It is usually to see a large number of pipelines separating around the refineries, chemical and petro-chemical plants. The corrosion and erosion defects are unavoidable to occur in transporting pipe line. Especially, the maintain stuff usually find out breakage pipe or leaking liquid at elbowing pipe line because of the corrosion and erosion defects. So it is essential to examine these pipelines with an efficient method. The use of guided waves method is very attractive to solve this problem since guided wave could be excited at one circle on the pipeline and propagate over considerable distance. To choose guided wave torsion mode T (0, 1) as excitation mode because its group velocity doesn¡¦t change with frequencies. And the research analyzes the mode conversion that occurred when T (0, 1) mode propagated after the elbow pipe. The research also discusses the signal difference in different depth, circumferential distribution and axial length defects on the elbow pipe. The erosion defect usually occurs in the elbow pipe line and it would change with fluid velocity, causticity of fluid and flow direction. Therefore, the research designs the defects according to the character of erosion defect by finite element method software and simulates T (0, 1) mode propagating in the pipe line. Then this research extracts and analyzes the reflection signals from defects. In this guided wave experiment, the research manufactures the defect on elbow pipe. Because the erosion defect could be usually found at outer side of elbow pipe, artificial defect would be set there. And the elbow pipe is manufactured with different depth, circumferential distribution and axial length defect. The research would discuss the relationship between change of defect and reflection signal. By elbow pipe defect signals of simulation and experiment consequence, the different depth, circumferential distribution and axial length defect signals could be still distinguished. The signals with different axial length defect that received from straight pipe and elbow pipe are similar and are affected by signal constructive and destructive interference. So the research could get maximum and minimum defect signal amplitudes from one-fourth wavelength axial defect and half wavelength axial defect. Therefore, the axial length defect of elbow pipe could be estimated from defect signals and this consequence could help judge the level of damaged elbow pipe. T (0, 1) mode has better sensitivity to outside of the pipe than inside of the pipe. So the bigger signal amplitude could be received from the notch at outside of the pipe. In the process of wave propagation simulation, there are overlapping waveforms and mode conversions occur at elbow pipe. This situation causes the defect signals were amplified at elbow pipe. In practical detection, the misjudgments of amplified defect signals should be attended to.

Le stress hydrique menacera plus que 40% de la population mondiale en 2050. Plus de 240 millions de personnes seront dépourvues d’accès à une source d’eau améliorée. En effet, pour assurer une gestion durable de cette ressource, la minimisation des ruptures dans les réseaux d'adduction d'eau potable est primordiale. La rupture des canalisations, phénomène assez fréquent en milieu urbain, s’amorce sur un défaut et sous l’effet des contraintes engendrées par un chargement inhabituel : coup de bélier, un phénomène de surpression. Depuis les années 80, le polyéthylène prend une part de plus en plus importante dans la fabrication des canalisations d'eau potable. Les jonctions sont les zones les plus dangereuses dans les réseaux. D'où l'importance d'étudier la résistance à la rupture des conduites coudées en PEHD. Pour résoudre ce problème, une étude est abordée par une approche expérimentale et une approche numérique par éléments finis pour caractériserle comportement à la fissuration des conduites coudées en PE100. Deux méthodologies sont proposées pour déterminer la ténacité du PEHD : la méthode de l'intégrale J et la méthode du déplacement d'ouverture en pointe de fissure ''CTOD''.La combinaison de ces outils permet de choisir la valeur critique de l'intégrale J comme valeur de la ténacité du PEHD.Ensuite, nous proposons une formule simplifiée basée sur la détermination de l'intégrale J en fonction de la pression dans les réseaux d'adduction d'eau potable en présence d'un défaut superficiel. Enfin, nous étudions le phénomène de coup de bélier pour déterminer la surpression avec un modèle mathématique développé dans cette thèse. Nous démontrons l'importance de l'interaction fluide-structure pour définir la pression au niveau des coudes / Water scarcity will be threatening more than 40% of the world population by 2050, more than 240 million people will not have a source of improved water. In fact, to ensure a sustainable management of this resource, the minimization of the leakages in drinking-water supply network is vital. Pipe rupture, a frequent phenomenon in urban zones, starts with a defect, under the effect of constraints caused by an unusual over pressure: Water Hammer. Since the 80s, polyethylene is being widely considered in manufacturing the pipelines water supply networks. Nevertheless, junctions are the most dangerous zones in the networks. As a result, it is vital to study the tear resistance of the angled conducts in PEHD. To solve this problem, a study is approached with an experimental investigation and a digital approach by fine elements in order to characterize the behavior in the fissuring of pipe bends PE100. Two methodologies are proposed to determine the tenacity of the PEHD: the method of the J-integral and the method of the sharp's movement opening of crack "CTOD ". The combination of these tools permits to choose the critical value of the integral J as a value of the tenacity of the HDPE. In addition, a simplified formula was proposed based on the calculation of the J-integral as a function of the pressure in water supply networks in the presence of a superficial defect. Finally, the water hammer phenomenon was investigated in order to determine the overpressure with a mathematical model which was developed in this thesis. The fluid-structure interaction was found to be important in defining the pressure at elbow pipe

