Дисертації з теми "Systeme holonome"
Оформте джерело за APA, MLA, Chicago, Harvard та іншими стилями
Ознайомтеся з топ-50 дисертацій для дослідження на тему "Systeme holonome".
Біля кожної праці в переліку літератури доступна кнопка «Додати до бібліографії». Скористайтеся нею – і ми автоматично оформимо бібліографічне посилання на обрану працю в потрібному вам стилі цитування: APA, MLA, «Гарвард», «Чикаго», «Ванкувер» тощо.
Також ви можете завантажити повний текст наукової публікації у форматі «.pdf» та прочитати онлайн анотацію до роботи, якщо відповідні параметри наявні в метаданих.
Переглядайте дисертації для різних дисциплін та оформлюйте правильно вашу бібліографію.
Rebahi, Yacine. "Irrégularité des D-modules algébriques holonomes." Université Joseph Fourier (Grenoble ; 1971-2015), 1996. http://www.theses.fr/1996GRE10205.
Повний текст джерелаAbdel, Gadir Basil. "Analyse microlocale des systèmes différentiels holonomes." Grenoble 1, 1992. http://www.theses.fr/1992GRE10071.
Повний текст джерелаGloukhikh, Ioulia. "Systèmes mécaniques réversibles en dynamique holonome et non-holonome des corps solides rigides." Phd thesis, Ecole des Ponts ParisTech, 2003. http://tel.archives-ouvertes.fr/tel-00005724.
Повний текст джерелаLes recherches présentées dans cette thèse démontrent lefficacité des méthodes fondées sur les propriétés de réversibilité des systèmes mécaniques, propriété dont lusage est essentiel dans tous les résultats obtenus :
Létude de la stabilité des rotations autour de laxe vertical de lellipsoïde pesant homogène sur le plan horizontal.
Létude de la stabilité des mouvements de roulement sans glissement dun ellipsoïde creux pesant le long de la ligne droite sur le plan horizontal : conclusion sur linstabilité causée par la résonance paramétrique et conditions nécessaires de stabilité, obtenues par calcul numérique.
Lexpression détaillée du coefficient de résonance en cas de résonance paramétrique pour les systèmes réversibles du troisième ordre (et la réalisation du code de calcul correspondant).
La conservation des oscillations 2pik périodiques du satellite sur lorbite circulaire sous leffet des moments gravitationnel et aérodynamique dans le cas de lorbite faiblement elliptique.
Lexistence des rotations 2pi périodiques du satellite sur lorbite elliptique arbitraire sous leffet des moments gravitationnel et aérodynamique (détermination des vitesses initiales pour les rotations, étude de leur stabilité).
La détermination des rotations rapides dans le problème de V.V. Beletsky (le satellite étant soumis aux seules forces gravitationnelles sans prendre en considération la résistance de latmosphère) et létude de leur stabilité.
Li, Shunjie. "Géométrie et classification des systèmes de contact : applications du contrôle des systèmes mécaniques non holonomes." Phd thesis, INSA de Rouen, 2010. http://tel.archives-ouvertes.fr/tel-00665223.
Повний текст джерелаJEAN, FREDERIC. "Complexites pour les systemes non-holonomes." Paris 6, 1998. http://www.theses.fr/1998PA066170.
Повний текст джерелаYuan, Hongliang. "Control of NonH=holonomic Systems." Doctoral diss., University of Central Florida, 2009. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2751.
Повний текст джерелаPh.D.
School of Electrical Engineering and Computer Science
Engineering and Computer Science
Electrical Engineering PhD
Brevet, Guillaume. "Sur l'irrégularité d'un système différentiel holonome le long d'une courbe plane." Angers, 1999. http://www.theses.fr/1999ANGE0025.
Повний текст джерелаZ. Mebkhout defined the irregularity bundle of a holonomic differential system along an analytic subspace. This object had appeared in the special case of the constitutive module of holomorphic functions on a complex analytic variety, as the obstruction to Grothendieck's comparison theorem, which ultimately translates the regularity of the structural bundle. The irregularity bundle also generalises in higher dimensions the irregularity space of B. Malgrange in the case of one variable. Irregularity bundles have the property of perversity but some perverse bundles are not the irregularity of differential systems. This raises the problem of determining the essential image of the irregularity functor. In this work we study this problem when the hypersurface is a curve embedded in a surface. First, we give a counterexample to the essential subjectivity: we consider the irregularity on the splitting surface of the origin of the plane along the total transform of a curve and we exhibit a perverse beam of direct non-perverse image. We then prove, using the desingularisation of a plane curve, that the irregularity restricted to the seed of an irreducible blunt curve provides an essentially surjective functor to local systems on the blunt curve. We also compute precisely the cohomology bundles of the irregularity of certain d-modules of the exponential type along a normal crossing. These calculations allow us to find differential systems such that the monodromy of the associated local system has as eigenvalues the roots of unity. Finally, we show the following result: the irregularity along a smooth curve seed is an essentially surjective functor with values in the seeds of monodromic perverse bundles. The proof of this theorem relies on the category equivalence between monodromic perverse bundles and a category of diagrams of finite dimensional vector spaces. In the latter category, the indecomposable objects are known. All the work consists therefore in reaching them, which is done by unscrewing arguments by exploiting the exactness of the irregularity functor
MOURA, CLAIRE. "Non-holonomie des systemes de champs de vecteurs analytiques." Toulouse 3, 1998. http://www.theses.fr/1998TOU30161.
