Rozprawy doktorskie na temat „Systèmes de télécommande”
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Er-Rafai, Mohamed Mouhieddine. "Télécommande asservie robotisée d'hélicoptère". Paris 11, 1989. http://www.theses.fr/1989PA112206.
Pełny tekst źródłaRybarczyk, Yves. "Etude de l'appropriation d'un systèmes de téléopération dans l'optique d'une coopération homme-machine". Evry-Val d'Essonne, 2004. http://www.theses.fr/2004EVRYA002.
Pełny tekst źródłaThe main objective of the present thesis was to search for the more adapted configuration of a telerobotic device for a human operator. In order to achieve this goal, we used an experimental "anthropomorphic" approach. The evaluation of the adaptation of the teleoperated device to the human operator was based on the measurement of behavioral markers that were susceptible to suggest the presence of a sensori-motor appropriation of the device. The experimental results show (i) that anthropomorphic configurations favor the appropriation of a robot by operators, and (ii) that this appropriation is realized through processes that possess different dominances (from assimilation to accommodation), depending on the level of precision (in spatial and temporal terms) of the human behavioral model being implemented on the device. Finally, the experimental studies suggest that the "body schema" of a person is less delimited by its corporal appearance than by its action space. We propose that studies on human behavior in remote control situations can indeed improve the comprehension of basic mechanisms involved in the sensori-motor determinants of the control of action
Forêt, Jérôme. "Analyse théorique du comportement dynamique de systèmes marcheurs pour l'élaboration de stratégies de contrôle". Orléans, 2003. http://www.theses.fr/2003ORLE2037.
Pełny tekst źródłaSalman, Mohammed Daoud. "Systèmes d'expérimentation à distance via internet : rôle de la simulation et adaptation de la qualité de service". Evry-Val d'Essonne, 2004. http://www.theses.fr/2004EVRY0002.
Pełny tekst źródłaRemote-Experimentation is a new concept of Internet Based Teleoperation Systems (IBTS). It enables remote users to manipulate a controlled system from a distance locations. This thesis proposes different technologies and tools needed for the proper function of Remote-Experimentation systems. First, it implements an architecture of a Web-based simulation process which could be integrated within Remote-Experimentation systems using the functionalities of World Wide Web (WWW), Java-Servlet, and Matlab. Second, it provides an insight into the loss behaviour (packet losses) indicated in the Internet and uses this factor as a congestion state indicator of the network. Based on this indication, it proposes a proper mechanism for QoS-adaptation at the application level. Finally, taking into account all the proposed perspectives, a prototype of a demonstrator in the domain of remote surveillance of a patient in the cardiac pathologies is shown. It is developed in our Laboratory. This work is a part of ACI-Ville project. This project proposes new urban services in the domain of health. It uses the new technologies of informatics and communication as a support to Home Hospitalisation
Huynh, Patrick. "Étude expérimentale et simulation de l'intéraction mécanique homme-machine d'un système de télémanipulation". Paris 12, 1992. http://www.theses.fr/1992PA120016.
Pełny tekst źródłaGalerne, Simon. "Architecture ouverte de commande adaptée à la robotique de coopération homme-machine : application au domaine médical". Paris 12, 1989. http://www.theses.fr/1989PA120043.
Pełny tekst źródłaCourrèges, Fabien. "Contributions à la conception et commande de robots de télé-échographie". Orléans, 2003. http://www.theses.fr/2003ORLE2058.
Pełny tekst źródłaWawak, Fabrice. "Elaboration d'un système d'aide à la décision pour la supervision en téléopération : approche basée sur les théories des sous-ensembles flous et des possibilités". Lille 1, 1996. https://pepite-depot.univ-lille.fr/LIBRE/Th_Num/1996/50376-1996-125.pdf.
Pełny tekst źródłaDelpech, Michel. "Télémanipulation spatiale en présence de retard". Toulouse, ENSAE, 1985. http://www.theses.fr/1985ESAE0014.
Pełny tekst źródłaMarian, Vlad. "Transmission d'énergie sans fil : Application au réveil à distance de récepteurs en veille zéro consommation". Phd thesis, Ecole Centrale de Lyon, 2012. http://tel.archives-ouvertes.fr/tel-00787608.
