Nuclear fuel performance is highly affected by the behaviour of fission gases, particularly<p>at elevated burnups, where large amounts of gas are produced and can<p>potentially be released. The importance of fission gas release was the motivation<p>for large efforts, both experimentally and theoretically, in order to increase our<p>understanding of the different steps of the process, and to continuously improve<p>our models.<p>Extensions to higher burnups, together with the growing interest in novel types<p>of fuels such as inert matrix fuels envisaged for the transmutation of minor actinides,<p>make that one is still looking for a permanently better modelling, based<p>on a physical understanding and description of all stages of the release mechanism.<p>Computer simulations are nowadays envisaged in order to provide a better<p>description and understanding of atomic-scale processes such as diffusion, but even<p>in order to gain insight on specific processes that are inaccessible by experimental<p>means, such as the fuel behaviour during thermal spikes.<p>In the present work simulation techniques based on empirical potentials have<p>been used, focusing in a first stage on pure uranium dioxide. The behaviour of<p>point defects was at the core of this part, but also the estimation of elastic and<p>melting properties.<p>Then, in a second stage, the study has been extended to the behaviour of helium<p>and xenon. For helium, the diffusion in different domains of stoichiometry<p>was considered. The simulations enabled to determine the diffusion coefficient and<p>the migration mechanism, using both molecular dynamics and static calculation<p>techniques. Xenon behaviour has been investigated with the additional intention<p>to model the behaviour of small intragranular bubbles, particularly their interaction<p>with thermal spikes accompanying the recoil of fission fragments. For that<p>purpose, a simplified description of these events has been proposed, which opens<p>perspectives for further work.<p>/<p>Les performances du combustible nucléaire sont fortement affectées par le comportement<p>des gaz de fission, et ce particulièrement lorsqu’un taux d’épuisement<p>élevé est atteint, puisque d’importantes quantités de gaz sont alors produites<p>et peuvent potentiellement être relâchées. Les enjeux, entre autre économiques,<p>liés au relâchement de gaz de fission ont donné lieu à d’importants efforts, tant<p>sur le plan expérimental que théorique, afin d’accroître notre compréhension des<p>différentes étapes du processus, et d’améliorer sans cesse les mod`eles. Les extensions<p>à des taux d’épuisements encore plus élevés ainsi que l’intérêt croissant pour<p>de nouveaux types de combustible tels que les matrices inertes, envisages en vue<p>de la transmutation des actinides mineures, font qu’à l’heure actuelle, le besoin<p>permanent d’une meilleure modélisation, basée sur une compréhension et une description<p>physique des différentes étapes du processus de relâchement de gaz de<p>fission, est toujours de mise.<p>Les simulations par ordinateur ont ainsi été considérée comme un nouvel angle<p>de recherche sur les processus élémentaires se produisant à l’échelle atomique, à la<p>fois afin d’obtenir une meilleure compréhension de processus tels que la diffusion<p>atomique ;mais aussi afin d’avoir accès à certains processus qui ne sont pas observables<p>par des voies expérimentales, tels que la le comportement du combustible<p>lors de pointes thermiques.<p>Dans ce travail, deux techniques, basées sur l’utilisation de potentiels interatomiques<p>empiriques, ont permis d’étudier le dioxyde d’uranium, dans un premier<p>temps en l’absence d’impuretés. Cette partie était principalement centrée sur le<p>comportement des défauts ponctuels, mais a aussi concerné différentes propriétés<p>élastiques, ainsi que le processus de fusion du composé.<p>Ensuite l’étude a été étendue aux comportements de l’hélium de du xénon. Pour<p>ce qui a trait à l’hélium, la diffusion dans différents domaines de stoechiométrie<p>a été considérée. Les simulations ont permis de déterminer le coefficient de diffusion<p>ainsi que le mécanisme de migration lui-même. Quant au xénon, outre les<p>propriétés de diffusion, l’intention fut de se diriger vers la modélisation des petites<p>bulles intragranulaires, et plus précisément vers leur interaction avec les pointes<p>thermiques, créées lors du recul des fragments de fission. Une description simplifiée de ce processus a été proposée, qui offre de nouvelles perspectives dans ce<p>domaine.<p><p> / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished

Indiana University-Purdue University Indianapolis (IUPUI) / There have been many endeavors to design humanoid robots that have human characteristics such as dexterity, autonomy and intelligence. Humanoid robots are intended to cooperate with humans and perform useful work that humans can perform. The main advantage of humanoid robots over other machines is that they are flexible and multi-purpose. In this thesis, a human-like robotic arm is designed and used in a task which is typically performed by humans, namely, catching a ball. The robotic arm was designed to closely resemble a human arm, based on anthropometric studies. A rigid multibody dynamics software was used to create a virtual model of the robotic arm, perform experiments, and collect data. The inverse kinematics of the robotic arm was solved using a Newton-Raphson numerical method with a numerically calculated Jacobian. The system was validated by testing its ability to find a kinematic solution for the catch position and successfully catch the ball within the robot's workspace. The tests were conducted by throwing the ball such that its path intersects different target points within the robot's workspace. The method used for determining the catch location consists of finding the intersection of the ball's trajectory with a virtual catch plane. The hand orientation was set so that the normal vector to the palm of the hand is parallel to the trajectory of the ball at the intersection point and a vector perpendicular to this normal vector remains in a constant orientation during the catch. It was found that this catch orientation approach was reliable within a 0.35 x 0.4 meter window in the robot's workspace. For all tests within this window, the robotic arm successfully caught and dropped the ball in a bin. Also, for the tests within this window, the maximum position and orientation (Euler angle) tracking errors were 13.6 mm and 4.3 degrees, respectively. The average position and orientation tracking errors were 3.5 mm and 0.3 degrees, respectively. The work presented in this study can be applied to humanoid robots in industrial assembly lines and hazardous environment recovery tasks, amongst other applications.