Повний текст джерелаBorzone, Tommaso. "Decentralized control of multi-agent systems : a hybrid formalism." Thesis, Université de Lorraine, 2019. http://www.theses.fr/2019LORR0078/document.
Повний текст джерелаOver the last years, multi-agents problems have been extensively studied from the control theory community. One of the most popular multi-agents control topics is the consensus problem where a group of agents reaches an agreement over the value of a certain parameter or variable. In this work we focus our attention on the consensus problem of networks of non-linear reference tracking agents. In first place, we use sporadic interactions modeled by relative sensing to deal with the decentralized consensus of the references. The reference is therefore feeded the tracking dynamics of each agent. Differently from existent works, the stability analysis of the overall system required the usage of hybrid systems theory tools, due to dual nature of the two stages approach. The analysis is carried out considering different scenarios of network topology and interactions. For each case a stability sufficient condition in terms of the minimum allowed time between two consecutive reference updates is provided. The proposed framework is applied to the rendez-vous and formation realisation tasks for non-holonomic mobile robots, which appear among the richest research topics in recent years. The same problem is addressed in the context of a real field application, namely a fleet management system for a group of robotic vehicles deployable in an industrial environment for monitoring and data collection purpose. The development of such application was motivated by the fact that this thesis is part of the Future of Factory Lorraine (FFLOR) project, developed by the technological research department of the Commissariat à l'énergie atomique et aux énergies alternatives (CEA tech)
Fruchard, Matthieu. "Méthodologies pour la commande de manipulateurs mobiles non-holonomes." Paris, ENMP, 2005. http://www.theses.fr/2005ENMPA001.
Повний текст джерелаThis PhD thesis concerns the control of hybrid holonomic/ nonholonomic mobile manipulators, i. E. Robots composed of a manipulator arm mounted on a mobile platform. This work is devoted to the determination of a general framework for the feedback control of such systems. These control methodologies are based on the fact that a general strategy of motion coordination between the manipulator and the mobile platform requires to monitor the situation (position and orientation) of the platform. An original feature of the two approaches we propose is to allow a coordinated control of a priority manipulation task with a secondary locomotion task, obtained via the practical stabilization of the complete platform's situation along any reference trajectory. These two general methodologies rely on the fusion of two control tools: the task function approach, devoted to the control of manipulator arms, and the transverse functions approach, devoted to the control of nonholonomic platforms. Various application cases dealing with target tracking validate the flexibility and the polyvalence of these control approaches, through the choice of several strategies of cooperation between manipulation and locomotion subsystems
BONNAFOUS, David. "Exécution réactive de trajectoires pour robots mobiles non-holonomes." Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2003. http://tel.archives-ouvertes.fr/tel-00011080.
Повний текст джерелаScheuer, Alexis. "Planification de chemins à courbure continue pour robot mobile non-holonome." Phd thesis, Grenoble INPG, 1998. http://tel.archives-ouvertes.fr/tel-00001746.
Повний текст джерелаWei, Yan. "Planification et Suivi de Mouvement d’un Système de Manipulateur Mobile non-holonome à deux bras." Thesis, Ecole centrale de Lille, 2018. http://www.theses.fr/2018ECLI0004/document.
Повний текст джерелаThis thesis focuses on the motion planning and tracking of a dual-arm mobile humanoid. First, MDH is used for kinematic modeling. The co-simulation via Simulink-Adams on prototype is realized to validate the effectiveness of RBFNN controller. In order to overcome the shortcomings of Euler-Lagrange’s formulations that require calculating energy and energy derivatives, Kane’s method is used. In addition, physical stability is analyzed based on Kane’s method and a controller is designed using back-stepping technique. Secondly, an improved MaxiMin NSGA-II is proposed to design the mobile base’s (MB) optimal position-orientation and the upper manipulator’s (UM) optimal configuration given only the initial pose and end-effectors’ (EEs) desired positions-orientations. A direct connect algorithm combining BiRRT and gradient-descent is designed to plan the transition from initial pose to optimal pose, and a geometric optimization method is designed to optimize and cohere the path. In addition, forward motions are obtained by assigning orientations for MB thus indicating robot’s intention. In order to solve the failure problem of offline algorithm, an online algorithm is proposed while estimating dynamic obstacles’ motions. In addition, in order to optimize via-poses, an algorithm based on EEs’ via-points and MOGA is proposed by optimizing four via-pose-based objective functions. Finally, the motion tracking problem is studied given EEs’ motions in the task space. Instead of controlling the absolute motion, two relative motions are introduced to realize the coordination and cooperation between MB and UM. In addition, an modulated WLN technique is proposed to avoid joints’ limits
Chu, Xing. "Commande distribuée, en poursuite, d'un système multi-robots non holonomes en formation." Thesis, Ecole centrale de Lille, 2017. http://www.theses.fr/2017ECLI0035/document.
