Дисертації з теми "Hybrid Control Architectures"
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Powers, Matthew D. "Applying inter-layer conflict resolution to hybrid robot control architectures." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33979.
Mohamed, Ahmed A. "Hybrid Power System Intelligent Operation and Protection Involving Distributed Architectures and Pulsed Loads." FIU Digital Commons, 2013. http://digitalcommons.fiu.edu/etd/866.
Ravey, Alexandre. "Conception et gestion de l'énergie des architectures pour véhicules hybrides électriques." Phd thesis, Université de Technologie de Belfort-Montbeliard, 2012. http://tel.archives-ouvertes.fr/tel-00863541.
Vilca, Ventura José Miguel. "Safe and flexible hybrid control architecture for the navigation in formation of a group of vehicles." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22607/document.
Beyond the interest of robotics laboratories for the development of dedicated strategies for single vehicle navigation, several laboratories around the world are more and more involved in the general challenging field of cooperative multi-robot navigation. In this context, this work deals with the navigation in formation of a group of Unmanned Ground Vehicles (UGVs) dedicated to structured environments. The complexity of this Multi-Robot System (MRS) does not permit the direct use of neither classical perception nor control techniques. To overcome this problem, this work proposes to break up the overall control dedicated to the achievement of the complex task into a group of accurate and reliable elementary behaviors/controllers (e.g., obstacles avoidance, trajectory tracking, target reaching, navigation in formation, formation reconfiguration, etc.). These behaviors are linked to different information given by the sensors to the actions of vehicles. To guarantee the performances criteria (e.g., stability, convergence, state errors) aimed by the control architecture, the potentialities of hybrid controllers (which controlling continuous systems in the presence of discrete events) are considered. This control architecture is validated for a single vehicle to perform safe and flexible autonomous navigation using an appropriate strategy of navigation through suitable set of waypoints. This flexible navigation allows different vehicle maneuvers between waypoints (e.g., target reaching or obstacle avoidance) without using any trajectory planning nor replanning. The designed control law based on Lyapunov synthesis guarantees the convergence to assigned waypoint while performing safe trajectories. Furthermore, an algorithm to select suitable waypoints’ positions, named Optimal Multi-criteria Waypoint Selection (OMWS), in structured environments while taking into account the safe and reliable vehicle movements, and vehicle constraints and uncertainties is proposed. Subsequently, the control architecture is extended to Multi-Robot Formation (MRF) using a combination of Leader-Follower and behavior-based approaches. An important cooperative MRS issues in this thesis is the dynamic reconfiguration of the formation according to the context of navigation (e.g., to pass from a triangle configuration towards a line if the width of the navigation way is not sufficient). The proposed Strategy for Formation Reconfiguration (SFR) guarantees the stability and the safety of the MRS at the time of the transitions between configuration (e.g., line towards square, triangle towards line, etc.). Therefore, a safe, reactive and dynamic MRF is obtained. Moreover, the degrees of multi-robot safety, stability and reliability of the system are quantified via suitable metrics. Simulations and experiments using urban vehicles (VIPALABs) of the Institut Pascal laboratory allow to perform exhaustive experiments of the proposed control architecture for the navigation in formation of a group of UGVs
Valette, Etienne. "Vers une approche anthropocentrée des architectures de contrôle pour les systèmes intelligents de production." Electronic Thesis or Diss., Université de Lorraine, 2022. http://www.theses.fr/2022LORR0140.
Last decades have seen the growth in size and complexity of industrial systems and flows (both physical and informational). Hyper competitive markets, demand atomization and customer requirements level increase have brought about the need to combine the robustness and performance of centralized systems with the responsiveness of decentralized systems. For the 20 last years, the relevance of these Hybrid Control Architectures (HCA) has been demonstrated through numerous works. However, they are today hardly present in the industrial landscape. This situation could find some of its roots in a certain lack of genericity and/or Human-System acceptability. In this research work, the explored path consists in proposing a reference formal framework for the design, modelling, simulation, visualization and evaluation of complex systems' constitutive components and interactions/relations. The purpose of this framework is to bridge the genericity gap identified for Holonic and Hybrid Control Architectures Design regarding complex Multi-Agent Systems (MAS), but also to promote human inclusion into these. To this end and to promote the socio-technical representation of systems, the proposed relationships model is grounded on the nature of human societies' ones
Rizzo, Audrey. "L'approche CRONE dans le domaine des architectures complexes des suspensions de véhicules automobiles : la suspension CRONE Hydractive." Thesis, Bordeaux 1, 2012. http://www.theses.fr/2012BOR14564/document.
