Tesis sobre el tema "Systèmes de fabrication reconfigurables"
Crea una cita precisa en los estilos APA, MLA, Chicago, Harvard y otros
Consulte los 50 mejores tesis para su investigación sobre el tema "Systèmes de fabrication reconfigurables".
Junto a cada fuente en la lista de referencias hay un botón "Agregar a la bibliografía". Pulsa este botón, y generaremos automáticamente la referencia bibliográfica para la obra elegida en el estilo de cita que necesites: APA, MLA, Harvard, Vancouver, Chicago, etc.
También puede descargar el texto completo de la publicación académica en formato pdf y leer en línea su resumen siempre que esté disponible en los metadatos.
Explore tesis sobre una amplia variedad de disciplinas y organice su bibliografía correctamente.
Abid, Abdelmonaam. "Approche basée sur l’ingénierie système pour la conception intégrée des systèmes manufacturiers reconfigurables". Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLC020/document.
Texto completoToday, manufacturers are seeking new approaches that allow designers to effectively adapt manufacturing systems to an uncertain and disruptive environment. The concept of the reconfiguration of manufacturing systems is proposed in order to find solutions to the occurrence of disturbances within a complex manufacturing system. In the literature, integrating reconfiguration early in the design phase into system engineering by following an approach based on standards and paradigms is beginning to call for several new research studies. We propose a new approach based on system engineering to design manufacturing production systems so that they are reconfigurable from the point of view of operative and control part, ensuring coherence between models and meeting the requirements of the new industry. This approach is intended to guide the designer in modeling the manufacturing systems by integrating the concept of reconfiguration into system engineering.Then, developed models of different viewpoint are transformed according to predefined rules into holonic architecture models that bridge the gap between the conceptual modeling process and the simulation process. These holonic models are executable by the technology of multi-agent systems to facilitate their implementations. Afterwards, the designer will be able to verify and validate by simulation the criteria and key features of the reconfiguration in order to achieve the requested indicators. The obtained results show an effective reactivity to the internal and external disturbances with the most adequate configuration. We chose a reconfigurable manufacturing system which is the steel converter system to illustrate the utility and reliability of the proposed approach in different scenarios
Bensmaïne, Abderrahmane. "Algorithmes évolutionnaires et méthodes approchées multicritères pour la génération des processus de fabrication dans un environnement reconfigurable". Thesis, Université de Lorraine, 2013. http://www.theses.fr/2013LORR0222/document.
Texto completoThe uncertain context of current markets has contributed to the development of manufacturing systems, resulting in systems with different features and principles, trying to meet the changing market demands. Reconfigurable manufacturing system (RMS) is a recent class of systems where machines, machine components and the handling system can be added, modified, deleted or exchanged according to the production needs. RMS combines the high throughput of dedicated manufacturing systems with the customizability of flexible systems. The main component of an RMS is the reconfigurable machine (RMT: Reconfigurable Machine Tool) which has a structure that allows reconfiguration. We focus in this work on CAPP (Computer-Aided Process Planning) to generate effective the process plans in an RMS that take advantage of the high degree of RMT reconfigurability Three problems associated with the function process planning are discussed: (1) the generation of process plans for a single-unit case, where we adapted multi-criteria optimization techniques (NSGA-II, AMOSA) (2) the generation of process plans in the multi-unit case, where we developed simulation based optimization technique, and (3) the integration of process planning and scheduling functions, where we developed a new heuristic aiming to achieve this integration. All the proposed approaches have been validated by numerical experiments, demonstrating their applicability and effectiveness
Bensmaïne, Abderrahmane. "Algorithmes évolutionnaires et méthodes approchées multicritères pour la génération des processus de fabrication dans un environnement reconfigurable". Electronic Thesis or Diss., Université de Lorraine, 2013. http://www.theses.fr/2013LORR0222.
Texto completoThe uncertain context of current markets has contributed to the development of manufacturing systems, resulting in systems with different features and principles, trying to meet the changing market demands. Reconfigurable manufacturing system (RMS) is a recent class of systems where machines, machine components and the handling system can be added, modified, deleted or exchanged according to the production needs. RMS combines the high throughput of dedicated manufacturing systems with the customizability of flexible systems. The main component of an RMS is the reconfigurable machine (RMT: Reconfigurable Machine Tool) which has a structure that allows reconfiguration. We focus in this work on CAPP (Computer-Aided Process Planning) to generate effective the process plans in an RMS that take advantage of the high degree of RMT reconfigurability Three problems associated with the function process planning are discussed: (1) the generation of process plans for a single-unit case, where we adapted multi-criteria optimization techniques (NSGA-II, AMOSA) (2) the generation of process plans in the multi-unit case, where we developed simulation based optimization technique, and (3) the integration of process planning and scheduling functions, where we developed a new heuristic aiming to achieve this integration. All the proposed approaches have been validated by numerical experiments, demonstrating their applicability and effectiveness
Ameer, Muhammad. "Integrated and multi-criteria approaches for process plan generation in reconfigurable manufacturing systems with consideration of system capabilities and product constraints". Electronic Thesis or Diss., Université de Lorraine, 2022. http://www.theses.fr/2022LORR0242.
Texto completoModern manufacturing systems are going through a paradigm shift where the focus is on the integrating the digital technologies in the production systems to address the challenge of uncertain market demands. Manufacturing systems needs certain amount responsiveness to address these uncertainties by adapting accordingly, and require more changeability at physical as well as logical levels. For this purpose, modern-day manufacturing systems are designed with dynamic resource capabilities, with modular components, so that they can provide the required amount of reconfigurability. From the perspective of "industry 4.0", reconfigurability is vital for the effective adaptation of manufacturing systems in a complex environment. Reconfigurability provides the quick adaptation of these systems along with quick responsiveness towards socio-techno-economic competitiveness. The objective is to respond to modern-day challenges (both external and internal), i.e. mass customization, globalization, product variety management, system reconfiguration management, and reducing the lead time.In this thesis, the design problem of reconfigurable manufacturing systems (RMS) is considered which meets the aforementioned requirements. The goal is to design a responsive system based on two key features modularity and reconfigurability. We study the RMS design problem as, the development of a process plan for a particular part of the part family along with the selection of the system's dynamic resource capabilities to perform that part. This work is divided into three parts: (1) Co-generation of process and setup plan for a part in the reconfigurable environment. The main objective is to develop a new approach to jointly consider the setup and process plan constraints, with consideration of relationships between the operations. (2) Minimisation of reconfiguration effort in process design. We propose a novel performance index of the effort generated by the machines and fixtures reconfiguration, and part transfer. The objective is to ensure better responsiveness and high performance of the designed process plan. (3) Maximisation the utilization of dynamic resource capabilities of RMS design. We consider a RMS design problem for machine selection, where selection of different types of reconfigurable machine tools (RMTs) are carried out for performing the process plan of considered part
Jiménez, Jose-Fernando. "Architecture dynamique et hybride pour la reconfiguration optimale des systèmes de contrôle : application au contrôle de fabrication". Thesis, Valenciennes, 2017. http://www.theses.fr/2017VALE0031/document.