Повний текст джерелаThe main aim of this thesis is to study the distributed tracking control problem for the multi-robot formation systems with nonholonomic constraint, of which the control objective it to drive a team of unicycle-type mobile robots to form one desired formation configuration with its centroid moving along with another dynamic reference trajectory, which can be specified by the virtual leader or human. We consider several problems in this point, ranging from finite-time stability andfixed-time stability, event-triggered communication and control mechanism, kinematics and dynamics, continuous-time systems and hybrid systems. The tracking control problem has been solved in this thesis via developing diverse practical distributed controller with the consideration of faster convergence rate, higher control accuracy, stronger robustness, explicit and independent convergence time estimate, less communication cost and energy consumption.In the first part of the thesis, we first study the finite-time stability for the multi-robot formation systems in Chapter 2. To improve the pior results, a novel class of finite-time controller is further proposed in Chapter 3, which is also called fixed-time controller. The dynamics of nonholonomic multi-robot formation systems is considered in Chapter 4. In the second part, we first investigate the event-triggered communication and control mechanism on the nonholonomic multi-robot formation tracking systems in Chapter 5. Moreover, in order to develop a digital implement scheme, we propose another class of periodic event-triggered controller based on fixed-time observer in Chapter 6
Mauny, Johan Raphaël. "Modélisation dynamique des systèmes non-holonomes intermittents : application à la bicyclette." Thesis, Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2018. http://www.theses.fr/2018IMTA0113.
Повний текст джерелаThis thesis deals with the dynamic modelling of intermittent non-holonomic systems andits application to the Whipple 3D bicycle. To that end, we relied on a set of tools in geometric mechanics (mainly Lagrangian reduction and the projection in the kernel of the kinematic constraints). In the first instance, we have addressed the case of the bicycle subjected to persistent contacts. By defining the space of the bicycle configurations as a principal fibre bundle with SE(3) as structural group, we obtained a model of the contact points and of the constraints free of any non-linearities associated with a generalized coordinate type configuration. This formulation allowed us to obtain the kernel of the constraints in a symbolic form without singularity. We then produced a symbolic model of the dynamics ofthe bicycle subjected to persistent contacts using the projection reduction method of its free dynamics in the subspace of its permissible speeds. This approach extends the general framework developed in recent years for bio-inspired locomotion. Taking advantage of the structure of SE(3), a model of the intermittent bicycle was proposed as part of an event-driven approach. Moreover, the adoption ofthe physical model of plastic impact has allowed us to extend the projection reduction method to the intermittent case. We then compared our "reduced" approach to the conventional approach and showed that they shared a common geometric interpretation. These tools were finally applied to the simulation of the intermittent bicycle to illustrate its rich dynamics
Rohmer, Serge. "Modélisation d'environnement par nombres multivaleurs : application à la recherche de trajectoires robustes pour robots non-holonomes." Nancy 1, 1993. http://www.theses.fr/1993NAN10370.
Повний текст джерелаTöyrä, Daniel. "Fidelity of geometric and holonomic quantum gates for spin systems." Thesis, Uppsala universitet, Teoretisk kemi, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-222152.
Повний текст джерелаDelmas, Pierre. "Génération active des déplacements d'un véhicule agricole dans son environnement." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00669534.
Повний текст джерелаOrtiz, Morales Daniel. "Virtual Holonomic Constraints: from academic to industrial applications." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-87707.
Повний текст джерелаByrd, Mark Steven. "Representations of SU(3) and geometric phases for three-state systems /." Digital version accessible at:, 1999. http://wwwlib.umi.com/cr/utexas/main.
Повний текст джерелаRodriguez, Sebastián. "From analysis to design of holonic multi-agent systems : a framework, methodological guidelines and applications." Besançon, 2006. http://www.theses.fr/2005BESA2058.