Pełny tekst źródłaAgoune, Madjid. "Architectures informatiques des systèmes de commande en téléopération : étude et spécification". Paris 11, 1988. http://www.theses.fr/1988PA112153.
Pełny tekst źródłaSoubiran, Sébastien. "De l'utilisation contingente des scientifiques dans les systèmes d'innovation des marines française et britannique entre les deux guerres mondiales, deux exemples : la conduite du tir des navires et la télémécanique". Paris 7, 2002. http://www.theses.fr/2002PA070058.
Pełny tekst źródłaThis study deals with the military innovation process in the interwar period, and focuses particularly on the integration of scientific research. What kind of research is promoted by the military ? How is it practised ? By whom? And finally, what is at stake in the use of scientific research? I will study the interfaces between the groups involved in the innovation process: the academics, the military (officers and engineers) and the industrialists. For each, I aim to identify their specificity, the way they worked and their expertise, in order to understand what forms of collaboration arise, and what kind of conflicts may result. I chose two particular examples: the wireless control of craft on the one hand, and boat's fire control system, particularly the development of gyrocompass on the other. These two examples are interesting for many reasons. First, each group of interest in this study was involved at a different level in the development of both techniques. Secondly, they put into focus the differences between the two countries' innovation process. A thorough analysis of these innovations demonstrates how the French military engineers, trained at the Ecole polytechnique, dominated the technical and strategic choices of the French Headquarters and the Minister of the Navy. Moreover, the massive investment made by the British government in research and development for the Navy is striking. However, there is no doubt, as will be discussed, that the innovation process within the French and the British Navy in the interwar period was based on different forms of scientific knowledge. Beyond the study of the innovation process and the evaluation of the protagonists, I intended to understand how the practices of research had been truly introduced and worked in those institutions. Those practices, totally ignored by the History of Science so far, led to a new understanding of the French and British science between the World Wars
Vo, Dong-Bach. "Conception et évaluation de nouvelles techniques d'interaction dans le contexte de la télévision interactive". Electronic Thesis or Diss., Paris, ENST, 2013. http://www.theses.fr/2013ENST0053.
Pełny tekst źródłaTelevision has never stopped being popularized and offering new services to the viewers. These interactive services make viewers more engaged in television activities. Unlike the use of a computer, they interact on a remote screen with a remote control from their sofa which is not convenient for using a keyboard and a mouse. The remote control and the current interaction techniques associated with it are struggling to meet viewers’ expectations. To address this problem, the work of this thesis explores the possibilities offered by the gestural modality to design new interaction techniques for interactive television, taking into account its context of use. More specifically, in a first step, we present the specific context of the television usage. Then, we propose a litterature review of research trying to improve the remote control. Finally we focus on gestural interaction. To guide the design of interaction techniques based on gestural modality, we introduce a taxonomy that attempts to unify gesture interaction constrained by a surface and hand-free gesture interaction. Therefore, we propose various techniques for gestural interaction in two scopes of research : gestural instrumented interaction techniques, which improves the traditional remote control expressiveness, and hand-free gestural interaction by exploring the possibility o performing gestures on the surface of the belly to control the television set
Duvillard-Monternier, Solange. "Analyse du socle de compétences d’un nouveau métier : le cas des Opérateurs de Systèmes de Drones (OSD)". Thesis, Aix-Marseille, 2014. http://www.theses.fr/2014AIXM3100.
