Дисертації з теми "Robotique en milieu hostile"
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Menges, Baptiste. "Étude d’un système robotique coopératif en milieu sidérurgique sévère." Electronic Thesis or Diss., Université de Lorraine, 2021. http://www.theses.fr/2021LORR0261.
The work proposed as part of this thesis is part of improving the production quality and working conditions of Saint-Gobain PAM steel sites. It was proposed to study and develop a collaborative robotic system capable of assisting an operator in repetitive, painful and sometimes dangerous tasks in an environment of extreme heat and dust. Recently passed CMR, crystalline silica dust represents the biggest problem requiring the study of alternative solutions to current production methods.More specifically, the operator's workstation, which is critical for the quality of production, requires demanding attention and know-how. The operator's job is to monitor, clean, coat, maintain a cast iron casting member of a centrifuge machine used in the production of ductile iron pipe. Many movements made by the operator are characterized as rhythmic and form a closed limit cycle, the same behavior of which is observed in dynamic oscillators.The objective of this thesis is therefore to study an alternative solution to reduce operator exposure. The technological choice fell on the remote operation of a robotic system in order to reproduce the tasks remotely outside the exhibition areas. The control of these rhythmic tasks will be carried out by different models of oscillator and different means of teleoperation. This thesis will also aim to study the implementation of two dynamic oscillators, those of Hopf and Rowat-Selverston coupled to three different teleoperation devices.Thanks to the various tests, we observed the impact of a control with a dynamic oscillator compared to a control without. We can also observe the impact that the various remote operation devices may have on the control signals
Gauthier, Michaël. "Micromanipulation robotique en milieu liquide." Habilitation à diriger des recherches, Université de Franche-Comté, 2011. http://tel.archives-ouvertes.fr/tel-00648661.
Legrand, Véronique. "Confiance et risque pour engager un échange en milieu hostile." Thesis, Lyon, INSA, 2013. http://www.theses.fr/2013ISAL0041.
Nowadays, the electronic form of exchanges offers a new media able to make easy all information access, ubiquitous access, everywhere and everytime. But, at the same time, such a media - new, opened and complex - introduces unknown threats and breaches. So, how can we start up trust exchanges? From the system theory point of view, the cybernetic regulation maintains the sys-tems equilibrium with negative feedback loops. In this way, the defense line is based on a set of defense components still named Demilitarized Zone (DMZ) in order to block flow, to control anomalies and give out alerts messages if deviances are detected. Nev-ertheless, most of these messages concern only anomalies of machines and very little of human. So, messages do not take into account neither psychological behavior nor the dynamic of the context. Furthermore, messages suffer of the "big data" problem and become confused due to too much velocity, volume and variety. Finally, we can limit this problem to the understanding difficulty during the access to the specific knowledge in connection with the message. For example, the identity theft with the XSS attack is an illustration of this unfriendly environment. On the contrary, the living sciences show that organisms follow a positive regulation by where each one itself adapts according to his complexity. For that, they deploy adapted and continuous environment monitoring process still named "homeostasis". During this cycle, inputs capture information, then outputs adjust in response corre-sponding actions : this is the feedback. The strength of such a mechanism lies on the information meaning and in particular on the clues they include. In fact, some of these information include clues by which organisms can explain situations. For example, the information « attention" alludes to dangerous situation. This faculty comes from ad-vanced knowledge having first explicit relationship with this information: this relation forms what we call the "cognitive loop". To illustrate this phenomenon, the cognitive sciences often evoke "a friend immediately recognized by her friend" despite he is swal-lowed up in the crowd. But, the cognitive loop should not be broken. Like the living beings functioning, our work propose a cognitive model named Diag-nostic And Incident Model (DIM). The main idea lies on the context-aware model in order to adapt itself like "homeostasis". DIM has been founded on the principle of the "cognitive loop" where the inputs are the "logs" of numerics systems. So, in order to make easier the comparison between contextual and known situation, we will design "logs" and advanced knowledge by a common model. DIM proposes a conceptual struc-ture to extract clues from massive and various "logs” issued from environment based on advanced knowledge acquisition. Then, we propose the cognitive structure will be applied to the anomaly detection, incident management and diagnosis process
Nesme, Matthieu. "Milieu mécanique déformable multirésolution pour la simulation intéractive." Grenoble 1, 2008. http://www.theses.fr/2008GRE10078.