Texto completoDiscrete-event control systems have the opportunity to resolve significant challenges of modern society. In particular, these represent a fundamental solution to manage and control the new technological advances in compliance to the increased consciousness of sustainable development. The parameterization, configuration and decision-making of these control systems are critical aspects that impact the performance and productivity required. Dynamic control architecture approaches, such as reconfigurable control systems, have been proposed for modelling such systems. However, such approaches have failed to address the recovery of the reconfiguration process as these focus on the continuity of execution rather than on the optimisation of the reconfiguration. This dissertation proposes a reference architecture for a reconfigurable control system, named Pollux, designed to manage and adjust optimally and in real time the architecture of a control system, either to guide operational execution or to respond to a system perturbation. Considering a proposed framework of an optimal configuration of control architectures based on shared governance, this proposed approach aims to orchestrate a flexible and customizable decisional entity, a representation that characterize the unique configuration and control solution of the control architecture, and a three-module reconfiguration mechanism that integrates the optimality-based principles into the reconfiguration process, to ensure a recovery of global performance and/or minimise the degradation caused by perturbations. Our approach is applied in the manufacturing domain and is validated in a simulation and a real flexible manufacturing system cell located at the University of Valenciennes, France. The validation conducted in three experimental scenarios verified the benefits of our approach and encourage us to continue research in this direction
Haddou, Benderbal Hichem. "Développement d’une nouvelle famille d’indicateurs de performance pour la conception d’un système manufacturier reconfigurable (RMS) : approches évolutionnaires multicritères". Electronic Thesis or Diss., Université de Lorraine, 2018. http://www.theses.fr/2018LORR0112.
Texto completoThe modern manufacturing environment is facing a paradigm shift that require more changeability at physical and logical levels. A Changeable Manufacturing System is defined as a production system that has the ability to facilitate the right changes, allowing the adjustment of its structures and processes in response to the different needs. In this context, manufacturing systems must have a very high level of reconfigurability, which is considered to be one of the major enablers of changeability. From the perspective of the “Factory of the future”, the reconfigurability is essential to effectively adapt to the ever-increasing complexity of manufacturing environments. It allows a rapid, efficient and easy adaptation of these systems while being responsive, robust and economically competitive. The objective is to respond to new internal and external constraints in terms of globalization, variety of products, mass customization, and shorter lead times. Through this thesis, we study the problem of design of reconfigurable manufacturing systems (RMS) that meets these requirements. The goal is to design responsive systems based on their key features of reconfigurability. We have studied the RMS design problem on three levels: (i) the level of the components, relating to the modules of the reconfigurable machines, (ii) the machine level and their interactions, as well as the impact of these interactions on the system and (iii) the workshop level composed of all the reconfigurable machines. We have developed for each level, performance indicators to ensure a better responsiveness and a high performance of the designed system, like the modularity index, the flexibility index, the robustness index and the layout evolution effort of a reconfigurable system. For each of the studied problems, we developed multicriteria optimization models, solved through heuristics or multicriteria metaheuristics (such as archived multi-objective simulated annealing (AMOSA) and multi-objective genetic algorithms (NSGA-II)). Numerous numerical experiments and analyzes have been performed to demonstrate the applicability of our approaches
Haddou, Benderbal Hichem. "Développement d’une nouvelle famille d’indicateurs de performance pour la conception d’un système manufacturier reconfigurable (RMS) : approches évolutionnaires multicritères". Thesis, Université de Lorraine, 2018. http://www.theses.fr/2018LORR0112/document.
Texto completoThe modern manufacturing environment is facing a paradigm shift that require more changeability at physical and logical levels. A Changeable Manufacturing System is defined as a production system that has the ability to facilitate the right changes, allowing the adjustment of its structures and processes in response to the different needs. In this context, manufacturing systems must have a very high level of reconfigurability, which is considered to be one of the major enablers of changeability. From the perspective of the “Factory of the future”, the reconfigurability is essential to effectively adapt to the ever-increasing complexity of manufacturing environments. It allows a rapid, efficient and easy adaptation of these systems while being responsive, robust and economically competitive. The objective is to respond to new internal and external constraints in terms of globalization, variety of products, mass customization, and shorter lead times. Through this thesis, we study the problem of design of reconfigurable manufacturing systems (RMS) that meets these requirements. The goal is to design responsive systems based on their key features of reconfigurability. We have studied the RMS design problem on three levels: (i) the level of the components, relating to the modules of the reconfigurable machines, (ii) the machine level and their interactions, as well as the impact of these interactions on the system and (iii) the workshop level composed of all the reconfigurable machines. We have developed for each level, performance indicators to ensure a better responsiveness and a high performance of the designed system, like the modularity index, the flexibility index, the robustness index and the layout evolution effort of a reconfigurable system. For each of the studied problems, we developed multicriteria optimization models, solved through heuristics or multicriteria metaheuristics (such as archived multi-objective simulated annealing (AMOSA) and multi-objective genetic algorithms (NSGA-II)). Numerous numerical experiments and analyzes have been performed to demonstrate the applicability of our approaches
Callec, Vincent. "Systèmes antennaires reconfigurables pour l'observation spatiale". Phd thesis, INSA de Rennes, 2013. http://tel.archives-ouvertes.fr/tel-00935319.
Texto completoCharra, Olivier. "Conception de noyaux de systèmes embarqués reconfigurables". Grenoble 1, 2004. http://www.theses.fr/2004GRE10047.
Texto completoThe vision of the emergence of a global environment for the information management where most of the physical object around us will be equipped with processors, communication capabilities and interconnected through various networks forces us to redesign the computing systems. Instead of heavy, monolithic and non-evolutive systems, we must design light, flexible and reconfigurable systems. This work presents a new architecture allowing the conception and development of flexible and reconfigurable operating system kernels for embedded systems
Baqai, Aemer. "Co-conception des processus d’usinage et des configurations cinématiques d’un système de production reconfigurable". Paris, ENSAM, 2010. http://www.theses.fr/2010ENAM0010.