Pełny tekst źródłaThe development of this new technology causes the creation of RPA operator's jobs and the mergence of new and specific abilities. The main objective of the thesis is thus to allow a selection to be proposed. We ran job analysis 1) to identify the optimal profile for success with twice job analysis's methods, 2 ) to assess the real profile of the current RPA operators, 3) to compare the RPA operators profile with a profile of a cadet population, and then 4) we proposed directions for future researches and perspectives needed for RPA operators. Our explorational approach had be adapted using ground material data collected in the unique MALE RPA's squadron of French Air France. We adapted the Fleishman Job Analysis Survey and then we defined the optimal profile in terms of crucial and main abilities. The real profile in terms of crucial abilities was assessed with visuospatial tests and personality inventory. Results showed that the optimal profile required high level of attentional resources's abilitities in the visuospatial field, and also in interactive-social sdomain. From a scientific perspective, this thesis focuses on the specificities of new jobs for which they are few studies towards the qualitative requirements for recruitment and training, both in the civilian and the military domain. Il will offer a better understanding of the skills required to perform the tasks of RPAs operator, and the methodology we used, could be applied on other job's in aeronautics. By exemple, fighter and airlift pilots could be the next studied populations
Boukhnifer, Moussa. "Architectures de commandes bilatérales pour un système de micro-téléopération". Orléans, 2005. http://www.theses.fr/2005ORLE2052.
Pełny tekst źródłaGravez, Philippe. "Étude d'un système de supervision pour la téléopération assistée par ordinateur". Lille 1, 1988. http://www.theses.fr/1988LIL10026.
Pełny tekst źródłaJiang, Wenjuan. "Contribution à la commande et à l’observation des systèmes en réseaux". Thesis, Ecole centrale de Lille, 2009. http://www.theses.fr/2009ECLI0009/document.
Pełny tekst źródłaThis PhD thesis is dedicated to the exponential output stabilization of linear NCS (Networked Control Systems). The studied solution is based on a remote observer which is able to estimate the present state of the plant despite the various network induced delays. These last are present in both the control and the measurement channels.The first chapter describes the problem and gives a survey on the NCS. The next chapter proposes a computer structure which realizes the remote, observer-based, state feedback controller. The following two chapters propose LMI conditions (Linear Matrix Inequalities) for the design of the observer-based remote controller. The second method of Lyapunov is used with the most up-to-date Lyapunov-Krasovskii functionals. The main objective of the design is to guarantee some performances expressed in the form of exponential stability. Then some enhancements of the control strategy are given. It consists in taking into account the Quality of Service (QoS) in the controller to get better guaranteed performances. The last contribution of this work is to consider the overall system as an event-driven system. It allows one to consider packet dropout problems in the network.The effectiveness of all presented results is demonstrated by real experiments implemented on a light robot controlled over the Internet
Vo, Dong-Bach. "Conception et évaluation de nouvelles techniques d'interaction dans le contexte de la télévision interactive". Thesis, Paris, ENST, 2013. http://www.theses.fr/2013ENST0053/document.
Pełny tekst źródłaTelevision has never stopped being popularized and offering new services to the viewers. These interactive services make viewers more engaged in television activities. Unlike the use of a computer, they interact on a remote screen with a remote control from their sofa which is not convenient for using a keyboard and a mouse. The remote control and the current interaction techniques associated with it are struggling to meet viewers’ expectations. To address this problem, the work of this thesis explores the possibilities offered by the gestural modality to design new interaction techniques for interactive television, taking into account its context of use. More specifically, in a first step, we present the specific context of the television usage. Then, we propose a litterature review of research trying to improve the remote control. Finally we focus on gestural interaction. To guide the design of interaction techniques based on gestural modality, we introduce a taxonomy that attempts to unify gesture interaction constrained by a surface and hand-free gesture interaction. Therefore, we propose various techniques for gestural interaction in two scopes of research : gestural instrumented interaction techniques, which improves the traditional remote control expressiveness, and hand-free gestural interaction by exploring the possibility o performing gestures on the surface of the belly to control the television set
Rojas-Ramirez, Belem Isabel. "Modeling and control of aerial vehicles using teleoperation with input delay". Thesis, Compiègne, 2020. http://www.theses.fr/2020COMP2568.