This thesis follows some previous work of the CRONE team applied to carsuspensions. It allows to purpose one car suspension, called CRONE car suspension, whichimproves the compromise between low frequency road filtering and car holding and thecompromise between hight frequency road filtering and wheel holding. To hold the wheel acriterium on the wheel holding is developed. This criterium can be used to analyse and tunedall kind of car suspension around the wheel pulsation. Moreover, to fight against thecompromise between the driver input and the raod input, a control laws is developed andapplied to a bi-state car suspension called hydractive car suspension. Finally, the influence ofthe car suspension tuning on the vehicle dynamic and more precisely on the ESP, ABSsystems is studied and illustrated with some first experiments
Becci, Graciela Monica. "Automation and control architecture for hybrid pipeline robots." Thesis, Durham University, 2010. http://etheses.dur.ac.uk/598/.
Mouzakitis, Alexandros. "Hybrid control architecture for navigation of autonomous mobile robots." Thesis, University of South Wales, 2002. https://pure.southwales.ac.uk/en/studentthesis/hybrid-control-architecture-for-navigation-of-autonomous-mobile-robots(3b3f0e2d-42f9-4bdc-b55e-b5c4cbed937f).html.
Tang, Hon-ping. "A hybrid multi-agent system architecture for manufacturing cell control." Click to view the E-thesis via HKUTO, 2005. http://sunzi.lib.hku.hk/HKUTO/record/B38628727.
Tang, Hon-ping, and 鄧漢平. "A hybrid multi-agent system architecture for manufacturing cell control." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2005. http://hub.hku.hk/bib/B38628727.
Reyngoud, Benjamin Peter. "Hybrid materials design to control creep in pipes." Thesis, University of Canterbury. Mechanical Engineering, 2015. http://hdl.handle.net/10092/10857.
Rojas, Castro Dalia Marcela. "The RHIZOME architecture : a hybrid neurobehavioral control architecture for autonomous vision-based indoor robot navigation." Thesis, La Rochelle, 2017. http://www.theses.fr/2017LAROS001/document.
The work described in this dissertation is a contribution to the problem of autonomous indoor vision-based mobile robot navigation, which is still a vast ongoing research topic. It addresses it by trying to conciliate all differences found among the state-of-the-art control architecture paradigms and navigation strategies. Hence, the author proposes the RHIZOME architecture (Robotic Hybrid Indoor-Zone Operational ModulE) : a unique robotic control architecture capable of creating a synergy of different approaches by merging them into a neural system. The interactions of the robot with its environment and the multiple neural connections allow the whole system to adapt to navigation conditions. The RHIZOME architecture preserves all the advantages of behavior-based architectures such as rapid responses to unforeseen problems in dynamic environments while combining it with the a priori knowledge of the world used indeliberative architectures. However, this knowledge is used to only corroborate the dynamic visual perception information and embedded knowledge, instead of directly controlling the actions of the robot as most hybrid architectures do. The information is represented by a sequence of artificial navigation signs leading to the final destination that are expected to be found in the navigation path. Such sequence is provided to the robot either by means of a program command or by enabling it to extract itself the sequence from a floor plan. This latter implies the execution of a floor plan analysis process. Consequently, in order to take the right decision during navigation, the robot processes both set of information, compares them in real time and reacts accordingly. When navigation signs are not present in the navigation environment as expected, the RHIZOME architecture builds new reference places from landmark constellations, which are extracted from these places and learns them. Thus, during navigation, the robot can use this new information to achieve its final destination by overcoming unforeseen situations.The overall architecture has been implemented on the NAO humanoid robot. Real-time experimental results during indoor navigation under both, deterministic and stochastic scenarios show the feasibility and robustness of the proposed unified approach
Gan, Shiyu. "Development of a vehicle management tool for multi-architecture and multi-application." Thesis, Bourgogne Franche-Comté, 2018. http://www.theses.fr/2018UBFCK043.