Physically based models are invaluable in the field of animation synthesis because they permit realistic simulation of physical phenomena and allow for better immersion in a virtual world. Several approches exist for animating soft bodies, but the modelling is often complex and difficult to use in practice. In this thesis, we introduce simplified process for the interactive, realistic physical animation of deformable objects. In this approach, the object is imbedded within a deformable grid to which mechanical laws are applied. A fast and robust finite element method is extended to take into account the distribution of material and material properties inside an element, thereby offering improved behavior for coarse resolutions. To allow for interactive running times, a simple multiresolution formulation is proposed to focus computations where they are most necessary. To improve the propagation of deformations for "poorly conditioned" materials, two methods are evaluated: a hierarchical finite elements formulation, which is difficult to set-up but facilitates the multiresolution approach, and a multigrid formulation, which is elegant and efficient but more difficult to use in the multiresolution framework. Finally the precision of our method is experimentally validated and examples are shown for a wide-range of models. In summary, this thesis presents a fast, robust, accurate, and easy-to-use approach for the physically realistic animation of deformable objects. This method simplifies both the task of the graphic artist, since prior knowledge in mechanics is not required, and the task of patient-specific modelling since segmented medical images are directly exploitable
DESSOUDE, OLIVIER. "Controle perspectif en milieu hostile : allocation de ressources automatique pour un systeme multiplicateur." Paris 11, 1993. http://www.theses.fr/1993PA112052.
Pelorjas, Pierre. "La prise en charge de "l'expatrié" français en milieu hostile : l'Inde en 1994-1995." Montpellier 1, 1996. http://www.theses.fr/1996MON11111.
Moras, Julien. "Grilles de perception évidentielles pour la navigation robotique en milieu urbain." Phd thesis, Université de Technologie de Compiègne, 2013. http://tel.archives-ouvertes.fr/tel-00866300.
Jardinier, Elsa. "Co-intégration de fonctions optiques et microfluidiques sur substrat de verre pour l'analyse en milieu hostile." Thesis, Grenoble, 2013. http://www.theses.fr/2013GRENT107/document.
The current will of reducing environment and human hazards has led the scientists to imagine new solutions for nuclear waste reprocessing. Miniaturized online chemical analysis of industrial processes has in particular an important role to play to reduce effluent volumes, response times and costs. In this context, we present the design, fabrication and characterization of an integrated spectrophotometric sensor on glass for chemical analysis of radioactive cations. The device is called a ―nanochannel waveguide‖ and is fabricated by reactive ion etching and ion exchange on glass. It is made of two borosilicate glass wafers bonded together. The first one contains a strip core and the second one a (100 ±10) nm deep nanochannel and a slab core. It allows the propagation of a hybrid mode, optimizing the fluid/guide wave interaction on a large wavelength range. Spectrometric measurements of a neodymium nitrate in nitric acid (pH 2) followed by statistical treatment have led to a limit of detection in terms of absorption coefficient of (3.7 ± 0.9) x 10-3 cm-1 for a device length of (3.70 ± 0.05) cm and fluid volume as low as (7 ± 3) nL. A structure allowing to increase the interaction length and therefore further decrease the detection limit has been proposed as an outlook of this work, and a preliminary study for use in a nuclear environment has been performed
Cauchois, Cyril. "Modélisation et calibration du capteur omnidirectionnel SYCLOP : application à la localisation absolue en milieu structuré." Amiens, 2001. http://www.theses.fr/2001AMIES007.
Dumez-Viou, Cedric. "Restauration de sources radioastronomiques en milieu radioélectrique hostile : Implantation de détecteurs temps réel sur des spectres dynamiques." Phd thesis, Université d'Orléans, 2007. http://tel.archives-ouvertes.fr/tel-00319939.
Les travaux de cette thèse ont eu pour but de développer et d'implanter des méthodes temps réel de traitements numériques visant à atténuer les interférences ambiantes afin de restaurer les radiosources naturelles lors d'observation avec une antenne unique sans informations a priori.
Le cœur de ces traitements est basé sur l'estimation de la moyenne d'un échantillon suivant une loi du Khi-2 en présence de points aberrants.