Texto completoThis work is based in the domain of the design of manufacturing systems and attempts to respond to the problem statement: "How to optimize the design process of the machining process plans and reconfigurable manufacturing systems, while taking into account: the interactions between processes and resources, the technological constraints imposed by the part to be manufactured"? This response is given via a proposal for the coexploration of the solution space of the process plans and kinematic configurations. A design framework has been formalised which gives a link between the strategic and operational level. With an objective to explore ail solutions at the operational level, an algorithmic approach for the generation of process plans and corresponding machine kinematic configurations of RMS has been formalised, developed, implemented and validated on 3 parts belonging to automobile sector. This approach can be compared to the dynamic constraint satisfaction problem, it exploits the set of possibilities offered by RMS: parallel stru ctures, simultaneous machining. . . The process of generation of process plans is supported by representation of the generated solutions in the form of graphs. For the selection the generated solutions, performance indicators have been defined, structured, and their evaluation approach identified. A particular attention was given to the criterion of quality. An adaptation of the existing approaches was carried out and simulation of geometric deviation in the generated solutions was done. Generated solutions were adapted to be graphically represented and used for the simulation by L1I. This was done to validate the obtained results
Polakovic, Juraj. "Architecture logicielle et outils pour systèmes d'exploitation reconfigurables". Grenoble INPG, 2008. http://www.theses.fr/2008INPG0051.
Texto completoDynamic reconfiguration allows modifying a system during its execution. Dynamic reconfiguration is important in embedded systems, where one does not necessarily have the luxury to stop a running system. While some operating systems do offer mechanisms for dynamic reconfiguration, the proposed mechanisms are essentially hardwired in the system. This results in a fixed trade-off between flexibility of reconfigurations and the system's efficiency which may be far from optical in certain operational contexts, thus limiting the system reuse. We present an architecture-based programming model allowing both construction of customized reconfigurable system kernels and programming of their reconfigurations. This model is based on the Fractal component model and its C implementation, called Think. The framework supporting our approach encompasses an architecture compiler for building customized system kernels and a reconfiguration compiler
Sassatelli, Gilles. "Architectures reconfigurables dynamiquement pour les systèmes sur puce". Montpellier 2, 2002. http://www.theses.fr/2002MON20052.
Texto completoDafali, Rachid. "Conception des réseaux sur puce reconfigurables dynamiquement". Lorient, 2011. http://www.theses.fr/2011LORIS233.
Texto completoThis work addresses the issue of communications between processing or storage units within reconfigurable system on chip. Our approach relies on the implementation of reconfiguration mechanisms in Network. On Chips (NoC) in order to solve the increasing problem of traffic variability in future RSoC. Thus, the objective is to provide the NoC with self-adaptitvity properties so that it can adapt at run-time to real and variable communication requirements of processing and storage units. This thesis proposes two original and efficient mechanisms of reconfiguration. The first one relies on the concept of dynamically reconfigurable memory buffers that allow forthe runtime adaptation of FIFO depths in Network Interfaces according to communication needs. The second one is complementary and controls the TDMA table which is dynamically reconfigurable, it can adapt the number of time slots allocated to different communications according to real bandwidth needs while preserving guaranteed traffic property. This work also consists in developing a new CAD environment, μSpider II, to automize the design flow. This framework is composed of various associated tools that perform exploration, optimization and VHDL code generation, it also provides material for test and performances evaluation. Both approaches have been validated with expe- riments and implementations on FPGA with different versions of the μSpider II NoC with multiprocessor archite
Cardoso, de Souza Daniel. "Algorithme de partitionnement appliqué aux systèmes dynamiquement reconfigurables en télécommunications". Phd thesis, Télécom ParisTech, 2006. http://pastel.archives-ouvertes.fr/pastel-00002569.
Texto completoSouza, Daniel Cardoso de. "Algorithme de partitionnement appliqué aux systèmes dynamiquement reconfigurables en télécommunications". Paris, ENST, 2006. http://www.theses.fr/2006ENST0037.
Texto completoThis work’s goal is to propose an optimized hardware/software partitioning algorithm. We work on the hypothesis that some specific features of certain published algorithms can be advantageously combined for the improvement of a base partitioning algorithm, and of its generated heterogeneous systems. The set of optimizations proposed for the achievement of this new algorithm encompass : generalization of candidate target architectures with the inclusion of FPGA’s for the partitioning, precise consideration of functions’ implementation costs and power consumptions in hardware, manipulation of systems with dynamically reconfigurable hardware, and consideration of multiple implementation alternatives for an application node in a given processor. These optimizations are implemented in successive versions of the proposed partitioning algorithm, which are tested with two signal processing applications. The partitioning results demonstrate the effect of each optimization on the achieved heterogeneous system quality
Le, Menn Frédéric. "Evaluation et optimisation de la locomotion de systèmes mobiles reconfigurables". Paris 6, 2007. http://www.theses.fr/2007PA066347.
Texto completoMuhammad, Najam ul Islam. "Architectures reconfigurables pour les systèmes sans fil, existants et futurs". Paris, Télécom ParisTech, 2010. http://www.theses.fr/2010ENST0039.
Texto completoWe present a generic baseband prototype architecture for Software Defined Radio (SDR) applications that anticipates not only fulfilling current UMTS processing requirements but is also proficient enough to handle 3GPP –LTE processing requirements. The hardware is designed in such a manner that it would substantiate the most computation intensive task efficiently i. E. Meeting the throughput and latency requirements. The hardware is flexible enough to employ the same baseband processing resources for multiple standards. The presented configurable architecture takes advantage of the commonalities that exist among the different schemes. The commonalities and disjoints are translated into hardware architecture to come up with a system that performs all the required operations. The end product enables user to perform desired standard by providing the parameters without going into any details of the architecture. The multi-standard designs should have high performance to comply with the throughput and timing constraints of all the standards. To explore the performance criteria in the baseband design, we present specification, design and implementation of hardware blocks using two approaches, Application Specific Integrated Circuit (ASIC) and Application Specific Instruction Processors (ASIP) designs. The ASIP design provides more flexibility and programmability at the cost of some loss in the performance. We also consider the other existing hardware technologies, take into account their specific advantages and drawbacks, and compare those on the basis of computation type categorization in the baseband design to come up with some guidelines for multi-standard baseband design
Petit, Laurent. "Antennes reconfigurables à base de MEMS RF". Université Joseph Fourier (Grenoble), 2007. http://www.theses.fr/2007GRE10029.
