dynamic adaptation and autonomous decision-making in the presence of several, often conflicting, criteria such as delay, loss rate, jitter, energy, etc. However, multicriteria decision making problems usually have multiple solutions. These problems are solved by methods that use parameters whose choices have consequences difficult to predict. Thus, most multicriteria decision making methods proposed in the literature assume the presence of a decision maker who guides the decision process. Finally, the choice of parameter values often involves an interaction with the decision maker, which is difficult or impossible to do in an autonomous context. In this thesis, we propose a new multicriteria decision making method suitable for autonomous systems in general and autonomous networks in particular. The Russian doll like method we propose uses a set of nested quality boxes (like Russian dolls) defined in the criteria space, in order to approximate a wide range of utility functions. First, the proposed method adapts to the dynamic nature of autonomous networks in order to maximize user satisfaction. Second, it uses parameters that are directly deduced from objective facts such as technical standards or specifications, or obtained from a MOS (Mean Opinion Score) experiment using an automatic classification method. We tested the performance of the Russian doll like method in a case of routing in wireless ad hoc networks. Experiments have shown that routing done with the Russian doll like method is always better or similar to the one done by the weighted sum method which is widely used. This is due to the adaptation ability of the decision provided by this new multicriteria decision making method
Py, Frederic. "Contrôle d'exécution dans une architecture hiérarchisée pour systèmes autonomes". Phd thesis, Université Paul Sabatier - Toulouse III, 2005. http://tel.archives-ouvertes.fr/tel-00011514.
Texto completoPy, Frédéric. "Contrôle d'exécution dans une architecture hiérarchisée pour systèmes autonomes". Toulouse 3, 2005. http://www.theses.fr/2005TOU30199.
Texto completoThere is an increasing need for advanced autonomy in complex embedded real-time systems such as robots or satellites. Still, this raises a major problem : on one side we have complex sys-tems - therefore, hard to validate - with little human intervention, on the other side these systems are used in domains where safety is critical. How can we guaranty that an autonomous system, with high level decisional capabilities, will exhibit a proper behavior and will not jeopardize the mission? The work we present here integrate an on-line execution control component for hierar-chical architectures. We first describe the role of this program. Then we introduce the R2C, our controller based on synchronous hypothesis, and the tool used to generate it. We then discuss why it is important to take into account the decisional components in our controller. We eventu-ally illustrate our contribution with some experimental results. We then conclude and give some possible future work in this area
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.
Texto completoThe 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
Bernardes, Vitor Giovani. "Urban environment perception and navigation using robotic vision : conception and implementation applied to automous vehicle". Thesis, Compiègne, 2014. http://www.theses.fr/2014COMP2155/document.
Texto completoThe development of autonomous vehicles capable of getting around on urban roads can provide important benefits in reducing accidents, in increasing life comfort and also in providing cost savings. Intelligent vehicles for example often base their decisions on observations obtained from various sensors such as LIDAR, GPS and Cameras. Actually, camera sensors have been receiving large attention due to they are cheap, easy to employ and provide rich data information. Inner-city environments represent an interesting but also very challenging scenario in this context,where the road layout may be very complex, the presence of objects such as trees, bicycles,cars might generate partial observations and also these observations are often noisy or even missing due to heavy occlusions. Thus, perception process by nature needs to be able to dea lwith uncertainties in the knowledge of the world around the car. While highway navigation and autonomous driving using a prior knowledge of the environment have been demonstrating successfully,understanding and navigating general inner-city scenarios with little prior knowledge remains an unsolved problem. In this thesis, this perception problem is analyzed for driving in the inner-city environments associated with the capacity to perform a safe displacement basedon decision-making process in autonomous navigation. It is designed a perception system that allows robotic-cars to drive autonomously on roads, with out the need to adapt the infrastructure,without requiring previous knowledge of the environment and considering the presenceof dynamic objects such as cars. It is proposed a novel method based on machine learning to extract the semantic context using a pair of stereo images, which is merged in an evidential grid to model the uncertainties of an unknown urban environment, applying the Dempster-Shafer theory. To make decisions in path-planning, it is applied the virtual tentacle approach to generate possible paths starting from ego-referenced car and based on it, two news strategies are proposed. First one, a new strategy to select the correct path to better avoid obstacles and tofollow the local task in the context of hybrid navigation, and second, a new closed loop control based on visual odometry and virtual tentacle is modeled to path-following execution. Finally, a complete automotive system integrating the perception, path-planning and control modules are implemented and experimentally validated in real situations using an experimental autonomous car, where the results show that the developed approach successfully performs a safe local navigation based on camera sensors
Bélanger, Jacky. "Contrôle de véhicules aériens autonomes avec respect de contraintes terminales". Thesis, Université Laval, 2010. http://www.theses.ulaval.ca/2010/27547/27547.pdf.