The presented work deals with the question which hybrid architecture is most adapted for which type of vehicle. Therefore, a multi-architecture/multi-application approach capable to identify the most energy efficient hybrid architecture considering both the dimensions of key components (battery, electric motor, internal combustion engine) and the optimal control is presented. Basis of the model is the energetic macroscopic representation (EMR), which has been combined with object oriented programming (OOP) in order to enhance its modularity and reuse capabilities. The obtained results show, that different hybrid architectures are most adapted for different applications. Moreover, the robustness of the results using real time control algorithms are studied, showing that control strategy matters. The obtained results contribute to simplify and harmonize the design of hybrid solutions for multiple applications
Hennig, Matthias, and Klaus Janschek. "Aktionsprimitiv-basierte Steuerungsarchitektur für Anwendungen in der Robotik und Fertigungstechnik." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-83673.
This paper presents a framework for a flexible and robust control architecture for robotic systems. The design incorporates an application independent system concept which allows a simplified engineering process. For this purpose a distinction between a functional behavioural and a sequential control system model is proposed. This approach is based on the utilisation of action primitives within a hybrid control architecture. The use of these primitives affords a high level of modularity through increasing flexibility and expandability of the resulting system. In this paper the proposed framework will be discussed as well as a prototypical object-oriented implementation and first results
Jardine, Jared L. "The Hybrid Game Architecture: Distributing Bandwidth for MMOGs While Maintaining Central Control." Diss., CLICK HERE for online access, 2008. http://contentdm.lib.byu.edu/ETD/image/etd2654.pdf.
Begna, Sultan Hussein. "Agronomic and physiological aspects of competition for light between corn hybrids differing in canopy architecture and weeds." Thesis, McGill University, 1999. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=35572.
Boyd, Steven J. "Hybrid Electric Vehicle Control Strategy Based on Power Loss Calculations." Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/34970.
Master of Science
Bao, Ran. "The architecture of pneumatic regenerative systems for the diesel engine." Thesis, Loughborough University, 2015. https://dspace.lboro.ac.uk/2134/21267.
Benzerrouk, Ahmed. "Architecture de contrôle hybride pour systèmes multi-robots mobiles." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00669559.
Chapuis, Cédric. "Architecture et contrôle du patinage d'un véhicule mono et multi-source de puissance." Thesis, Lyon, INSA, 2012. http://www.theses.fr/2012ISAL0104/document.
The technical progress made during last years in the battery field and the environmental standards hardening lead to an increased interest in hybrid and electric vehicles. The possibility to use several power sources inside a vehicle leads to question the traditional vehicle architectures and to study multi-power sources architectures. After a state of the art on architectures and torque transmission systems, the VELROUE project's prototype is presented. This prototype is later used as a validation platform. Then, the rear wheels slipping control of the VELROUE vehicle which is equipped with an internal combustion engine on the front axle and with two electric motors connected to the rear wheels is studied. Next, different vehicle models are described to analyze energy transfers inside the system using Bond Graph, to synthesize anti-slipping control laws and to simulate the vehicle behavior in order to validate the anti-slipping functions (ASR). A first PID-like controller is initially introduced to serve as reference. The main contribution of this thesis deals with the synthesis and implementation of nonlinear controls either using linearizing feedback, or based on the flatness theory. The synthesis controls models come from classical hypothesis: longitudinal and vertical dynamics and pitch on a double bicycle model. A control strategy is also developed to assure driver's security, to reduce material needs and to enhance the driver approval. Finally, the nonlinear controls developed here are simulated and then experimentally validated on the VELROUE vehicle. A comparison of these commands is performed according to energy, performance, complexity and cost criteria. These control laws developed for ASR are extended to regenerative braking phases (MSR), which is also an originality of this work
Ben, Saad Seifallah. "Conception d'un algorithme de coordination hybride de groupes de robots sous-marins communicants. Application : acquisition optique systématique et détaillée des fonds marins." Thesis, Brest, 2016. http://www.theses.fr/2016BRES0052/document.