Pełny tekst źródłaUnmanned Aerial Vehicles (UAVs) are receiving increasing interest from industry and academia due to their wide application in search and rescue, infrastructure inspection, surveillance, among others. This thesis focuses on research in the area of teleoperation systems for quadrotor vehicles. Throughout this thesis, a teleoperation system for a quadrotor vehicle was developed. In this system, the user interface is based on a virtual telepresence approach. Control algorithms were developed and implemented within the master and slave systems. The first part of this thesis consists of developing mathematical models of the dynamics of a quadrotor aircraft. Most works currently found in the literature for quadrotors are based on classical approaches such as Euler angles. These representations can lead to problems such as discontinuities, singularities, gimbal-locks, and highly non-linear equations. An alternative to these classical representations are unit quaternions. These have the advantages of the lack of singularities and gimbal lock effects. The second part of this work was dedicated to the development of a quadrotor teleoperation system. This system consists of a virtual user interface in a local environment and a quadrotor in a remote environment. A User Datagram Protocol (UDP) communication was used to communicate both environments. The user manipulates a virtual drone in the local environment and a real drone follows the position and orientation references in a remote environment. The user receives virtual feedback on the states of the real vehicle in the virtual environment. Results of the implementation of the proposed teleoperation system in real time are presented. The last part of this thesis addresses the delay problem in the teleoperation system. Delays due to system latency and the distance between environments were modeled as a delayed control input. Then, a predictor-based controller was developed in order to maintain the stability of a drone’s flight. This approach was applied to the classical Euler- Lagrange model and to the quaternion-based model in order to analyze performance. Simulations of both models with delayed inputs are presented
Couty, Charles-Emmanuel. "Développement de nouveaux concepts d’antennes de télémétrie et télécommunications pour lanceurs et satellites en orbite basse". Electronic Thesis or Diss., Limoges, 2024. http://www.theses.fr/2024LIMO0016.
Pełny tekst źródłaProduction of an antenna for Ariane 6, the special feature of which is that it has a modular orientation to ensure continuous communication with the base station. The originality of the work concerns the design and production of a phase shifter. The work mainly involves design (simulations) and characterisation. Manufacturing is carried out by an industrial subcontractor
Weill-Duflos, Antoine. "Interfaces et capteurs pour une chaine de micro-téléopération". Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066147/document.
Pełny tekst źródłaTeleoperation opens up new possibilities for interaction with the micro-world. Adequate systems make it possible for human to manipulate elements on microscopic scales. An added haptic feedback provides information crucial for a natural interaction. A bilateral coupling between the subsystems offers the best haptic transparency. This thesis addresses the design of a complete haptic teleoperation chain by focusing on its key elements. Three parts are detailed: The first part describes improvements of the high fidelity one degree of freedom haptic interface designed previously. First, the precision of the forces produced is improved. This improvement is related to the measurement of the motor velocity at high sampling frequencies. Then, the device is precisely caracterized. The second part describes the design of two new force sensors designed specifically for interactions with the micro-world. The forces are measured by compensation. Two approach are observed to expand the frequencies of forces measurable by the sensors. First approach try to reduce the mass, a new sensor on a micrometric scale is built with MEMS technologies. The second approach offer a new design of the sensor. In particular, the stiffness in the guidance is removed. The third part describes the design of a new haptic interface with multiple degrees of freedom. This interface combines the performances of the one degree of freedom interface with a 2D configuration. The key elements of its design are the an air bearing for frictionless guidance and linear induction motors for reduced inertia
De, Donno Antonio. "Development and control of a robotic system for no-scar surgery". Thesis, Strasbourg, 2013. http://www.theses.fr/2013STRAD046/document.
Pełny tekst źródłaNo-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery (MIS). The lack of adequate instrumentation is one of the issues to its clinical routine use. In this context, we introduce a novel teleoperated surgical robot, consisting of an endoscope and two flexible instruments, with 10 motorized DOFs. This thesis investigates the possibilities to control the system. The robot kinematics is analyzed, and differentmaster/slave control strategies, ranging from joint to Cartesian control, are proposed. These strategies have been tested on a specifically developed virtual simulator and on the real system in laboratory and ex-vivo experiments. The results show that a single user is capable to control the robotic system and to perform complex tasks by means of two haptic interfaces
Nadrag, Paul. "Faciliter la téléopération d'un robot mobile non-holonome". Phd thesis, Université d'Evry-Val d'Essonne, 2011. http://tel.archives-ouvertes.fr/tel-00875810.
Pełny tekst źródłaMercado-Ravell, Diego Alberto. "Autonomous navigation and teleoperation of unmanned aerial vehicles using monocular vision". Thesis, Compiègne, 2015. http://www.theses.fr/2015COMP2239/document.