Повний текст джерелаThe work presented in this PhD thesis is concerned with the development of a framework for Holonic MultiAgent Systems. This type of systems consists in self-similar structures called holons. A set of holons may be seen, depending on the level of observation, as a unique entity or as a group of holons in interaction. In order to conceive a generic and modular modeling framework, we use an organizational approach. We define then the behavior of the frame work entities in terms of roles and their interactions. The framework is concerned with the modeling and representation of three important aspects of a Holonic MAS. Holon Structure and Management : This part of the framework considers how the members organize and manage the super-holon. It offers a specific organization whose roles define the status of the member from the super-holon's point of view. Goal-Dependent Interactions : In order to achieve the goals/tasks of the super-holon, the members must interact and coordinate their actions. These goal-dependent behaviors are called Internal Organizations and our framework also offers means to model these aspects of the super-holons functioning. Dynamics : Dynamics are inherent characteristics of MAS. The framework considers in particular two of the most attractive characteristics of Holonic MAS: Merging (Creating and Joining a super-holon) and Self-Organization. Each organization is modeled using the Role-Interaction-Organization (RIO) Model. This model offers a formal specification of roles that enables the validation and verification of the model. We have formally specified the framework. Based on this formalization we were able to prove important properties concerning the self-organization of the system. We propose some guidelines based upon this framework for the analysis and design of Complex Systems. Two applications illustrate the concepts presented. The first uses the framework to the Adaptive Meshing Problem applied to the dimensioning of radiomobile networks. It illustrates the refinement of a self-organization module and formal specification. The second presents the use of holonic MAS for the simulation of an important industrial plant. Multiple holarchies are used to capture the interaction between the production and traffic inside the plant. In order to implement these concepts we propose a set of modules based on the MadKit platform
Stroot, Holger [Verfasser]. "Strong Approximation of Stochastic Mechanical Systems with Holonomic Constraints / Holger Stroot." München : Verlag Dr. Hut, 2019. http://d-nb.info/1196415595/34.
Повний текст джерелаRaileanu, Silviu. "Proposition d’un modèle générique de pilotage pour un système à flux guidés : Application des concepts holoniques au transport intelligent (FMS/PRT)." Valenciennes, 2011. http://ged.univ-valenciennes.fr/nuxeo/site/esupversions/38191159-98bd-4bea-b774-7f2e39b5bf66.
Повний текст джерелаThesis addresses the problem of controlling a system based on physical flow in the field of FMS (Flexible Manufacturing System) and PRT (Personal Rapid Transit). The flow is considered as constitued of "intelligent" entities which become "intelligent products" in the case of (FMS) or “intelligent vehicles" in the case of (PRT). A model-based on decision-making entities with regard to the control (SAE: System-based Active Entities) is offered. The SAE model is tranformed into an "holonic model" and a generic holon AGH (Active Generalized Holon) is introduced as an holonic component of foundation. Then, the HSAE holonic model (Holonic System-based Active Entities) for the control of an “intelligent” physical flow is proposed. This model puts the emphasis on the "flow holon" (FH) which allos to model, for instance, an “intelligent” product or an “intelligent” vehicle. The "flow holon" is able of making decisions with regard to the process allocation and/or routing. The HSAE model includes a static part and a behaviour part. This last part is based on the concept of "open-control". It combines an explicit control of type "master-slave" with an implicit control based on “influence” of the behaviour of entities. HSAE model is then the object of an experimental study to assess its validity. Experimentation wase performed on the flexible cell of the CIMR laboratory in Bucharest (Romania) for the field of FMS and on the platform AIP-PRIMECA Nord-Pas de Calais of Valenciennes (France) for the field of PRT. HSAE model has been of great usefulness in acting as a reference frame in the elaboration of the control architectures adopted in both fields of studies
Belato, Debora. "Analise não linear de sistemas dinamicos holonomos não ideais." [s.n.], 2002. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264610.