In the underwater environment, the needs of data acquisition have significantly increased over the last decades. As electromagnetic waves show poor propagation in sea water, acoustical sensing is generally preferred. However, the emergence of small and low cost autonomous underwater vehicles (AUV) allow for rethinking the underwater use of optical sensors as their small coverage can be significantly improved by using a fleet of coordinated underwater robots.This paper presents a strategy to coordinate the group of robots in order to systematically survey the seabed to detect small objects or singularities. The proposed hybrid coordination strategy is defined by two main modes. The first mode relies on a swarm algorithm to organize the team in geometrical formation. In the second mode, the robot formation is maintained using a hierarchical coordination. A finite state machine controls the high level hybrid strategy by defining the appropriate coordination mode according to the evolution of the mission. Before sea validation, the behavior and the performance of the hybrid coordination strategy are first assessed in simulation. The control of individual robots relies on visual servoing, implemented with the OpenCV library, and the simulation tool is based on Blender software.The dynamics of the robots has been implemented in a realistic way in Blender by using the Bullet solver and the hydrodynamic coeficcients estimated on the actual robot. First results of the hybrid coordination strategy applied on a fleet of 3 AUV’s, show execution of a video acquisition task by a group of autonomous robots controlled by vision and coordinated by a hybrid strategy
Bovee, Katherine Marie. "Design of the Architecture and Supervisory Control Strategy for a Parallel-Series Plug-in Hybrid Electric Vehicle." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1343416437.
Schaep, Thomas. "Conception et commande optimale d’une architecture hybride hydraulique de reach stacker." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSEI121/document.
The continuously increasing of the intercontinental trade as well as the globalization lead to the need of higher productivity for ports and container terminals. In order to fulfill the need of competitiveness of terminal operators and in the same time respect the environmental legislation, container handling machine manufacturers are developping new solutions. Hybridization of energy sources is an interesting way but using more energy efficient actuation lines is also suitable. As a consequence, specifications are more and more complex, and can in particular have heterogeneous natures. In this thesis, the focus is made on two main topics linked to those problematics. On the one hand, a methodology concerning the sizing of over-actuated systems thanks to a coupling between inverse problems and dynamic optimization is exposed. On the other hand, the design, control strategies and an experimental validation of an hybrid actuation line applied to an container handling machine is presented. First of all, we propose a new procedure based on the bond graph language allowing the designer to take into account simultaneously two types of specifications, namely a cost function to minimize and functions of time specifying desired outputs of the system. This results in a coupled problem of state-space inversion and optimization. The procedure lead to a bond graph from which it is possible to directly derive the analytical system of the problem. The fundamental theory for proving the effectiveness of this procedure is carried out using the port hamiltonian systems. The bond graph representation of an optimal control problem is then extended to systems involving non linearities on dissipative R elements. In a second part, a new actuation architecture is proposed for a container handling machine, in order to improve the fuel efficiency. On the one hand, a transformer based system to recover the potential energy released during container lowering is exposed. This energy is stored into a hydropneumatic accumulator. Then, it is returned thanks to an extra hydraulic motor coupled to the engine shaft. On the other hand, a resizing of the main hydraulic pumps as well as a more suitable control law is proposed in order to make the engine work at better efficiency points. All those evolutions previously mentionned give now the possibility to perform kinetic energy recuperation during vehicle deceleration without adding any major component. The new architecture combined with more effetive control laws lead to a fuel consumption reduction of 16% up to 18%. Finally, the potential energy recovery system is validated on a test rig. The control laws are implemented and the dynamic and energetic performances are then analysed
LAURENZI, ARTURO. "Motion Control of the Hybrid Wheeled-Legged Quadruped Robot Centauro." Doctoral thesis, Università degli studi di Genova, 2020. http://hdl.handle.net/11567/996233.
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.
Discrete-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
Bhattacharyya, Siddhartha. "HIERARCHICAL HYBRID-MODEL BASED DESIGN, VERIFICATION, SIMULATION, AND SYNTHESIS OF MISSION CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES." UKnowledge, 2005. http://uknowledge.uky.edu/gradschool_diss/344.
King, Jonathan Charles. "Model-Based Design of a Plug-In Hybrid Electric Vehicle Control Strategy." Thesis, Virginia Tech, 2012. http://hdl.handle.net/10919/34962.