Texto completoThis thesis deals with the study of RF MEMS based reconfigurable antennas. The considered approach is the radiation pattern diversity for mobile and base station. It revea'ls itself an interesting diversity scheme especially in indoor conditions as it enables link budget optimization, and provides a way to reduce fading in multipath environments, raise up data rate and meanwhile the number of users by reducing interferences between them. A state-of-the-art about reconfigurable antennas solutions along with an introduction to RF MEMS is presented. These components show high RF performances, great linearity, along with much reduced power consumption compared to their equivalent solid-state devices. These advantages become even more obvious at millimeterwave frequencies, where new applications are emerging. Ln. Addition, they can be integrated with CMOS circuits on silicon or fabricated with the antenna on various substrates. The main developments in this study are. The implementation of a modeling and optimizing method of parasitic antenna arrays and the integration in these antennas, through equivalent electrical models, of radiofrequency microelectromechanichal (MEMS RF) switches, in order to reconfigure their radiation patterns. It indeed reveals itself necessary to model these systems in order to have a reliable, efficient design of switched parasitic array antennas. Beyond these modeling efforts, passive antenna prototypes haves been realized and measured, validating the whole design method. An active prototype, integrating RF MEMS devices have then be developed. The problem of modeling and integrating these RF MEMS devices in antennas has then been tackled. Beam forming antennas have eventually been developed, based on reconfigurable antenna cells, each forming a subarra of a laraer arrav
Xia, Qing. "modèles et méthodes pour le génération de processus de fabrication reconfigurables". Thesis, Paris, ENSAM, 2017. http://www.theses.fr/2017ENAM0004/document.
Texto completoConventional manufacturing process planning approaches are inefficient to handle the process planning complexity induced by product variety and manufacturing dynamics. Reconfigurable process planning (RPP) is an emerging CAPP approach targeting to the generation of process plans for a product/part family. This thesis aims to give major contributions to the representation models and generation methods to support reconfigurable process planning at two granularity levels: product family and part family. The proposed approaches for RPP are compatible with an extended concept of product/part family which is defined by using the concept of “domain”. A feature-based product/part variety model is developed to represent the required information for RPP by using modular and platform-based techniques. Mathematical models and graph-based representation models are proposed to describe the reconfigurable process plan at two granularity levels. Based on the representation models, the generation methods and algorithms are then developed for RPP. In addition, a global framework is proposed to describe how the proposed RPP models and methods work together to handle the product/part variety and manufacturing dynamics. To test the feasibility of the proposed models and methods, a gear pump family and an oil pump body family are used as illustrative examples throughout this thesis
Houssini, Mohamad. "Conception de circuits reconfigurables à base de MEMS RF". Limoges, 2009. https://aurore.unilim.fr/theses/nxfile/default/e58f6b1b-fcce-48b9-8f9e-904324080877/blobholder:0/2009LIMO4009.pdf.
Texto completoThis work presents the conception of reconfigurable circuits based on MEMS RF with strong quality factors and multifunction in microstrip technologies. This type of circuits requires a rather long time of simulation and large simulator memory. Therefore, we developed a method of hybrid simulation so as to find a response to these shortcomings. We conceived a non-linear electromechanic model for the used MEMS, in order to simulate the intermodulation of the Tchebychev filter that was made. Then, we present the steps followed to conceive and optimize a metamaterial circuit base on MEMS RF varactors. Finally, a metamaterial circuit with 149 multifunction varactors is conceived and optimized
Bévan, Romain. "Approche composant pour la commande multi-versions des systèmes transitiques reconfigurables". Lorient, 2013. http://www.theses.fr/2013LORIS311.
Texto completoProduction systems are faced with growing demands in terms of Quality of Service and operating safety. They have to increase the productivity, improve safety, working conditions and at the same time lower the production costs. These requirements may be satisfied by the mobilization of the full potential of flexibility provided by the reconfigurable systems in terms of responsiveness. This responsiveness is needed to cope with internal and external hazards that affect the system (failure, change in demand). Raising the level of abstraction in control design is widely seen as a solution to bridge the gap between the increasing complexity of the systems addressed and the reduction of time-to-market (profitability). In this work, we propose a design approach for reconfigurable production systems that takes into account system hazards and that can interact with a Manufacturing Execution System (MES). A Domain Specific Language (DSL) is proposed. This modelling language is used to describe a production system with components, by manipulating higher level concepts adapted to the specific needs of the designer
Verdier, François. "Conception d'architectures embarquées : des décodeurs LDPC aux systèmes sur puce reconfigurables". Habilitation à diriger des recherches, Université de Cergy Pontoise, 2006. http://tel.archives-ouvertes.fr/tel-00524534.
Texto completoGrastien, Alban. "Diagnostic décentralisé et en-ligne de systèmes à événements discrets reconfigurables". Phd thesis, Université Rennes 1, 2005. http://tel.archives-ouvertes.fr/tel-00011757.
Texto completoLe diagnostic peut s'effectuer sur chacune de ces périodes, et on peut raffiner le résultat en vérifiant l'égalité entre l'état final d'une fenêtre et l'état initial de la suivante. Puisque le modèle global d'un système réel est trop grand pour être calculé, nous avons adapté les techniques de diagnostic décentralisé à notre approche. Enfin, nous avons étendu nos résultats aux systèmes reconfigurables, c'est-à-dire dont certains composants ainsi que les connexions entre ceux-ci peuvent être ajoutés, modifiés ou supprimés.
Santamaria, Luca. "Systèmes d'antennes reconfigurables intégrés dédiés aux réseaux IoT sans fil dynamiques". Thesis, Université Côte d'Azur, 2021. http://www.theses.fr/2021COAZ4103.