The objective of this thesis is to analyze the kinematics of a mobile parallel robot with contribution that pertain to the singularity analysis, the optimization of geometric parameters and the optimal control to avoid singularities when navigating across singular geometric configurations. The analysis of the workspace and singularities is performed in a prescribed reference workspace regions using discretization method. Serial and parallel singularities are analytically analyzed and all possible singular configurations are presented. Kinematic conditioning index is used to determine the robot’s proximity to a singular configuration. A method for the determination of a continuous and singularity-free workspace is detailed. The geometric parameters of the system are optimized in various types of pipe-like structures with respect to a suitable singularity index, in order to avoid singularities during the navigation across elbows. The optimization problem is formulated with an objective to maximize the reachable workspace and minimize the singularities. The objective function is also subjected to constraints such as collision avoidance, singularity avoidance, workspace continuity and contact constraints imposed between the boundaries and the wheels of the robot. A parametric variation method is used as a technique to optimize the design parameters. The optimal design parameters found are normalized with respect to the width of the pipe-like structures and therefore the results are generalized to be used in the development phase of the robot. An optimal control to generate singularity-free trajectories when the robotic device has to cross a geometric singularity in a sharp 90◦ elbow is proposed. Such geometric singularity inherently leads to singularities in the Jacobian of the system, and therefore a modified device with augmented number of degrees of freedom is introduced to be able to generate non-singular trajectories.

The objective of this thesis is to analyze the kinematics of a mobile parallel robot with contribution that pertain to the singularity analysis, the optimization of geometric parameters and the optimal control to avoid singularities when navigating across singular geometric configurations. The analysis of the workspace and singularities is performed in a prescribed reference workspace regions using discretization method. Serial and parallel singularities are analytically analyzed and all possible singular configurations are presented. Kinematic conditioning index is used to determine the robot’s proximity to a singular configuration. A method for the determination of a continuous and singularity-free workspace is detailed. The geometric parameters of the system are optimized in various types of pipe-like structures with respect to a suitable singularity index, in order to avoid singularities during the navigation across elbows. The optimization problem is formulated with an objective to maximize the reachable workspace and minimize the singularities. The objective function is also subjected to constraints such as collision avoidance, singularity avoidance, workspace continuity and contact constraints imposed between the boundaries and the wheels of the robot. A parametric variation method is used as a technique to optimize the design parameters. The optimal design parameters found are normalized with respect to the width of the pipe-like structures and therefore the results are generalized to be used in the development phase of the robot. An optimal control to generate singularity-free trajectories when the robotic device has to cross a geometric singularity in a sharp 90◦ elbow is proposed. Such geometric singularity inherently leads to singularities in the Jacobian of the system, and therefore a modified device with augmented number of degrees of freedom is introduced to be able to generate non-singular trajectories.