Повний текст джерелаTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
Made available in DSpace on 2018-08-01T20:05:10Z (GMT). No. of bitstreams: 1 Belato_Debora_D.pdf: 22468929 bytes, checksum: b008a52ab3fb5afd92f7489482994f7e (MD5) Previous issue date: 2002
Resumo: Sistemas dinâmicos da mecânica muitas vezes unem o comportamento descrito por leis de movimento à dinâmica do seu funcionamento. Sua solução passa por hipóteses simplificadoras adotadas para obter um modelo matemático representativo e útil. Quando a fonte de energia utilizada no acionamento do movimento possui potência limitada, isto é, não há potência suficiente no motor para um correto funcionamento do mecanismo, o sistema dinâmico é dito não-ideal. Sob esta suposição, investiga-se numericamente neste trabalho o sistema não linear de um problema específico procurando identificar as condições não lineares e não-ideais de movimento. São empregadas técnicas clássicas de análise de sistemas não lineares, porém é desenvolvida uma técnica numérica nova, capaz de descrever o comportamento dinâmico das principais soluções do sistema. Esta técnica consiste no cálculo de funções polinomiais capazes de descrever a estabilidade de um conjunto de soluções em uma região limitada do retrato de fase e que fornecem também um completo diagrama de bifurcação das soluções sem que tenha sido feita qualquer simplificação nas equações diferenciais
Abstract: Several times the mechanical systems join the behavior described by laws of motion to the dynamic of their operation. Their solution pass by adopted simplified hypotheses in order to obtain a representative and helpful mathematical model. When the energy source used in the bringing to the action of the motion has limited power, i.e., there is not sufficient power in the motor for a proper working of the mechanism and the dynamic system is called nonideal. On this supposition, we numerically investigate in this work the nonlinear system of a specific problem looking for identify the nonideal and nonlinear conditions of the motion. Classical techniques of analyses of nonlinear systems are used, however it is develop a new numerical approaching, able to describe the dynamical behavior of the main solutions of the system. This technique consists in the calculation of the polynomials functions that describe the stability of a set of solutions concerning a bounded region on the phase portrait and they also provide a complete bifurcation diagram of the solutions without that any simplification in the diferential equations has been done
Doutorado
Mecanica dos Sólidos e Projeto Mecanico
Doutor em Engenharia Mecânica
Bohnet, Doris Verfasser], and Christian [Akademischer Betreuer] [Bonatti. "Partially hyperbolic systems with a compact center foliation with finite holonomy / Doris Bohnet. Betreuer: Christian Bonatti." Hamburg : Staats- und Universitätsbibliothek Hamburg, 2011. http://d-nb.info/1020466790/34.
Повний текст джерелаSeiler, Konstantin. "Fast trajectory generation and correction for non-holonomic systems exploiting Lie group symmetries." Thesis, The University of Sydney, 2013. http://hdl.handle.net/2123/10117.
Повний текст джерелаArtus, Guillaume. "Application de l'approche par fonctions transverses à la commande de véhicules non-holonomes manoeuvrants." Paris, ENMP, 2005. http://www.theses.fr/2005ENMP1286.
Повний текст джерелаThis PhD Thesis concerns the automated guidance of wheeled vehicles. Our objective is the development and the experimentation of a new control approach for nonlinear systems in order to achieve the tracking of a moving target, associated, for example, with a reference vehicle. An original feature of this work is that the target is allowed to move freely in the plane and thus to perform motions which are not feasible by the controlled vehicle. It becomes thus possible to follow a reference vehicle independently of its motions (forward motion, backwards motion, maneuvers. . . ). The control approach is based on the transverse function framework, and consists to perform the practical stabilization of the target. First, we analyze the influence of the control parameters on the target tracking. Based on this analysis, we propose two extensions in order to improve the tracking precision and the system´s behaviour during the transient phases. Finally, we present experimental results obtained with the robotic system of the Icare laboratory. To this purpose, an estimator of the target´s velocity has been developed. It is based on visual and odometry measurements
Defoort, Michael. "Contributions à la planification et à la commande pour les robots mobiles coopératifs." Phd thesis, Ecole Centrale de Lille, 2007. http://tel.archives-ouvertes.fr/tel-00196529.
Повний текст джерелаLe premier chapitre est consacré à la présentation du contexte.
Le deuxième chapitre est dévolu au développement d'un algorithme de planification de trajectoire admissible pour un robot mobile suffisamment flexible pour pouvoir être étendu au cadre multi-robots.
Dans le troisième chapitre, deux mécanismes de coordination sont développés. Pour le premier, les conflits sont résolus via un superviseur. Le second permet la génération en ligne des trajectoires optimales de chaque robot de manière décentralisée à partir uniquement des informations disponibles.
Le quatrième chapitre concerne la commande par modes glissants d'ordre quelconque. L'efficacité de l'algorithme est mise en lumière à travers des résultats expérimentaux sur un moteur pas à pas.
Dans le cinquième chapitre, deux algorithmes de commande par modes glissants avec action intégrale sont synthétisés et implémentés sur le robot Pekee. Ces techniques assurent la stabilisation et/ou le suivi de trajectoire malgré la présence de perturbations et d'incertitudes.
Le dernier chapitre décrit un mécanisme décentralisé de coordination de type ``meneur/suiveur''. Il permet de s'affranchir de la connaissance de la position absolue de l'ensemble des robots et d'éviter les collisions entre robots. Enfin, nous présentons des résultats expérimentaux sur une flottille de trois robots Miabot.
Arechavaleta, Servin Gustavo. "An optimality principle governing human walking." Toulouse, INSA, 2007. http://eprint.insa-toulouse.fr/archive/00000193/.
Повний текст джерелаShedied, Samy Aly. "Optimal Control for a Two Player Dynamic Pursuit Evasion Game; The Herding Problem." Diss., Virginia Tech, 2002. http://hdl.handle.net/10919/26110.
Повний текст джерелаPh. D.