Texto completoBecause of the unique characteristics of the Internet of things (IoT), such as massive volume of data, stringent resource constraints, and heterogeneous activity levels, future wireless IoT infrastructures must integrate smart self-organizing solutions to efficiently operate in the dynamic IoT environment.Within this context, this thesis presents the development of innovative integrated reconfigurable antenna systems capable of adapting to such dynamic and multi-purposed wireless IoT networks.As a first step, the thesis covers the design of antennas suitable for integration in IoT terminals when specific radiation properties or multi-band operations are needed. Both antenna structures and integration techniques are presented for single and multi-band IoT applications. Next, a design methodology based on a multi-access single structure antenna and a miniaturized omnidirectional circularly polarized antenna for IoT applications are presented. Successively, an approach based on Neural Networks (NN) to estimate the performance of small antennas given practical constraints is presented. As proof of concept, the case of printed antennas integrated into compact terminals is considered.In the second part, the thesis focuses on the development of compact and low-power-consuming reconfigurable antennas. In order to enable new applications, such as wearable communications, and to deliver higher performance in a variety of integration environments, a flexible, reconfigurable antenna is presented. To guarantee reliable operation, flexible antennas must maintain proper electrical or radiation characteristics despite the variation of their structure given by the flexibility. Consequently, the reconfiguration mechanism of the proposed antenna allows the shift of the antenna resonance, making the antenna capable of maintaining an acceptable impedance matching over the operating band even when the antenna is folded.A compact high gain and front-to-back ratio pattern reconfigurable antenna for spatial filtering in IoT networks is then proposed. The reconfiguration mechanism is based on the use of a low-insertion, low-on resistance SP4T switch, which can be numerically controlled by a microcontroller, as required by IoT applications. Successively, a slot-based electronically steerable parasitic array radiator (ESPAR) antenna suitable for IoT applications is presented. The work describes in-depth the design procedure of the antenna, addressing the practical implementation of the reconfiguration mechanism, and focusing on the realization of the prototype and its experimental evaluation.Finally, a methodology for synthesizing parasitic antenna arrays is proposed. The method is based on the use of a Particle Swarm Optimizer (PSO), which iteratively optimizes the parasitic element loads until the desired pattern behavior is obtained. In order to assess the method's ability to address the desired goals, the methodology is used to optimize the directivity, the front-to-back ratio, and the gain of compact parasitic array antennas for IoT devices. The impedance loads values identified with this approach are integrated into the antenna structures to realize the parasitic antenna array. Reconfiguration can then simply be obtained by rotating the load's values over the parasitic elements
Chalfoun, Imad. "Conception et déploiement des Systèmes de Production Reconfigurables et Agiles (SPRA)". Thesis, Clermont-Ferrand 2, 2014. http://www.theses.fr/2014CLF22488/document.
Texto completoIndustry is, today as it has always been, a cornerstone of the economy for any developed country. Having a strong manufacturing base is very important because it impels and stimulates all the other sectors of the economy. It provides a wide variety of job, which bring higher standards of living to many sectors of society, and builds a strong middle class. Increasing global competition, rapid changes in the marketplace and the need to create stable companies with profitable plants require the implementation of a global approach, taking into account technical, economic, logistic and societal aspects in the design of an innovative manufacturing system. The aim of this dissertation is to contribute to the development of an innovative concept of Reconfigurable and Agile Manufacturing Systems (RAMS) to adapt quickly and effectively to the requirements imposed by markets, customers, technology processes, the environment and society, to ensure that the enterprise is dynamic, competitive and profitable. In this thesis work, the characterization and proposal of a generic model for this new type of manufacturing system have been described using the language of complex systems modeling (SysML: Systems Modeling Language). We have developed a reconfiguration process that represents the approach to follow in the design and implementation of a new configuration. In addition, the operational control of a RAMS has been introduced. Finally, some works developed in this thesis have been partially deployed on an industrial demonstrator within the AIP-PRIMECA Auvergne organisation
Guillet, Sébastien. "Modélisation et contrôle de la reconfiguration : application aux systèmes embarqués dynamiquement reconfigurables". Lorient, 2012. http://www.theses.fr/2012LORIS275.
Texto completoBignon, Alain. "Génération conjointe de commandes et d'interfaces de supervision pour systèmes sociotechniques reconfigurables". Phd thesis, Université de Bretagne Sud, 2012. http://tel.archives-ouvertes.fr/tel-00735869.
Texto completoBenkermi, Imène. "Modèle et algorithme d'ordonnancement pour architectures reconfigurables dynamiquement". Rennes 1, 2007. ftp://ftp.irisa.fr/techreports/theses/2007/benkermi.pdf.
Texto completoWith increasing multimedia application complexity, designers try to propose hardware architectures able to support this complexity. Architectures, called SoCs (Systems on Chip), based on heterogeneous processing units (e. G. General purpose processors, FPGAs, DSP) integrated on a single chip, are more and more adopted, especially in embedded systems. These heterogeneous units can present different computing capacities in addition of different energy cost for the same portion of code. Furthermore, the presence of dynamically reconfigurable units allow to adapt the architecture to the variety of the application processing (intensive data processing and control) on data of different nature and width. These specific highly heterogeneous architecture consideration requires the use of specific methods and tools. In this thesis, software solutions to the specificity of the architectures considered is discussed. First, a general model of a system-on-chip based platform which includes dynamically reconfigurable modules is proposed. This model is essential prior to the implementation phase of an application and aims at providing a real simulation framework. The specific part of the operating system that ensures task scheduling, i. E. Dispatching tasks over processing units on the chip is then dealt with. The contribution of the proposed method in this thesis is the ability to take into account the heterogeneity of the computing unit characteristics in addition of the heterogeneity of the application task constraints in an on-line manner. To do so, we consider the extension of neural network use to on-line task scheduling on heterogeneous architectures. This method based on neural networks is well suited for on-line scheduling since the networks convergence is extremely rapid when implemented directly in silicium. An on-line scheduling algorithm is than constructed and simulations show the applicability and the efficiency of this method for heterogeneous systems
Trabelsi, Chiraz. "Contrôle matériel des systèmes partiellement reconfigurables sur FPGA : de la modélisation à l'implémentation". Phd thesis, Université des Sciences et Technologie de Lille - Lille I, 2013. http://tel.archives-ouvertes.fr/tel-00852361.
Texto completoYahiaoui, Achref. "Etude de composants MEMS RF à Nanogaps pour les systèmes de communications sans fil reconfigurables". Limoges, 2014. https://aurore.unilim.fr/theses/nxfile/default/976dd912-c811-4343-8b27-cf9102fb02e2/blobholder:0/2014LIMO4015.pdf.