Un récepteur numérique multi-instruments à grande dynamique élaboré à la station de radioastronomie de Nançay a servi de banc de test à ces divers algorithmes.
La bande corrompue par Iridium est maintenant observable et les sources HI situées dans la bande allouée aux radars sont de nouveau
accessibles. Les observations du Soleil et de Jupiter effectuées en
bande décamétrique sont maintenant de bien meilleure qualité.
Un algorithme a été développé pour configurer le récepteur en tant que détecteur et enregistreur rapide d'évènements très brefs (<100 ms) en milieu parasité. Il est aujourd'hui utilisé pour l'enregistrement de structures fines Joviennes.
Dumez-Viou, Cédric. "Restauration de sources radioastronomiques en milieu radioélectrique hostile : implantation de détecteurs temps-réel sur des spectres dynamiques." Orléans, 2007. http://www.theses.fr/2007ORLE2064.
Han, Xu. "Sécurité des véhicules à roues en milieu tout terrain." Phd thesis, Université de Limoges, 2014. http://tel.archives-ouvertes.fr/tel-01063386.
Hommel, Didier. "Médecine d'urgence en milieu hostile : expérience et réflexion à propos de 96 missions de reconnaissance en forêt amazonienne du 3ème Régiment étranger d'infanterie." Bordeaux 2, 1990. http://www.theses.fr/1990BOR25153.
Haman-Djalo. "Conduite d'un robot mobile autonome à adaptation rapide aux modifications de trajets : application à un robot mobile guidé par balises en milieu industriel ou hostile." Paris 12, 1993. http://www.theses.fr/1993PA120043.
Codol, Jean-Marie. "Hybridation GPS/Vision monoculaire pour la navigation autonome d'un robot en milieu extérieur." Thesis, Toulouse, INSA, 2012. http://www.theses.fr/2012ISAT0060/document.
We are witnessing nowadays the importation of ICT (Information and Communications Technology) in robotics. These technologies will give birth, in upcoming years, to the general public service robotics. This future, if realised, shall be the result of many research conducted in several domains: mechatronics, telecommunications, automatics, signal and image processing, artificial intelligence ... One particularly interesting aspect in mobile robotics is hence the simultaneous localisation and mapping problem. Consequently, to access certain informations, a mobile robot has, in many cases, to map/localise itself inside its environment. The following question is then posed: What precision can we aim for in terms of localisation? And at what cost?In this context, one of the objectives of many laboratories indulged in robotics research, and where results impact directly the industry, is the positioning and mapping of the environment. These latter tasks should be precise, adapted everywhere, integrated, low-cost and real-time. The prediction sensors are inexpensive ones, such as a standard GPS (of metric precision), and a set of embeddable payload sensors (e.g. video cameras). These type of sensors constitute the main support in our work.In this thesis, we shed light on the localisation problem of a mobile robot, which we choose to handle with a probabilistic approach. The procedure is as follows: we first define our "variables of interest" which are a set of random variables, and then we describe their distribution laws and their evolution models. Afterwards, we determine a cost function in such a manner to build up an observer (an algorithmic class where the objective is to minimize the cost function).Our contribution consists of using brute GPS measures (brute measures or raw datas are measures issued from code and phase correlation loops, called pseudo-distance measures of code and phase, respectively) for a low-cost navigation, which is precise in an external suburban environment. By implementing the so-called "whole" property of GPS phase ambiguities, we expand the navigation to achieve a GPS-RTK (Real-Time Kinematic) system in a precise and low-cost local differential mode.Our propositions has been validated through experimentations realized on our robotic demonstrator
Raoui, Younès. "Indexation d'une base de données images : Application à la localisation et la cartographie fondées sur des radio-étiquettes et des amers visuels pour la navigation d'un robot en milieu intérieur." Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2011. http://tel.archives-ouvertes.fr/tel-00633980.
Loonis, Pierre. "Contribution à la minimisation de l'a priori en reconnaissance des formes : conception d'un prototype de trieuse automatique de poissons par vision artificielle en milieu industriel." La Rochelle, 1996. http://www.theses.fr/1996LAROS004.