Master of Science
Satra, Mahaveer Kantilal. "Hybrid Electric Vehicle Model Development and Design of Controls Testing Framework." The Ohio State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=osu1595432296730485.
Röben, Tobias [Verfasser], Eike [Akademischer Betreuer] Stumpf, and Dieter [Akademischer Betreuer] Moormann. "Hybrid actuation in primary flight control systems : a force-fight inhibiting system architecture / Tobias Röben ; Eike Stumpf, Dieter Moormann." Aachen : Universitätsbibliothek der RWTH Aachen, 2018. http://d-nb.info/1191188906/34.
Said, Mohamed Mariama. "Architecture et étude d’un système électrique hybride destine à l’autonomie d’une zone rurale." Electronic Thesis or Diss., Université de Lorraine, 2021. http://www.theses.fr/2021LORR0044.
The presented work focuses on the study of the architecture of a hybrid electric system (HES) made of different sources. First, we studied a configuration consisting of photovoltaic, wind, PEM fuel cell as sources and batteries, electrolyser and hydrogen tank as storage elements. Then in a second phase, only hydrogen storage is considered to ensure the electrical autonomy of a rural area in Comoros. The coupling of these different sources aims to improve the performance, the availability of the resulting electrical network, the supply of electricity over much longer periods and, above all, the satisfaction of the uses by operating each source in a reasoned way. First, we have analysed the main components of our system. Then, we established the mathematical models that describe the behaviour of the different parts of our hybrid energy system which is here the formalism used for the modelling. The modelling and simulation of the PV and wind systems use a MPPT control to maximize the delivered power. In the first configuration, the battery charge/discharge process is controlled to stabilize the DC bus voltage. The fuel cell makes the system more durable. It also helps to stabilize the DC bus voltage, in case of too much battery discharge. Thus, the use of a harmonic filter reduces the rate of harmonic distortion. Harmonics are compensated as well than the reactive current component in normal or unbalanced operating conditions. The presented simulation results have illustrated the behaviour of the different components of the HES in transient and steady states. Finally, the proposed system, analysed with the help of HOMER, would be able to provide a solution to the demand of a rural area in the Comoros or in any place suffering of a weak grid by using only hydrogen storage
Tsalatsanis, Athanasios. "Control of autonomous robot teams in industrial applications." [Tampa, Fla] : University of South Florida, 2008. http://purl.fcla.edu/usf/dc/et/SFE0002653.
Zimmermann, Emmanuel. "Modèles d’optimisation et d’évaluation de système de pilotage intelligent en contexte de flux fortement perturbés par les reprises : application au cas de la société Acta-Mobilier." Thesis, Université de Lorraine, 2019. http://www.theses.fr/2019LORR0098/document.
This CIFRE thesis comes from a collaboration between Acta-Mobilier, manufacturer of high-end lacquered facades and CRAN. This thesis, which is a continuation of that of Mélanie Noyel, aims to achieve a hybrid control architecture based on control by the product. We chose to take inspiration from a meta-model developed within the CRAN team. This architecture is based on a VSM model, where each level is likely to make decisions on its own scale. The highest level oversees tactical decisions (for example, the production master plan), the lowest level of intelligence is distributed between the products endowed with means of communication and analysis (their intelligence is attributed to the responsiveness of the system because being closer to the need). In intermediate levels, we find on the one hand centralized optimizers to supervise the sub-workshops of the production chain, in order to reach the objectives of consumption, time of adjustments or productivity of the sub-workshops that they supervise. On the other hand, optimizers for specific workstations directly involving the products and information they possess in decision-making. An optimizer of each of the two categories in accordance with the needs defined by the study of the workflow of the company have been realized. A centralized optimizer has been realized