Texto completoIn recent years, the emergence of new standards for wireless communication has introduced new challenges in the physical design of transmitters and receivers. A low energy consumption, high linearity and bandwidth, are among the most important that each component must satisfy in order to achieve high performance wireless systems requirements. At the system level, the trend adoptedin the field of wireless devices is the multi-band design, multi-mode, with greater functionnality. And, while moving towards ever more efficient architectures, smaller, lighter and less expensive. RF MEMS (Micro-Electro-Mechanical System) technology allows the creation of devices and circuits that can meet these requirements mentioned above. The basic idea of MEMS RF is use mobile miniaturized structures to design high performance resonators, variable capacitorsor varactors, inductors, and switches. Fields of application include mobile terminals, base stations, antennas, electronic scanning, multi-purpose radar, testing instruments and high precision satellite payloads. For all these applications, the RF MEMS switches using electrostatic actuation have been given special attention. RF MEMS switches have superior performance in terms of loss, linearity, power consumption and cut-off frequency compared to semiconductors, such as PIN diodes or switches FET (Field-Effect-Transistor). However, these devices suffer from a number of problems associated with the actuation voltage which remains high and has to be applied in a permanent manner, besides, the failure mechanisms including creep and integration, in the case of switching networks. It is on these aspects that carries the thesis presented in this manuscript, in the perspective of developing such components and improve their performance
Frizon, de Lamotte Florent. "Proposition d'une approche haut niveau pour la conception, l'analyse et l'implantation des systèmes reconfigurables". Lorient, 2006. http://www.theses.fr/2006LORIS073.
Texto completoThe expected quality of service of manufacturing or electronic systems makes reconfiguration capabilities essential. Reconfiguration consists in a reorganization of the system to better comply with a given objective. To fully take advantage of all the reconfiguration capabilities of the system, designers need to take them into account throughout the whole development process. The design phase is performed on a description of the reconfigurable system, which is split along two axes. The first axis separates the system's architecture from its configuration. The second one separates the logical part of the system describing the processes from the physical part of the system that describes its resources. Once the system has been described, analyses help designers in the evaluation of its performances, breakdown tolerance and cost. Analyses can also be used for leading the reconfiguration strategy. They make use of model engineering techniques, which enable automatic transformations from the description model to analysis models. An implementation framework, which also uses model engineering is described for the control-command code generation from the high-level description. The whole approach has been tested on a real platform built during the thesis
Senouci, Benaoumeur. "Méthodologie de prototypage rapide des MPSoC sur plateformes reconfigurables". Grenoble INPG, 2008. http://www.theses.fr/2008INPG0187.
Texto completoThe need for a fast and effective methodology for the validation and the prototyping of the MPSoC systems becomes a priority for the industrial world (time to market), and that of research (for a broad exploration of the potential solutions). In this context, the use of the reconfigurable hardware platforms for the acceleration of MPSoC prototyping, and the validation of the embarked software is an approach very largely adopted. In this work we were interested in the use of those hardware platforms to accelerate the phase of prototyping and validation. The contribution of this thesis deal with a methodology for MPSoC structuring, and of the associated prototyping flow for validation. We were interested as well in homogeneous architectures and heterogeneous ones. Also we presented in this thesis a semi-systematic tool for exploration software with a heuristic algorithm for the “mapping” of the applications tasks on the various processor, with an automatic software/hardware refinement of the communication and of synchronization between heterogeneous processors. Lastly, experiments and results were presented through the prototyping of a video codec application M-JPEG on symmetric configuration (ARM Integrator platform) and heterogeneous one (Virtex II Pro platform, with an architecture based on two different processors Power PC and Microblaze)
Afonso, George. "Vers une nouvelle génération de systèmes de test et de simulation avionique dynamiquement reconfigurables". Phd thesis, Université des Sciences et Technologie de Lille - Lille I, 2013. http://tel.archives-ouvertes.fr/tel-00921874.
Texto completoKrichen, Fatma. "Architectures logicielles à composants reconfigurables pour les systèmes temps réel répartis embarqués (TR²E)". Phd thesis, Université Toulouse le Mirail - Toulouse II, 2013. http://tel.archives-ouvertes.fr/tel-00921209.
Texto completoStief, Paul. "Contribution à la co-conception de produits et de leurs systèmes de production reconfigurables". Thesis, Paris, HESAM, 2020. http://www.theses.fr/2020HESAE016.
Texto completoThe focus of this research work is on proposing a joint analysis of product design and assembly process that analyses the product similarity in terms of design and assembly technology similarity to group them into families. For these product families, a new architectural design approach for their assembly system is presented based on components used to locate subassemblies during the assembly operations. It allows the production system to be redesigned based on locating sequences, locating scheduling and compatible locating schemes for a multi-product assembly. This approach is used to design reconfigurable production systems and to identify relevant opportunities for new multi-product systems. The proposed method is evaluated by case studies in cooperation with the industrial partner
Busquère, Jean-Pierre. "Développement et intégration de MEMS RF dans les architectures d'amplificateur faible bruit reconfigurables". Toulouse, INSA, 2005. http://www.theses.fr/2005ISAT0042.
Texto completoNowadays, high frequencies modules must present electric performances unceasingly improved but also, new functionalities as well as strong compactness, and manufacturing costs, which are more and more reduced. SiGe technologies enables to plan the realization of integrated circuits until the millimetre-length frequencies while, in the same time, the fast development of RF MEMS technologies makes possible to design new functionalities. Within the framework of this memory, we will present the development of a reconfigurable in frequency Low Noise Amplifier at HIPERLAN (5. 5 GHz) and BLUETOOTH (2. 45 GHz) frequencies, thanks to the specific association of the SiGe technologies developed by STMicroelectronics and RF MEMS elaborated at LAAS-CNRS. In the first part of this memory, we propose the concept of a reconfigurable in frequency Low Noise Amplifier, which is assembled in post-processing with RF MEMS varactors on the integrated SiGe circuit. Design and simulated performances of amplifiers integrated monolithically or through wire bonding are presented. The second part is entirely devoted to the design and the realization of RF MEMS, according to the different specifications defined previously. Electromagnetic and mechanical considerations and optimised process are presented. The RF MEMS characterization led to performances located at the state of the art for varactors. The last part is dedicated to the assembly of both MEMS and SiGe technologies. Monolithic (currently called Above IC), flip chip and wire bonding integrations have been studied. Finally the assembled test modules are presented and characterized
Lachaize, Renaud. "Un canevas logiciel pour la construction de systèmes de stockage reconfigurables pour grappes de machines". Phd thesis, Grenoble INPG, 2005. http://tel.archives-ouvertes.fr/tel-00010198.