Sarraj, Imad. "Développement d'un système robotique informatise pour le suivi de paramètres d'une culture au niveau cellulaire." Vandoeuvre-les-Nancy, INPL, 1994. http://www.theses.fr/1994INPL122N.
Poncelet, Renaud. "Navigation autonome en milieu urbain en présence d’obstacles mobiles : une approche géométrique." Electronic Thesis or Diss., Sorbonne université, 2022. http://www.theses.fr/2022SORUS340.
The objective of this thesis is to plan the motion of an autonomous vehicle so that it can navigate and interact with other moving obstacles without collision in an urban environment. This involves taking into account constraints that may be specific to the vehicle (dynamic, energetic, linked to perception or forecasting systems), relating to the safety and comfort of users or to the environment close to the vehicle. These last depend on the topology of the road, driving rules and other moving actors in the neigborhood of the ego-vehicle. In the context of this thesis, we focused on: (i) the limited or partial perception of the environment close to the vehicle and in particular the presence of static or mobile obstacles hiding part of its neighborhood ; (ii) uncertainty about the prediction of the motion of other agents; (iii) maneuvers to be carried out in urban scenarios where the lanes can be congested with plenty of other static or moving obstacles; (iv) and the respect of the road signs. All these issues have been addressed through geometric approaches by adapting in different ways the principle of path-velocity decomposition introduced by Kant and Zucker (1986). The CARLA simulator has been adapted to validate the proposed approaches on different scenarios reproducing typical situations of interaction with other vehicles in an urban environment, such as, for example, crossing a crossroads with reduced visibility, overtaking a slow or stopped vehicle in its lane, driving in a section of road regulated by traffic lights, etc
Couroux, Wilfrid. "Méthode de localisation absolue d'un robot mobile évoluant en milieu extérieur fondée sur la recherche d'indices visuels." Vandoeuvre-les-Nancy, INPL, 1997. http://www.theses.fr/1997INPL043N.
Renault, Benoît. "NAvigation en milieu MOdifiable (NAMO) étendue à des contraintes sociales et multi-robots." Electronic Thesis or Diss., Lyon, INSA, 2023. http://www.theses.fr/2023ISAL0105.
As robots become ever more commonplace in human environments, taking care of ever more tasks such as cleaning, security or food service, their current limitations only become more apparent. One such limitation is of their navigation capability in the presence of obstacles: they always avoid them, and freeze in place when avoidance is impossible. This is what brought about the creation of Navigation Among Movable Obstacles (NAMO) algorithms, expected to allow robots to manipulate obstacles as to facilitate their own movement. However, these algorithms were designed under the hypothesis of a single robot per environment, biasing NAMO algorithms into only optimizing the single robot's displacement cost - without any consideration for humans or other robots. While it is desirable to endow robots with the human capability of moving obstacles, they must however do so while respecting social norms and rules of humans. We have thus extended the NAMO problem as to take into account these new social and multi-robots aspects. By relying on the concept of affordance spaces, we have developed a social occupation cost model allowing the evaluation of the impact of moved objects on the environment's navigability. We implemented (and improved) reference NAMO algorithms, in our open source simulation tool, and modified them so that they may plan compromises between robot displacement cost and social occupation cost of moved obstacles - resulting in improved navigability. We also developed an implicit coordination strategy allowing the concurrent execution of these same algorithms by multiple robots as is, without any explicit communication requirements, while preserving the no-collision guarantee; verifying the relevance of our social occupation cost model in the actual presence of other robots. As such, this work constitutes the first steps towards a Social and Multi-Robot NAMO
Durand, Dominique. "Suivi et simulation de la qualité de l'eau en milieu littoral par télédétection et modélisation." Phd thesis, Nice, 2000. http://pastel.archives-ouvertes.fr/pastel-00956574.
Drevelle, Vincent. "Étude de méthodes ensemblistes robustes pour une localisation multisensorielle intègre. Application à la navigation des véhicules en milieu urbain." Phd thesis, Université de Technologie de Compiègne, 2011. http://tel.archives-ouvertes.fr/tel-00679502.
Moreau, Julien. "Construction de modèles 3D à partir de données vidéo fisheye : application à la localisation en milieu urbain." Thesis, Belfort-Montbéliard, 2016. http://www.theses.fr/2016BELF0290/document.