for the machining workshop in which the operations relating to the flow and shaping of the shapes of the products are carried out. It is built to make groupings in manufacturing batches and to schedule them to achieve a compromise between minimizing material consumption, machine setting times and minimizing WIP. Sequencing must ensure that clusters, when they are split, enable rapid customer order reform. This constraint is necessary before going to the application phase of the finish. It implements a genetic algorithm solving a multicriteria scheduling problem. To validate our choice of a meta-heuristic as a method of solving the problem, we tried to solve it by an analytical mathematical method and the results obtained confirmed that our decision was reasonable. This optimization was tested on a test platform and provided encouraging results. An implementation made in the company, is used every week for a specific planning. An optimizer of the second category has been studied to manage the case of the lacquer robot, it must provide two client stations having their own families of products but to be shipped on the same dates. In addition, the weak points of this post, namely the significant consumption of lacquer with each change of color and the long waiting time before being able to visualize the products and to know if a defect quality appeared, involving having to redo a cycle complete lacquering. The optimizer uses a non-quality prediction model to evaluate the risks associated with the passage of the next batch to be produced and if it is deemed too high, a process is triggered choosing among the lots present in the queue, the most suitable by considering several factors. This workstation optimizer gathers machine information, products, and queues from downstream workstations to prevent a problem from occurring. It has been implemented on a simulation model. The issue of synchronization of different optimizers has been initiated. Indeed, the production plan generated by the information system gives an acceptable range of passage for the batches in each workshop and the optimizers must respect it. This work will help the company make the transition to the Industry 4.0 era
Pach, Cyrille. "ORCA : architecture hybride pour le contrôle de la myopie dans le cadre du pilotage des systèmes flexibles de production." Phd thesis, Université de Valenciennes et du Hainaut-Cambresis, 2013. http://tel.archives-ouvertes.fr/tel-00919382.
Britto, Ricardo de Sousa. "Uma arquitetura distribu?da de hardware e software para controle de um rob? m?vel aut?nomo." Universidade Federal do Rio Grande do Norte, 2008. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15188.
Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior
In this work, we present a hardware-software architecture for controlling the autonomous mobile robot Kapeck. The hardware of the robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontroller-based boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks
Neste trabalho ? apresentada uma arquitetura de hardware e software para controle do rob? m?vel aut?nomo Kapeck. O hardware do rob? Kapeck ? composto por um conjunto de sensores e atuadores organizados em um barramento de comunica??o CAN. Dois computadores embarcados e oito placas microcontroladas foram utilizadas no sistema. Um dos computadores foi utilizado para o sistema de vis?o, devido ? grande necessidade de processamento deste tipo de sistema. O outro computador foi utilizado para coordenar e acessar o barramento CAN e realizar as outras atividades do rob?. Placas microcontroladas foram utilizadas nos sensores e atuadores. O rob? possui esta configura??o distribu?da para um bom desempenho em tempo-real, onde os tempos de resposta e a previsibilidade temporal do sistema s?o importantes. Foi seguido o paradigma h?brido deliberativo-reativo para desenvolver a arquitetura proposta, devido ? necessidade de aliar o comportamento reativo da rede de sensores-atuadores com as atividades deliberativas necess?rias para realizar tarefas mais complexas
Zimmermann, Emmanuel. "Modèles d’optimisation et d’évaluation de système de pilotage intelligent en contexte de flux fortement perturbés par les reprises : application au cas de la société Acta-Mobilier." Electronic Thesis or Diss., Université de Lorraine, 2019. http://www.theses.fr/2019LORR0098.