Mettin, Uwe. "Applications of the Virtual Holonomic Constraints Approach : Analysis of Human Motor Patterns and Passive Walking Gaits." Licentiate thesis, Umeå : Department of Applied Physics and Electronics, Umeå University, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-1873.
Повний текст джерелаGaud, Nicolas A. "Systèmes multi--agents holoniques : de l'analyse à l'implantation : méta-modèle, méthodologie, et simulation multi-niveaux." Besançon, 2007. http://www.theses.fr/2007BESA2014.
Повний текст джерелаThe work, presented in this PhD thesis, is concerned with the study of complex systems and aims at provinding a full set of abstractions and the associated methodological guidelines for the analysis, design, implementation and simulation of Holonic MultiAgent Systems (HMAS). HMAS offers a promising software engineering approach for developing complex open software systems. This kind of systems consists in self-similar structures called holons. A set of holons maybe seen, depending on the level of observation, as a unique entity or as a group of holons in interaction. A complex system is made up of a large number of parts that have many interactions. In such systems, the behavior of the whole cannot be directly understood only by knowing the behavior of the parts and their interactions. Complex systems often exhibit a hierarchical structure. The foundation of this thesis consist in exploiting the intrinsic hierarchical structure of complex systems toa analyse and decompose them. In order to conceive modular and reusable models, an organizational approacg is adopted. The principle of the analysis is based on the identification of a hierarchy of organizations, which the global behavior may represent the system under the chosen perspective. The behaviors of the system are recursively decomposed into a set on interacting sub-behaviors, each of these latter being in turn decomposed until we reach some lowest level of elementary sub-behaviors. At a given level, the composed behavior is modeled unsing an organization, and the associated sub-behaviors using roles. The hierarchical organization structure is then mapped to holarchy (hierarchy of holons) in charge of its execution. The concepts presented are then used to study the issues related to the multilevel multiagent simulation. The resulting model is finally applied th the pedestrians simulation in virtual environment
Braconnier, Jean-Baptiste. "Maintien de l'intégrité de robots mobiles en milieux naturels." Thesis, Clermont-Ferrand 2, 2016. http://www.theses.fr/2016CLF22667/document.
Повний текст джерелаThis thesis focused on the issue of the preseving of the integrity of mobile robots in off-road conditions. The objective is to provide control laws to guarantee the integrity of a vehicle during autonomous displacements in natural environments at high speed (5 to 7 m.s -1 ) and more particularly in The framework of precision farming. Integrity is here understood in the broad sense. Indeed, control of the movements of a mobile robot can generate orders that affect its physical integrity, or restrains the achievement of its task (rollover, spin, control stability, maintaining accuracy , etc.). Moreover, displacement in natural environments leads to problems linked in particular to relatively variable and relatively low adhesion conditions (especially since the speed of the vehicle is high), which results in strong sliding of wheels on the ground, or to ground geometries that can not be crossed by the robot. This thesis aims to determine in real time the stability space in terms of permissible controls allowing to moderate the actions of the robot. After a presentation of the existing modelings and observers that allow the use of these modelizations for the implementation of predictive control law for trajectory tracking, a new method of estimation of side-slip angles based on a kinematic observation is proposed. It permit to address the problem of variable speed of the vehicle (and in particular the case of zero values) and also to allow the observation during a displacement without reference trajectory. This new observer is essential for the further development of this thesis, since the rest of the work is concerned with the modulation of the speed of the vehicle. So, in the further work, two predictive control laws acting on the speed of the vehicle have been set up. The first one provides a solution to the problem of the saturation of steering actuators, when the speed or side-slip angles make the trajectory inadmissible to follow with respect to the physical capacities of the vehicle. The second one adress the problem of guaranteeing the accuracy of trajectory tracking (keeping the vehicle in a corridor of displacement). In both cases, the control strategy is similar: the future state of the vehicle is predicted according to the current conditions of evolution and the simulated one for the future evolution (obtained by simulating the evolution of dynamics models of the vehicle) in order to determine the value of the optimum speed so that the target variables (in one case the value of the steering and in the other the lateral deviation from the trajectory) comply with the imposed conditions (not exceeding a target value). The results presented in this thesis were realized either in simulations or in real conditions on robotic platforms. It follows that the proposed algorithms make it possible : in one case to reduce the speed of the vehicle in order to avoid the saturation of the steering actuator and therefore the resulting over and under steering phenomena and thus make it possible to preserve the vehicle’s controllability. And in the other case, to ensure that the lateral deviation from the trajectory remains below a target value
Pasquotti, Maura. "Topics on Optimization Strategies for Constrained Mechanical Systems." Doctoral thesis, Università degli studi di Padova, 2008. http://hdl.handle.net/11577/3425582.
Повний текст джерелаLa, Hera Pedro. "Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-39719.
Повний текст джерелаMettin, Uwe. "Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-30024.