Pełny tekst źródłaThe present document addresses, theoretically and experimentally, the most relevant topics for Unmanned Aerial Vehicles (UAVs) in autonomous and semi-autonomous navigation. According with the multidisciplinary nature of the studied problems, a wide range of techniques and theories are covered in the fields of robotics, automatic control, computer science, computer vision and embedded systems, among others. As part of this thesis, two different experimental platforms were developed in order to explore and evaluate various theories and techniques of interest for autonomous navigation. The first prototype is a quadrotor specially designed for outdoor applications and was fully developed in our lab. The second testbed is composed by a non expensive commercial quadrotor kind AR. Drone, wireless connected to a ground station equipped with the Robot Operating System (ROS), and specially intended to test computer vision algorithms and automatic control strategies in an easy, fast and safe way. In addition, this work provides a study of data fusion techniques looking to enhance the UAVs pose estimation provided by commonly used sensors. Two strategies are evaluated in particular, an Extended Kalman Filter (EKF) and a Particle Filter (PF). Both estimators are adapted for the system under consideration, taking into account noisy measurements of the UAV position, velocity and orientation. Simulations show the performance of the developed algorithms while adding noise from real GPS (Global Positioning System) measurements. Safe and accurate navigation for either autonomous trajectory tracking or haptic teleoperation of quadrotors is presented as well. A second order Sliding Mode (2-SM) control algorithm is used to track trajectories while avoiding frontal collisions in autonomous flight. The time-scale separation of the translational and rotational dynamics allows us to design position controllers by giving desired references in the roll and pitch angles, which is suitable for quadrotors equipped with an internal attitude controller. The 2-SM control allows adding robustness to the closed-loop system. A Lyapunov based analysis probes the system stability. Vision algorithms are employed to estimate the pose of the vehicle using only a monocular SLAM (Simultaneous Localization and Mapping) fused with inertial measurements. Distance to potential obstacles is detected and computed using the sparse depth map from the vision algorithm. For teleoperation tests, a haptic device is employed to feedback information to the pilot about possible collisions, by exerting opposite forces. The proposed strategies are successfully tested in real-time experiments, using a low-cost commercial quadrotor. Also, conception and development of a Micro Aerial Vehicle (MAV) able to safely interact with human users by following them autonomously, is achieved in the present work. Once a face is detected by means of a Haar cascade classifier, it is tracked applying a Kalman Filter (KF), and an estimation of the relative position with respect to the face is obtained at a high rate. A linear Proportional Derivative (PD) controller regulates the UAV’s position in order to keep a constant distance to the face, employing as well the extra available information from the embedded UAV’s sensors. Several experiments were carried out through different conditions, showing good performance even under disadvantageous scenarios like outdoor flight, being robust against illumination changes, wind perturbations, image noise and the presence of several faces on the same image. Finally, this thesis deals with the problem of implementing a safe and fast transportation system using an UAV kind quadrotor with a cable suspended load. The objective consists in transporting the load from one place to another, in a fast way and with minimum swing in the cable
Vissière, David. "Solution de guidage-navigation-pilotage pour véhicules autonomes hétérogènes en vue d'une mission collaborative". Phd thesis, École Nationale Supérieure des Mines de Paris, 2008. http://pastel.archives-ouvertes.fr/pastel-00004492.
Pełny tekst źródłaBerger, Cyrille. "Perception de la géométrie de l'environnement pour la navigation autonome". Toulouse 3, 2009. http://thesesups.ups-tlse.fr/830/.
Pełny tekst źródłaThe goal of the mobile robotic research is to give robots the capability to accomplish missions in an environment that might be unknown. To accomplish his mission, the robot need to execute a given set of elementary actions (movement, manipulation of objects. . . ) which require an accurate localisation of the robot, as well as a the construction of good geometric model of the environment. Thus, a robot will need to take the most out of his own sensors, of external sensors, of information coming from an other robot and of existing model coming from a Geographic Information System. The common information is the geometry of the environment. The first part of the presentation will be about the different methods to extract geometric information. The second part will be about the creation of the geometric model using a graph structure, along with a method to retrieve information in the graph to allow the robot to localise itself in the environment
Bekhti, Mustapha. "Réseaux de capteurs : application à la poursuite des cibles mobiles". Thesis, Sorbonne Paris Cité, 2018. http://www.theses.fr/2018USPCD092.