This CIFRE thesis comes from a collaboration between Acta-Mobilier, manufacturer of high-end lacquered facades and CRAN. This thesis, which is a continuation of that of Mélanie Noyel, aims to achieve a hybrid control architecture based on control by the product. We chose to take inspiration from a meta-model developed within the CRAN team. This architecture is based on a VSM model, where each level is likely to make decisions on its own scale. The highest level oversees tactical decisions (for example, the production master plan), the lowest level of intelligence is distributed between the products endowed with means of communication and analysis (their intelligence is attributed to the responsiveness of the system because being closer to the need). In intermediate levels, we find on the one hand centralized optimizers to supervise the sub-workshops of the production chain, in order to reach the objectives of consumption, time of adjustments or productivity of the sub-workshops that they supervise. On the other hand, optimizers for specific workstations directly involving the products and information they possess in decision-making. An optimizer of each of the two categories in accordance with the needs defined by the study of the workflow of the company have been realized. A centralized optimizer has been realized for the machining workshop in which the operations relating to the flow and shaping of the shapes of the products are carried out. It is built to make groupings in manufacturing batches and to schedule them to achieve a compromise between minimizing material consumption, machine setting times and minimizing WIP. Sequencing must ensure that clusters, when they are split, enable rapid customer order reform. This constraint is necessary before going to the application phase of the finish. It implements a genetic algorithm solving a multicriteria scheduling problem. To validate our choice of a meta-heuristic as a method of solving the problem, we tried to solve it by an analytical mathematical method and the results obtained confirmed that our decision was reasonable. This optimization was tested on a test platform and provided encouraging results. An implementation made in the company, is used every week for a specific planning. An optimizer of the second category has been studied to manage the case of the lacquer robot, it must provide two client stations having their own families of products but to be shipped on the same dates. In addition, the weak points of this post, namely the significant consumption of lacquer with each change of color and the long waiting time before being able to visualize the products and to know if a defect quality appeared, involving having to redo a cycle complete lacquering. The optimizer uses a non-quality prediction model to evaluate the risks associated with the passage of the next batch to be produced and if it is deemed too high, a process is triggered choosing among the lots present in the queue, the most suitable by considering several factors. This workstation optimizer gathers machine information, products, and queues from downstream workstations to prevent a problem from occurring. It has been implemented on a simulation model. The issue of synchronization of different optimizers has been initiated. Indeed, the production plan generated by the information system gives an acceptable range of passage for the batches in each workshop and the optimizers must respect it. This work will help the company make the transition to the Industry 4.0 era
Nou, Julien. "Gestion optimale de l'énergie thermique dans un procédé hybride : solaire/géothermie pour le chauffage de bâtiments." Phd thesis, Université de Perpignan, 2011. http://tel.archives-ouvertes.fr/tel-00756810.
Lalami, Mohamed Esseghir. "Contribution à la résolution de problèmes d'optimisation combinatoire : méthodes séquentielles et parallèles." Phd thesis, Toulouse 3, 2012. http://thesesups.ups-tlse.fr/1916/.
Combinatorial optimization problems are difficult problems whose solution by exact methods can be time consuming or not realistic. The use of heuristics permits one to obtain good quality solutions in a reasonable time. Heuristics are also very useful for the development of exact methods based on branch and bound techniques. The first part of this thesis concerns the Multiple Knapsack Problem (MKP). We propose here a heuristic called RCH which yields a good solution for the MKP problem. This approach is compared to the MTHM heuristic and CPLEX solver. The second part of this thesis concerns parallel implementation of an exact method for solving combinatorial optimization problems like knapsack problems on GPU architecture. The parallel implementation of the Branch and Bound method via CUDA for knapsack problems is proposed. Experimental results show a speedup of 51 for difficult problems using a Nvidia Tesla C2050 (448 cores). A CPU-GPU implementation of the simplex method for solving linear programming problems is also proposed. This implementation offers a speedup around 12. 7 on a Tesla C2050 board. Finally, we propose a multi-GPU implementation of the simplex algorithm via CUDA. An efficiency of 96. 5% is obtained when passing from one GPU to two GPUs
Lalami, Mohamed Esseghir. "Contribution à la résolution de problèmes d'optimisation combinatoire : méthodes séquentielles et parallèles." Phd thesis, Université Paul Sabatier - Toulouse III, 2012. http://tel.archives-ouvertes.fr/tel-00748546.
Watts, Jerrell R. "Dynamic load balancing and granularity control on heterogeneous and hybrid architectures." Thesis, 1998. https://thesis.library.caltech.edu/539/1/Watts_jr_1998.pdf.
Huber, Manfred. "A hybrid architecture for adaptive robot control." 2000. https://scholarworks.umass.edu/dissertations/AAI9988799.
Wen, Chih-Chao, and 文志超. "Architecture Design and Application for Hybrid Multicast QoS Control and Management." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/02902734272967412102.