Texto completoMedeiros, Adelardo Adelino Dantas de. "Contrôle d'exécution pour robots mobiles autonomes : architecture, spécification et validation". Toulouse 3, 1997. http://www.theses.fr/1997TOU30027.
Texto completoWahbi, Wassim. "Contrôle stochastique sur les réseaux". Thesis, Paris Sciences et Lettres (ComUE), 2018. http://www.theses.fr/2018PSLED072.
Texto completoThis thesis consists of three parts which deal with quasi linear parabolic PDE on a junction, stochastic diffusion on a junction and stochastic control on a junction with control at the junction point. We begin in the first Chapter by introducing and studying a new class of non degenerate quasi linear parabolic PDE on a junction, satisfying a Neumann (or Kirchoff) non linear and non dynamical condition at the junction point. We prove the existence and the uniqueness of a classical solution. The main motivation of studying this new mathematical object is the analysis of stochastic control problems with control at the junction point, and the characterization of the value function of the problem in terms of Hamilton Jacobi Bellman equations. For this end, in the second Chapter we give a proof of the existence of a diffusion on a junction. The process is characterized by its local time at the junction point, whose quadratic approximation is centrally related to the ellipticty assumption of the second order terms around the junction point.We then provide an It's formula for this process. Thanks to the previous results, in the last Chapter we study a problem of stochastic control on a junction, with control at the junction point. The set of controls is the set of the probability measures (admissible rules) satisfying a martingale problem. We prove the compactness of the admissible rules and the dynamic programming principle
Chopinaud, Caroline. "Contrôle de l'émergence de comportements dans les systèmes d'agents cognitifs autonomes". Paris 6, 2007. http://www.theses.fr/2007PA066587.
Texto completoPatin, Nicolas. "Analyse d'architectures, modélisation et commmande de générateurs pour réseaux autonomes". Phd thesis, École normale supérieure de Cachan - ENS Cachan, 2007. http://tel.archives-ouvertes.fr/tel-00204509.
Texto completoJugade, Shriram. "Shared control authority between human and autonomous driving system for intelligent vehicles". Thesis, Compiègne, 2019. http://www.theses.fr/2019COMP2507.
Texto completoRoad traffic accidents have always been a concern to the driving community which has led to various research developments for improving the way we drive the vehicles. Since human error causes most of the road accidents, introducing automation in the vehicle is an efficient way to address this issue thus making the vehicles intelligent. This approach has led to the development of ADAS (Advanced Driver Assistance Systems) functionalities. The process of introducing automation in the vehicle is continuously evolving. Currently the research in this field has targeted full autonomy of the vehicle with the aim to tackle the road safety to its fullest potential. The gap between ADAS and full autonomy is not narrow. One of the approach to bridge this gap is to introduce collaboration between human driver and autonomous system. There have been different methodologies such as haptic feedback, cooperative driving where the autonomous system adapts according to the human driving inputs/intention for the corrective action each having their own limitations. This work addresses the problem of shared control authority between human driver and autonomous driving system without haptic feedback using the fusion of driving inputs. The development of shared control authority is broadly divided into different stages i.e. shared control framework, driving input assessment, driving behavior prediction, fusion process etc. Conflict resolution is the high level strategy introduced in the framework for achieving the fusion. The driving inputs are assessed with respect to different factors such as collision risk, speed limitation,lane/road departure prevention etc in the form of degree of belief in the driving input admissibility using sensor data. The conflict resolution is targeted for a particular time horizon in the future using a sensor based driving input prediction using neural networks. A two player non-cooperative game (incorporating admissibility and driving intention) is defined to represent the conflict resolution as a bargaining problem. The final driving input is computed using the Nash equilibrium. The shared control strategy is validated using a test rig integrated with the software Simulink and IPG CarMaker. Various aspects of shared control strategy such as human-centered, collision avoidance, absence of any driving input, manual driving refinement etc were included in the validation process
Raveneau, Patrice. "Satellites d'observation et réseaux de capteurs autonomes au service de l'environnement". Phd thesis, Toulouse, INPT, 2014. http://oatao.univ-toulouse.fr/11965/1/raveneau.pdf.