Texto completoBruguier, Florent. "Méthodes de caractérisation et de surveillance des variations technologiques et environnementales pour systèmes reconfigurables adaptatifs". Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2012. http://tel.archives-ouvertes.fr/tel-00965377.
Texto completoAfonso, Alexandre. "Nouvelles fonctions spectrales reconfigurables dans les systèmes WDM : de l'égaliseur au bloqueur de longueurs d'onde". Télécom Bretagne, 2005. http://www.theses.fr/2005TELB0004.
Texto completoOptical network development has established the need for new reconfigurable spectral functions. On the one hand, dynamic gain equalization (DGE) enables the improvement of WDM channel transmission. On the other hand, dynamic channel equalization (DCE) and wavelength blocker (WB) become key subsystems in metropolitan routing nodes. The aim of this thesis is the study of these functions sharing the same free-space architecture in order to be able to design them in compliance with established system specifications. This architecture offers a variety of physical parameters for the imaging system, such as waist size and linear dispersion in the imaging plane, as well as the modulator, characterized mainly by the pixel size and the gap. For the DGE, considered specifications are the introduced ripple and the maximum output slope, whereas the extinction ratio, the channel spacing and crosstalk are more relevant for DCE and WB. In addition, we were more interested in studying the implementations of two particular solutions. A new filter family has been studied and experimentally assessed. The principle, using mode-decoupling properties, is explained in detail including the allowance of different critical parameters. Although this principle is technology independent, it has been acknowledged using different PDLC cells (Polymer Dispersed Liquid Crystal). Finally, an interferometric WB has been also tested. Based on a Michelson interferometer, one of its arms has been replaced by a modified DGE. We discussed how these functions can be integrated in block such as ROADM or WSS
Vega, Emanuel Pablo. "Conception orientée-tâche et optimisation de systèmes de propulsion reconfigurables pour robots sous-marins autonomes". Thesis, Brest, 2016. http://www.theses.fr/2016BRES0067/document.
Texto completoIn this PhD thesis, the optimization of the propulsion and control of AUVs is developed. The hydrodynamic model of the AUVs is examined. Additionally, AUV propulsion topologies are studied and models for fixed and vectorial technology are developed. The fixed technology model is based on an off the shelf device, while the modeled vectorial propulsive system is based on a magnetic coupling thruster prototype developed in IRDL (Institut de Recherche Dupuy de Lôme) at ENI Brest. A control method using the hydrodynamic model is studied, its adaptation to two AUV topologies is presented and considerations about its applicability will be discussed. The optimization is used to find suitable propulsive topologies and control parameters in order to execute given robotic tasks, speeding up the convergence and minimizing the energy consumption. This is done using a genetic algorithm, which is a stochastic optimization method used for task-based design.The results of the optimization can be used as a preliminary stage in the design process of an AUV, giving ideas for enhanced propulsive configurations. The optimization technique is also applied to an IRDL existing robot, modifying only some of the propulsive topology parameters in order to readily adapt it to different tasks, making the AUV dynamically reconfigurable
Lameche, Khaled. "Proposition d'une méthodologie pour la conception des systèmes de production reconfigurables et d'un outil associé d'aide à la décision par simulation de flux". Thesis, Nantes, 2018. http://www.theses.fr/2018NANT4008/document.
Texto completoNowadays, the market is characterized by a high level of competitiveness and very frequent and sudden variations in the production context. The critical review of the existing manufacturing paradigms which are the dedicated manufacturing lines DMLs and the flexible manufacturing systems FMSs reveals that these systems are not capable of fulfilling the requirements imposed by the actual market; these requirements are mainly resumed in cost, quality and reactivity. Therefore, the need for a new manufacturing paradigm that could fulfill these requirements has arisen. Reconfigurable Manufacturing System or RMSs is this new paradigm; it is supposed to be reactive enough to cope with the sudden changes of the market while keeping the products quality high with a low cost. The main challenge in RMS is their design. Most of the proposed methods in the literature do not address the RMS design issue as a whole; they treat just part of the problem. Hence, as a contribution, we propose in this paper, a generic RMS design methodology based on systems engineering SE. This methodology will support the RMS design along the development process. It is based specifically on the standard ISO/IEC/IEEE15288
Fournier, Émilien. "Accélération matérielle de la vérification de sûreté et vivacité sur des architectures reconfigurables". Electronic Thesis or Diss., Brest, École nationale supérieure de techniques avancées Bretagne, 2022. http://www.theses.fr/2022ENTA0006.
Texto completoModel-Checking is an automated technique used in industry for verification, a major issue in the design of reliable systems, where performance and scalability are critical. Swarm verification improves scalability through a partial approach based on concurrent execution of randomized analyses. Reconfigurable architectures promise significant performance gains. However, existing work suffers from a monolithic design that hinders the exploration of reconfigurable architecture opportunities. Moreover, these studies are limited to safety verification. To adapt the verification strategy to the problem, this thesis first proposes a hardware verification framework, allowing to gain, through a modular architecture, a semantic and algorithmic genericity, illustrated by the integration of 3 specification languages and 6 algorithms. This framework allows efficiency studies of swarm algorithms to obtain a scalable safety verification core. The results, on a high-end FPGA, show gains of an order of magnitude compared to the state-of-the-art. Finally, we propose the first hardware accelerator for safety and liveness verification. The results show an average speed-up of 4875x compared to software
Di, Palma Luca. "Antennes réseaux transmetteur reconfigurables aux fréquences millimétriques". Thesis, Rennes 1, 2015. http://www.theses.fr/2015REN1S092/document.
Texto completoSeveral civil and military applications (hertzian beams, satellite communications, automotive radars, high resolution imaging systems) require antennas with reconfigurable beam capabilities (beam-scanning, beamshaping, multiple beam generation). Transmitarray antennas are good candidates and represent an alternative to classical phased arrays or reflect-arrays for these applications. The main objective of this thesis is to demonstrate the feasibility of reconfigurable transmitarrays fabricated with standard technologies in Ka-band (20-30 GHz). Different unit-cell designs based on p-i-n diodes have been developed to work in linear and circular polarization. Their optimization and experimental characterization have been performed. Waveguide measurements show insertion losses of 1.09 dB at 29.0 GHz with a 3-dB bandwidth of 14.7%. A hybrid simulation technique has been developed in order to analyze efficiently large transmitarrays in which the sequential rotation technique has been applied to optimize the polarization quality and the radiation patterns. A 400-elements transmitarray operating in circular polarization has been realized and tested in anechoic chamber. A beam-scanning angular coverage of ±60° and circular polarization selection (left/right) have been demonstrated
Chamla, David. "Filtres actifs Gm-C reconfigurables pour récepteurs mobiles multi-standards". Lille 1, 2006. https://pepite-depot.univ-lille.fr/RESTREINT/Th_Num/2006/50376_2006_63.pdf.