Повний текст джерелаSmall, Scott Joseph. "Runge-Kutta type methods for differential-algebraic equations in mechanics." Diss., University of Iowa, 2011. https://ir.uiowa.edu/etd/1082.
Повний текст джерелаBoubel, Charles. "Sur l'holonomie des variétés pseudo-riemanniennes." Phd thesis, Université Henri Poincaré - Nancy I, 2000. http://tel.archives-ouvertes.fr/tel-00008842.
Повний текст джерелаAdoum, Ahmat Fadil. "Proposition d’une architecture de surveillance holonique pour l’aide à la maintenance proactive d’une flotte de systèmes mobiles : application au domaine ferroviaire." Thesis, Valenciennes, 2019. http://www.theses.fr/2019VALE0001/document.
Повний текст джерелаThe maintenance of mobile systems fleets in the world of transport and logistics is of increasing importance today due to the increasing expectations of operators in terms of safety, reliability, monitoring, diagnosis and maintenance of these systems. In this context, fleet maintainers often have to deal with huge amounts of raw data, information and monitoring events related to the context of their systems. Moreover, these events, data and information are often lack precision and often contradictory or obsolete. Finally, the urgency of maintenance decisions is rarely taken into account. This work is devoted to the proposal and the development of a monitoring architecture to help maintain a fleet of mobile systems. This architecture, called EMH², is intended to facilitate the diagnosis and monitoring of this type of fleet. It is built on holonic principles, from the lowest (sensors) to the highest levels (a whole fleet of mobile systems). It is also based on a standardization of processed events in order to process the data generically. This architecture, independent of the types of systems monitored and their hierarchical level, can become the backbone of an effective strategy for proactive fleet maintenance. A deployment methodology is thus proposed. A simulation study and an application on a fleet of 10 trains currently in service is presented
Tchappi, haman Igor. "Dynamic Multilevel and Holonic Model for the Simulation of a Large-Scale Complex System with Spatial Environment : Application to Road Traffic Simulation." Thesis, Bourgogne Franche-Comté, 2020. http://www.theses.fr/2020UBFCA004.
Повний текст джерелаNowadays, with the emergence of connected objects and cars, road traffic systems become more and more complex and exhibit hierarchical behaviours at several levels of detail. The multilevel modeling approach is an appropriate approach to represent traffic from several perspectives. Multilevel models are also an appropriate approach to model large-scale complex systems such as road traffic. However, most of the multilevel models of traffic proposed in the literature are static because they use a set of predefined levels of detail and these representations cannot change during simulation. Moreover, these multilevel models generally consider only two levels of detail. Few works have been interested on the dynamic multilevel traffic modeling.This thesis proposes a holonic multilevel and dynamic traffic model for large scale traffic systems. The dynamic switching of the levels of detail during the execution of the simulation allows to adapt the model to the constraints related to the quality of the results or to the available computing resources.The proposal extends the DBSCAN algorithm in the context of holonic multi-agent systems. In addition, a methodology allowing a dynamic transition between the different levels of detail is proposed. Multilevel indicators based on standard deviation are also proposed in order to assess the consistency of the simulation results
Alamir, Mazen. "Contributions à l'étude de la commande optimale à horizon fuyant des systèmes non linéaires." Grenoble INPG, 1995. http://www.theses.fr/1995INPG0135.
Повний текст джерелаIn this work, several aspects of the receding horizon control strategy are discussed. First of all, some suffisant conditions for the stability of the closed loop system are proposed for different possible formulations (finite or infinite prediction horizon, with or without final constraint on the state). In a second part, a robust stabilizing feedback strategy is proposed to stabilize uncertain discrete-time nonlinear systems defined with additive unmatched uncertainties. The feedback law is periodic and is based on the use of optimization problems with final inequality constraints. Finally, a special class of continuous nonlinear systems is characterized for which a real time implementation of the receding horizon principle is possible through a linear quadratic optimization problem formulation
Bouffaron, Fabien. "Co-spécification système exécutable basée sur des modèles : application à la conduite interactive d’un procédé industriel critique." Thesis, Université de Lorraine, 2016. http://www.theses.fr/2016LORR0001/document.
Повний текст джерелаInsofar as a system is a set of interacting elements, the difficulty for a system engineer is to guide the whole model architecture of a system as a set of interdisciplinary engineering part models interacting. The works presented in this thesis are specifically interested in the heuristic, specifying and executable nature of this whole relationship coupling to design a virtual model of the system-of-interest. The holonic perspectives allows us to consider this coupling relationship as descriptive of a WHOLE (H) and prescriptive of each parts as well in regards to system situation to perceive, as system-elements to architect. In this sense, we revisit this relation as an iterative, recursive and collaborative process of system co-specification to the quest of knowledge with each specialist engineering delivering constitutive models satisfying basic requirements. Our system co-modelling environment is itself composed of a set of system-components modelling environment, with the stated objective to preserve tools, methods and works of each stakeholders in order to facilitate the expression of their skills. The modelling at a system level is based on the system modelling language (SysML) to architecture the set of knowledge. Verification and validation are performed by co-execution of models around a co-simulation bus, including CISPI platform of SAFETECH project of CRAN constituting our case study
Roithmayr, Carlos. "Relating constrained motion to force through Newton's second law." Diss., Available online, Georgia Institute of Technology, 2007, 2007. http://etd.gatech.edu/theses/available/etd-03302007-125659/.