Texto completoTodeschini, Fabien. "Dimensionnement énergétique de réseaux de capteurs ultra-compacts autonomes en énergie". Thesis, Supélec, 2014. http://www.theses.fr/2014SUPL0008/document.
Texto completoWireless sensors have a bright future so their development is causing a lot of research.However, their autonomy is still an issue.This work focuses on this problem : find a strategy for the sensors to be autonomous.The energy required to power the sensor, whatever its working mode, must indeed be harvestedfrom the environment wherein the sensor is located. Moreover, in case of absence ora lack of available energy, the sensor has to keep working. Additionnaly the state-of-chargehas to be known in real time in order to extend the sensor lifetime. Finally, the energy managementhas to give the highest efficiency.This study led to the design and the test of a circuit in CMOS 90nm technology. Thiscircuit was integrated in wireless sensors for networks under development. Finally, a methodto estimate the level of energy in the sensor has been developed and will allow to design anew circuit of power management for wireless sensor network
Penco, Dario. "Contrôle véhicule autonome. Contrôle robuste et haute performance pour permettre les manœuvres à haute dynamique des véhicules autonomes". Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPASG039.
Texto completoThe work proposed in this thesis is in the context of autonomous driving. In particular, the objective is the development of a control law for path tracking of collision avoidance maneuvers for an autonomous vehicle.Several non-linear models of the vehicle, capable of representing its behavior in high dynamics maneuvers, are presented. The purpose is to obtain a model for the synthesis of the controllers. The different vehicle models proposed take into consideration the dynamics of the longitudinal, lateral and yaw vehicle speeds. That allows to use the models for the synthesis of controllers that deals simultaneously with vehicle longitudinal and lateral control. Moreover, a non-linear model for tire forces and the variable representation for load transfer have been used for the vehicle models. In fact, the representation of the non-linear behavior of the tires, influenced by the load transfer, is critical in high dynamics maneuvers. Some simulation results allow to compare the different vehicle models and to choose the model used for the controllers synthesis.A linear time-variant model is obtained through the linearization of the chosen non-linear model. The LPV polytopic and grid-based approaches are then used to define two LPV models.Several controllers, static and dynamic, have been developed using the two LPV models. These controllers combine the wheels steering ang torques to stabilize the vehicle and to guarantee the vehicle path tracking on a set of collision avoidance maneuvers. The synthesis of the controllers is done using robust and optimal control methods, through the resolution of optimization problems subjected to LMI constraints. The saturations of the control signals and of the tire forces are taken into consideration in the control synthesis in order to maximize the region of attraction of the system in closed loop.Several simulation results, obtained using a high representativity simulation model, allow to asses the closed loop system performances in presence of non-zero initial conditions and parameter dispersions
Paul, Olivier. "Le contrôle d'accès dans les réseaux ATM". Rennes 1, 2001. http://www.theses.fr/2001REN1A008.
Texto completoStanica, Razvan. "Contrôle de Congestion dans les Réseaux Véhiculaires". Thesis, Toulouse, INPT, 2011. http://www.theses.fr/2011INPT0130/document.
Texto completoThe equipment of vehicles with wireless communication devices in order to improve road safety is a major component of a future intelligent transportation system. The success and availability of IEEE 802.11-based products make this technology the main competitor for the Medium Access Control (MAC) layer used in vehicle-to-vehicle communication. The IEEE 802.11p amendment has been specially designed in this special context of wireless access in vehicular environments. However, as all the other approaches based on Carrier Sense Multiple Access (CSMA), this protocol presents scalability problems, which leads to poor performance in high density scenarios, quite frequent in the case of a vehicular ad hoc network (VANET). This thesis studies the congestion control problem in the context of safety vehicular communications, with a special focus on the back-off mechanism and the carrier sense function. First of all, a number of important characteristics presented by the safety messages are discovered and understood by the means of an analytical framework. Second, the lessons learned from the analytical study are put into practice with the design of two adaptive mechanisms (one for the contention window and the other one for the carrier sense threshold) that take into account the local vehicular density. These mechanisms remain simple, but highly efficient, while also being straightforward to integrate in IEEE 802.11 devices. Finally, by taking into account the most important properties of a safety VANET, a new CSMA-based MAC protocol is proposed. This new access method, named Safety Range CSMA (SR-CSMA), relies on the idea that collisions can not be avoided in a high density network. However, by increasing the number of simultaneous transmissions between geographically distant nodes, SR-CSMA manages to better protect the immediate neighborhood, the most important area for safety applications
Houari, Azeddine. "Contribution à l'étude de micro-réseaux autonomes alimentés par des sources photovoltaïques". Thesis, Université de Lorraine, 2012. http://www.theses.fr/2012LORR0293/document.