國立中正大學
電機工程研究所
99
With fast development of group communications, the requests for multimedia multicast service and application are increasingly growth over current Internet. The key points for multicasting applications are quality of service (QoS) and quality of experience (QoE) supports which involve the multicast group dynamics of membership management, multicast network dynamics with P2MP routing and resource control, and dynamic multicast traffic control. In this dissertation, the proposed multicast QoS supported network design is divided into three relevant phases of multicast session, such as static and mobile member joining in multicast group management phase, multicast QoS routing and resource reservation in multicast network control phase, and multicast traffic transmission in traffic control phase. The purpose of the centralized control and management (CCM) architecture is to setup network provisioning models and provide viable solutions for multicast QoS problems: scalability, efficiency and deployment, which is caused by dynamic behaviors in multicast session. The multicast session is created by assigning the group address for static and dynamic member joining. In multicast group management phase, the RP shared tree of CCM can be applied for the member joining and network information collection. And, the multicast agent (MA) of overlay network can be used for mobile member joining via IGMP mechanism. In multicast network control phase, the multicast session is setup by multicast tree construction, spanning all the sources and receivers. In multicast CCM architecture, we propose multicast resource broker (MRB) function with efficient resource provisioning which employs the CSPF multicast routing, and RSVP-TE resource reservation for multicast tree. Furthermore, for IPTV multicast application development, we propose HT-ERM approach for IPTV application which can improve the performance for multicast network delivery and channel control. For inter-domain multicast networking, we propose overlay tree construction algorithm to achieve all-IP multicasting. In multicast traffic control phase, the proposed HT-ERM switchover control mechanism can provide fast switchover mechanism for channel change delay, and admission control for multicast IPTV QoS traffic distribution over hybrid-tree based multicast network. In additions, to achieve the seamless multicast transport connectivity, we propose context aware handoff mobility connection approach for mobile member access service. Finally, our proposed models and algorithms can enhance the existing protocols and apply for practical framework implementation. The experimental results and performance evaluations for the reference architecture and application are validated to provide all-IP multicast transport service over Future Internet.
Chanumolu, Raviteja. "A Novel Hybrid Vehicle Architecture : Modeling, Simulation and Experiments." Thesis, 2017. http://etd.iisc.ac.in/handle/2005/3585.
Chanumolu, Raviteja. "A Novel Hybrid Vehicle Architecture : Modeling, Simulation and Experiments." Thesis, 2017. http://etd.iisc.ernet.in/2005/3585.
Lin, Yi Sheng, and 林益生. "A Hybrid Architecture of A Robot System with Case-Based Reasoning and Fuzzy Behavioral Control." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/58176298640390203305.
國立中正大學
電機工程研究所
90
For achieving many requirements of environments, the robots are built in many different forms. For controlling an autonomous robot, there are also several approaches to construct a robot. In recent research, the robot architectures can roughly be divided into three design philosophies: deliberative robot architectures, reactive robot architectures and hybrid robot architectures. In this thesis, we adopt the design philosophy of hybrid robot architectures. We try to combine deliberative part using case-based reasoning (CBR) and reactive part using fuzzy behavioral control. We survey several representative robot architectures and discover several challenges in recent robot architectures. We employ the advantages of CBR and fuzzy behavioral control to provide a better alternative for building a robot and apply the robot in robot soccer. The main advantages of our architecture are learning capability, easy construction of the strategy base, and quick reaction without too much planning. We use the learning capability, reasoning without complete world model knowledge, and solving problems through previous experiences of CBR as our high level planner to achieve those advantages which we have mentioned above. Besides, we use the features of fuzzy logic to provide well steering control and easy construction of strategies through fuzzy linguistic description. At last, we also build a robot with computer language to simulate and experiment on robot soccer simulator.
Wang, Daqing. "Development of hybrid architecture of the control system for modular and re-configurable robot (MRR) manipulators." 2006. http://link.library.utoronto.ca/eir/EIRdetail.cfm?Resources__ID=450564&T=F.
Wen-YiChen and 陳文益. "TRIN-PON : A Hybrid Tree/RINg EPON Architecture for Supporting Private Networking Capability with Fairness Control." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/42808596013731862618.
Chan, Yu-Chen, and 詹佑晨. "Architecture, Component and Process Control in Nanocomposite and Nanomultilayer for Mechanical Strengthening Coatings via Organic, Inorganic and Bio-inspired Hybrid Approach." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/06120514043732309852.