Повний текст джерелаBauchau, Olivier, Committee Member ; Hodges, Dewey, Committee Chair ; Singhose, William, Committee Member ; Costello, Mark, Committee Member ; Flannery, Raymond, Committee Member.
Barbosa, José. "Proposition d’une architecture holonique auto-organisée et évolutive pour le pilotage des systèmes de production." Thesis, Valenciennes, 2015. http://www.theses.fr/2015VALE0008/document.
Повний текст джерелаThe manufacturing world is being deeply challenged with a set of ever demanding constraints where from one side, the costumers are requiring products to be more customizable, with higher quality at lower prices, and on other side, companies have to deal on a daily basis with internal disturbances that range from machine breakdown to worker absence and from demand fluctuation to frequent production changes. This dissertation proposes a manufacturing control architecture, following the holonic principles developed in the ADAptive holonic COntrol aRchitecture (ADACOR) and extending it taking inspiration in evolutionary theories and making use of self- organization mechanisms. The use of evolutionary theories enrich the proposed control architecture by allowing evolution in two distinct ways, responding accordingly to the type and degree of the disturbance that appears. The first component, named behavioural self- organization, allows each system’s entity to dynamically adapt its internal behaviour, addressing small disturbances. The second component, named structural self-organization, addresses bigger disturbances by allowing the system entities to re-arrange their rela- tionships, and consequently changing the system in a structural manner. The proposed self-organized holonic manufacturing control architecture was validated at a AIP-PRIMECA flexible manufacturing cell. The achieved experimental results have also shown an improvement of the key performance indicators over the hierarchical and heterarchical control architecture
Frolík, Stanislav. "Geometrická teorie řízení na nilpotentních Lieových grupách." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-399583.
Повний текст джерелаBott, M. P. "A new, robust, and generic method for the quick creation of smooth paths and near time-optimal path tracking." Thesis, University of St Andrews, 2011. http://hdl.handle.net/10023/2095.
Повний текст джерелаKourganoff, Mickaël. "Géométrie et dynamique des espaces de configuration." Thesis, Lyon, École normale supérieure, 2015. http://www.theses.fr/2015ENSL1049/document.
Повний текст джерелаThis thesis is divided into three parts. In the first part, we study linkages (mechanisms made of rigid rods) whose ambiant space is no longer the plane, but various Riemannian manifolds. We study the question of the universality of linkages: this notion corresponds to the idea that every curve would be traced out by a vertex of some linkage, and that any differentiable manifold would be the configuration space of some linkage. We extend universality theorems to the Minkowski plane, the hyperbolic plane, and finally the sphere.Any surface in R^3 can be flattened with respect to the z-axis, and the flattened surface gets close to a billiard table in R^2. In the second part, we show that, under some hypotheses, the geodesic flow of the surface converges locally uniformly to the billiard flow. Moreover, if the billiard is dispersing, the chaotic properties of the billiard also apply to the geodesic flow: we show that it is Anosov in this case. By applying this result to the theory of linkages, we obtain a new example of Anosov linkage, made of five rods.In the third part, we first consider manifolds with locally metric connections, that is, connections which are locally Levi-Civita connections of Riemannian metrics; we give in this framework an analog of De Rham's decomposition theorem, which usually applies to Riemannian manifolds. In the case such a connection also preserves a conformal structure, we show that this decomposition has at most two factors; moreover, when there are exactly two factors, one of them is the Euclidean space R^q. The proofs of the results of this part use foliations with transverse similarity structures. On these foliations, we give a rigidity theorem of independant interest: they are either transversally flat, or transversally Riemannian
Lohéac, Jérôme. "Contrôle en temps optimal et nage à bas nombre de Reynolds." Phd thesis, Université de Lorraine, 2012. http://tel.archives-ouvertes.fr/tel-00801240.
Повний текст джерелаBohnet, Doris. "Partially hyperbolic diffeomorphisms with a compact center foliation with finite holonomy." Phd thesis, 2011. http://tel.archives-ouvertes.fr/tel-00782664.
Повний текст джерелаOsborne, Jason M. "On geometric control design for holonomic and nonholonomic mechanical systems." 2007. http://www.lib.ncsu.edu/theses/available/etd-05162007-123046/unrestricted/etd.pdf.
Повний текст джерела