Texto completoThe actual electrical energy demand focuses on the development of stand-alone electrical systems which leads to the definition of new directives on performances and reliability of the electrical structures, especially those based on renewable energy. The main objective of this work concerns the development of new tools to improve the power quality and the stability of autonomous micro-grid systems. In this aim, new control algorithms based on the concept of differential flatness have been developed. The main advantage of the proposed technique is the possibility of implementing one loop controllers ensuring high dynamic properties. In the same time, it allows accurate prediction of the evolution of all state variables of the system. Concerning the stability of the autonomous micro-grid systems, we proposed tools to deal with instability phenomena either caused by the loss of load information and the resonance phenomenon of the passive filters
Houari, Azeddine. "Contribution à l'étude de micro-réseaux autonomes alimentés par des sources photovoltaïques". Electronic Thesis or Diss., Université de Lorraine, 2012. http://www.theses.fr/2012LORR0293.
Texto completoThe actual electrical energy demand focuses on the development of stand-alone electrical systems which leads to the definition of new directives on performances and reliability of the electrical structures, especially those based on renewable energy. The main objective of this work concerns the development of new tools to improve the power quality and the stability of autonomous micro-grid systems. In this aim, new control algorithms based on the concept of differential flatness have been developed. The main advantage of the proposed technique is the possibility of implementing one loop controllers ensuring high dynamic properties. In the same time, it allows accurate prediction of the evolution of all state variables of the system. Concerning the stability of the autonomous micro-grid systems, we proposed tools to deal with instability phenomena either caused by the loss of load information and the resonance phenomenon of the passive filters
Berqia, Amine. "Contrôle d'admission et QoS dans les réseaux mobiles et les réseaux WATM". Dijon, 2000. http://www.theses.fr/2000DIJOS003.
Texto completoBriñon, Arranz Lara. "Commande coopérative d'une flottille de véhicules autonomes sous-marins avec contraints de communication". Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-00700986.
Texto completoHecker, Artur. "Contrôle d'accès et gestion des réseaux 4G hétérogènes". Phd thesis, Télécom ParisTech, 2005. http://pastel.archives-ouvertes.fr/pastel-00001415.
Texto completoNguyen, Xuan Hung. "Réseaux de Communication et Applications de Contrôle-Commande". Phd thesis, INSA de Toulouse, 2011. http://tel.archives-ouvertes.fr/tel-00663316.
Texto completoHyon, Emmanuel. "Contrôle d'admission en boucle ouverte dans les réseaux". Vandoeuvre-les-Nancy, INPL, 2002. http://www.theses.fr/2002INPL108N.
Texto completoGoullet, Catherine. "Le contrôle des réseaux de franchise de service". Thesis, Metz, 2011. http://www.theses.fr/2011METZ001D/document.
Texto completoA franchise is defined as “a system of marketing products and/or services”, (Code of Ethics). It is characterized by three essential elements : the provision of the franchisor’s distinctive signs and trade-marks, in-house training, and supervisory services throughout the length of the contract. The franchisor grants the franchisee the right to operate a concept with the requirement that he comply with all the rules and procedures developed by the franchisor. This inter-organizational relation raises a particular interest with regard to the question of control because of two important aspects : the legal and financial independence of both parties as well as their economic interdependence. Our thesis focuses on the study of control and how it evolves throughout the franchise relationship. An exploratory study allowed us to propose a dynamic and global model of control based on the sequencing of the relationship in four phases as well as the implementation of multiple controls. To corroborate our findings, we carried out a double quantitative study of franchisors and franchisees involved in networks that market services. The results point to the existence of a dynamic approach to control throughout the relationship: with compliance verifications of operations that decrease gradually as the acquisition and mastery of know-how increases; with performance controls of the business oriented towards gaining efficiency through the provision of management tools; and with a social control that develops through the gradual integration of franchisees in the life of the network