Pełny tekst źródłaFor decades Unmanned Aerial Vehicles (UAVs) are widely used in modern warfare for surveillance, reconnaissance, sensing, battle damage assessment and attacking. The benefits of UAVs include reduced cost and no warfighter risk. In fact UAVs use is increased by time,especially under the concept of the network centric operation environment and under the concept of revolution in military affairs. On the other hand, the UAVs technology which originates from military applications, arouse the interest of the civilian, and yet, the domestic use began with limited aerial patrols of the nation’s borders, disaster and law enforcement situation. Recently, these products have also been destined to the commercial market and have gained much attention. Although UAVs use is expanding, their level of automation, cooperation and integration in civil application is far from being efficient and the design principles of such cooperation, coordination and self-organization under an Ad-hoc networkof a multi-UAV still need intensive studies and remain an open research problem. In this thesis, the investigated tracks were drawn both from the literature review and from the news topics. Thus, they covered two main classes of contributions, first, path planning and tracking of drones with package delivery and data gathering missions, and second, intrusion detection in a sensitive area through the use of networked drones.The results show that the integration of the drone segment to the terrestrial wireless network presents a relevant added value and opens new perspectives to the use of this technology in the civilian realm
Gonçalves, Tiago Rocha. "Robust control of platooning systems over imperfect wireless channels". Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG089.
Pełny tekst źródłaTransportation systems are critical for society, as the persistent pace of economic growth and increase of demands are closely related to more transportation activity. In this framework, the field of Intelligent Transportation Systems (ITS) has emerged as a research trending topic to enhance and address new traffic-system challenges. Platooning systems represent a relatively simple approach in terms of deployment towards fuel efficient solutions, traffic congestion reduction, and road safety improvements. In particular, vehicle platoon is a specific formation by a group of coordinated vehicles, in which a short inter-vehicle distance is maintained by virtue of automation and vehicular communication technologies. The deployment of such systems are closely related to a careful evaluation of the synergy between both core technologies.In this thesis, we formulate and analyze a class of platooning problems by addressing communication and control aspects with the related challenges introduced by the overlap of both areas. We first evaluate the robustness of the platoon performance under severe conditions for Vehicle-to-Vehicle (V2V) communications, expressed in long bursts of losses and in difficult traffic jamming conditions on the road. We propose a dynamic control mechanism where the parameters of the well-known Predicted Cooperative Adaptive Cruise Control (PCACC) are adapted based on the observed network link quality.The network reliability is of utmost importance as it limits the control system operation. In order to overcome the impact of dropped and delayed messages, we propose an analytical modeling of a novel V2V relaying scheme and a study of the impact of Roadside Unit (RSU) relaying as alternatives to extend the coverage range of the leader message. We start by developing a Markov model for the different communication links, and we carefully evaluate the impact of network parameters (errors and delays) on the controller performance (inter-vehicle distance). This is done by integrating the resulting packet error rate with the delay distribution and evaluating its impact on the platoon performance.The analysis formulated so far is narrowed to improve the performance of the platoon system while carefully considering the presence of a large number of point-to-point V2V links. Despite significant, we lack an explicit evaluation to quantify such developments in terms of fuel consumption, which is the most important aspect from the economical perspective and feasibility of platooning for commercial purposes. In this context, the last objective in this thesis is to address explicitly the fuel consumption problem in platooning systems. We reduce the fuel consumption attainable by the switching of two control policies, Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC), in platooning systems. Among the propositions, we adopt Deep Reinforcement Learning (DRL) techniques as an alternative solution to indirectly control the system. The carried out simulations demonstrate the feasibility of our scheme even under strong traffic congestion
Diaz, Nava Mario. "Proposition d'une méthodologie de conception de circuits intégrés de communication : réalisation d'un communicateur pour le réseau local FIP". Phd thesis, Grenoble INPG, 1986. http://tel.archives-ouvertes.fr/tel-00320454.
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