Texto completoCissé, Fatou. "Dispositifs hyperfréquences et antennes périodiques reconfigurables à base de films minces ferroélectriques des systèmes KTN-KNN". Thesis, Rennes 1, 2017. http://www.theses.fr/2017REN1S028/document.
Texto completoThis work deals with the fabrication and characterization of frequency tunable microwave devices based on ferroelectric KTa1-xNbxO3 (KTN) thin films. KTN material is a promising candidate for the tunability and miniaturization of microwave devices, due to its high dielectric permittivity (er= 700 at 10 GHz and Ebias= 0 kV/cm). Nevertheless its intrinsic loss (tanδr= 0.3 at 10 GHz and Ebias= 0 kV/cm) strongly impacts the global loss of the tunable microwave devices. To reduce this, a twofold solution has been investigated: (1) reduction of the loss tangent by doping KTN material with a low loss oxide, namely MgO (3% and 6% in mol.) and (2) confinement of the doped KTN film in efficient regions of the microwave devices and removal in noncritical areas by laser microetching. The ~ 600 nm-thick undoped and doped KTN films have been grown by Pulsed Laser Deposition (PLD) on R-plane sapphire substrates. Two different compositions (KTa0.5Nb0.5O3 and KTa0.65Nb0.35O3) were specifically selected for this study. Microwave measurements have been performed on KTN-based coplanar devices from 1 GHz to 20 GHz. Stub resonator printed on confined 6% doped KTa0.5Nb0.5O3 film exhibits the best loss/agility trade-off with a significant global loss reduction from 0.73 to 0.20 (factor ~ 4) with a 8% frequency tunability under Ebias≈ 75 kV/cm.Thereafter, the study of a reconfigurable Ku-band leaky-wave antenna has been carried out. A ~600 nm-thick KTa0.5Nb0.5O3 film was deposited by PLD on R-plane sapphire substrate. The ferroelectric material was localized by laser microetching on 6 specific areas of the antenna (consisted of 6 sections). The variation of the reflection coefficient under biasing (Ebias≈ 85 kV/cm) demonstrates a frequency tunability of 2%. A gain equal to 6.7 dBi has been measured at f= 17 GHz and Ebias= 0 kV/cm, in accordance with the numerical results
Cherif, Sana. "Approche basée sur les modèles pour la conception des systèmes dynamiquement reconfigurables : de MARTE vers RecoMARTE". Phd thesis, Université des Sciences et Technologie de Lille - Lille I, 2013. http://tel.archives-ouvertes.fr/tel-00998248.
Texto completoDorie, Laurent. "Modélisation et évaluation de performances en vue de la conception conjointe des systèmes reconfigurables : application à la radio logicielle". Nantes, 2007. http://www.theses.fr/2007NANT2107.
Texto completoThe fast evolution of embedded system context leads to more and more complexity into electronic products that can support many ways of working and different standards. In these systems, the reconfiguration is a solution to face such evolution and also respect embedded constraints. This property points out that a system is able to modify its behaviour. Such property concerns just as well the application development as the technology design. New approaches and tools are needed to take into account this reconfiguration property. Thus, the goal of this thesis is to provide high abstraction level models in order to improve the co-design of reconfigurable systems. The first part of this thesis interested in reconfiguration mechanisms of radiocommunication systems. It led to the definition of modelling in order to describe the reconfigurable mechanisms of radio communication application. The second part of this thesis focused on the reconfigurable architectures. It led to a modelling able to describe the reconfigurable impact of heterogeneous multi-processor platforms on system behaviour and performances. The interest of these modelling is illustrated by a study which deals with a typical case of Software Radio
Ben, Chehida Karim. "Méthodologie de partitionnement logiciel/matériel pour plateformes reconfigurables dynamiquement". Phd thesis, Université de Nice Sophia-Antipolis, 2004. http://tel.archives-ouvertes.fr/tel-00008931.
Texto completoCette thèse propose une méthode automatique de partitionnement logiciel/matériel qui cible des systèmes mixtes logiciel et matériel reconfigurable dynamiquement et a pour objectif de minimiser le temps d'exécution global sous contrainte de surface maximale. Elle offre un flot complet à partir de la spécification au niveau système de l'application (écrite en SSM : formalisme graphique du langage synchrone Esterel) jusqu'à son raffinement vers les outils de niveau RTL. La méthode, basée sur un algorithme génétique, prend en compte les spécificités de l'architecture reconfigurable en ajoutant au partitionnement spatial (ou affectation) classique une étape de partitionnement temporel afin de distribuer dans le temps les configurations successivement implantées sur le reconfigurable. Les performances sont évaluées par une étape d'ordonnancement qui prend en compte les temps de communication et ceux dus aux changements de configurations.
Le, Garrec Loïc. "Etude et conception en bande millimétrique d'antennes reconfigurables baséees sur la technologie des MEMS". Rennes 1, 2004. http://www.theses.fr/2004REN10125.
Texto completoCarrillo, Elian Rafaël. "Robots reconfigurables : étude de la convergence dans le problème de déplacement vers un but". Lorient, 2007. http://www.theses.fr/2007LORIS089.
Texto completoWe targets collective displacement through modular self-reconfigurablility. The objective is to find simple rules to coordinate autonomously the modular robot model. By the implementation of this same rule in all the modules in the robot and emergent displacement should appear. The emergent displacement is used to reach the goal. The physical constraints are at the base of some problems which emergent in algorithms used for most multi-agent displacements: deadlock and oscillation. In facts methods for collective displacement are not adapted for collective displacement by self reconfiguration. We will show these two principal problems can appear in the implementation of such an approach. We will show in particular that simulations which "go to goal" hide in fact of the heavy defects for self-reconfigurable robots. We will be able to prove that this type of approach is sensitive to the scheduling of the decision-making in the modules. In particular we will show that the generation of deadlock created by a blocking patterns of atoms configuration, stop the progression of the self-reconfigurable robot. We will explain why physical factors and scheduling order affects the displacement of the groupe. We will propose here a method that guarantee the convergence of the emergent solution