This research deals with 3D modelling from an embedded fisheye vision system, used for a GNSS application as part of CAPLOC project. Satellite signal propagation in urban area implies reflections on structures, impairing localisation’s accuracy and availability. The project purpose is (1) to define an omnidirectional vision system able to provide information on urban 3D structure and (2) to demonstrate that it allows to improve localisation.This thesis addresses problems of (1) self-calibration, (2) matching between images, (3) 3D reconstruction ; each algorithm is assessed on computer-generated and real images. Moreover, it describes a way to correct GNSS signals reflections from a 3D point cloud to improve positioning. We propose and evaluate two systems based on state-of-the-art methods. First one is a stereoscopic system made of two sky facing fisheye cameras. Second one is the adaptation of the former to a single camera.Calibration is handled by a two-steps process: the 9-point algorithm fitted to “equisolid” model coupled with a RANSAC, followed by a Levenberg-Marquardt optimisation refinement. We focused on the way to apply the method for optimal and repeatable performances. It is a crucial point for a system composed of only one camera because the pose must be estimated for every new image.Stereo matches are obtained for every pixel by dynamic programming using a 3D graph. Matching is done along conjugated epipolar curves projected in a suitable manner on each image. A distinctive feature is that distortions are not rectified in order to neither degrade visual content nor to decrease accuracy. In the binocular case it is possible to estimate full-scale coordinates.In the monocular case, we do it by adding odometer information. Local clouds can be wedged in SfM to form a global cloud.The end application is the usage of the 3D cloud to improve GNSS localisation. It is possible to estimate and consider a signal pseudodistance error after multiple reflections in order to increase positioning accuracy. Reflecting surfaces are modelled thanks to plane and buildings trace fitting. The method is evaluated on fixed image pairs, georeferenced by a low-cost receiver and a GPS RTK receiver (ground truth). Study results show the localisation improvement ability in urban environment
Vivet, Damien. "Perception de l'environnement par radar hyperfréquence. Application à la localisation et la cartographie simultanées, à la détection et au suivi d'objets mobiles en milieu extérieur." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00659270.
Lemonde, Vincent. "Stéréovision embarquée sur véhicule : de l'auto-calibrage à la détection d'obstacles." Phd thesis, INSA de Toulouse, 2005. http://tel.archives-ouvertes.fr/tel-00012017.
Roussel, Mylène. "Analyse et interprétation d'images appliquées aux algues microscopiques." Compiègne, 1993. http://www.theses.fr/1993COMP560S.
Gagliardini, Lorenzo. "Reconfigurations discrètes de robots parallèles à câbles." Thesis, Ecole centrale de Nantes, 2016. http://www.theses.fr/2016ECDN0002/document.
Cable-Driven Parallel Robots (CDPRs) are parallel robots whose legs consist of cables. CDPRs may be used successfully in several industrial applications such as sandblasting and painting of large and heavy structures.The first part of this manuscript is dedicated to the modelling of CDPRs. Two elasto-static models have been introduced in this manuscript, in order to describe the small displacement of the moving platform due to the non-rigid nature of the cables. These models can be used for the modal analysis of the CDPRs, as well. The elasto-static model based on linear cables has been computed including the effect of the pulleys orienting the cables into the CDPR workspace.The second part of this manuscript deals with the investigation of the workspace of CDPRs, in terms of their moving platform static and dynamic equilibria, and in terms of their moving platform kinematic constraints. Two novel workspaces have been defined: (i) the Twist Feasible Workspace (TFW); (ii) the Improved Dynamic Feasible Workspace (IDFW). The third part of this manuscript describes a generic design strategy for CDPRs and a novel design strategy for Reconfigurable Cable-Driven Parallel Robots (RCDPRs). In this manuscript, reconfigurations are limited to the thedisplacement of the cable exit points, assuming the cables exit points can be installed on a large but finite set of locations.The fourth part of this manuscript introduces an algorithm to compute an optimal reconfiguration strategy for RCDPRs. This strategy can be used when the working environment of the RCDPR is extremely cluttered and when it is not possible to predict how many configurations are necessary to complete the task. The effectiveness of the algorithm hasbeen analysed by means of a planar and a spatial casestudies reproducing some industrial tasks