Dans cette thèse porte sur la modélisation, la simulation et la commande de systèmes complexes. En utilisant le logiciel de calcul symbolique Maple, nous avons généré des modèles, orientés suivant différents objectifs dictés par les impératifs du diagnostic, de la surveillance et de l'aide à la conduite. Ces modèles basés aussi bien sur les approches robotiques qu'énergétiques, mettent en évidence les propriétés et les particularités de la dynamique du véhicule en fonction de la trajectoire suivie. Ainsi nous avons proposé un découpage dynamique du véhicule en plusieurs blocs fonctionnels, dont nous avons étudié l'évolution des termes de couplages et nous avons présenté un découpage énergétique du système global. Dans le cadre d'un projet ANR, nous avons mis en œuvre l'approche robotique afin de développer le modèle dynamique à 16 ddl pour un tracteur 'Grégoire G7' robotisé et nous avons validé nos algorithmes d'identification de paramètres dynamiques en utilisant des données réelles et un simulateur de conduite réaliste développé sur Scaner Studio (Oktal). Concernant l'observation, nous avons développé des observateurs robustes par mode glissants. Les attributs de la route sont estimés avec ces observateurs. Le critère de renversement a été testé sur la dynamique d'une voiture Citroën C5 et du tracteur G7. Afin de disposer d'un démonstrateur expérimental, un dispositif à base d'une boite de capteurs a été conçu en utilisant la nouvelle technologie Arduino. Enfin nous avons modélisé le comportement dynamique d'un kart électrique instrumenté. Avec Matlab/Simulink et Bond Graph, nous avons réalisé un simulateur pour ce véhicule. / This thesis deals with the modeling, simulation and control of mechatronic systems. Symbolic computation software Maple was used to generate several models with different targets for diagnosis purposes, monitoring and driver assistance. These models based both on robotic and energetic approaches, highlight the properties and characteristics of the vehicle dynamics according to the trajectory and allow to achieve Fault , Detection and Isolation (FDI) development. This initial work led to mechatronics and energy analysis applied to All Terrain Vehicles (ATV). A dynamic spiting of the studied vehicle in several functional blocks was carried out. The evolution of the coupling terms was studied and defining a global energetic sub-division for the whole system. Within the framework of the ANR project, a 16 degrees of freedom (DOF) dynamic model was developed for a farm grape harvester (G7) and for C5 car. Dynamic parameters Identification using real data in driving simulation environment proposed by Oktal (SCANeR Studio). Regarding the robust observers development, the sliding mode theory was applied. The road profiles (slope, tilt,drift) are estimated with observers. The criterion of rollover has been tested on the dynamics of a Citroen C5 car and on the G7.240.In order to have an experimental demonstrator a device using the new Arduino technology containing a set of sensors has been developed. In a last part, the dynamic behaviour of an electric kart with the field-oriented control (FOC) of its electrical engine are given. With Matlab/Simulink software and Bond Graph, a simulator of the electrical Kart has been developed.

Le Morphisme Electroactif est un axe multidisciplinaire, associant l’aérodynamique, les matériaux innovants et la mécatronique. Ce concept consiste en l’amélioration des performances aérodynamiques par l’utilisation d’actionneurs déformant la surface portante d’un aéronef en temps réel. Soutenue par Airbus, la modélisation, conception et réalisation d’un démonstrateur petite échelle est une première étape. Basée sur un profil d’aile A320, il est équipé d’actionnements pour le morphisme électroactif hybride : de grandes déformations à faibles vitesses par des Alliages à Mémoire de Forme sont associés à l’intégration au bord de fuite d’actionneurs piézoélectriques permettant de hautes fréquences d’actionnement à amplitude moindre. Une seconde étape de la thèse est dédiés aux essais en soufflerie. La mesure de forces et la vélocimétrie d’images de particules permettent de comprendre la physique de l’écoulement et de la turbulence. L’étude de ce couplage fluide-structure-actionneurs présente les effets du morphisme par actionnement indépendant ; puis le couplage non linéaire de l’actionnement hybride. La troisième étape consiste au passage vers une échelle réaliste des actionneurs, par la conception d’un volet « électro-morphé ». Une approche de dimensionnement par optimisation est proposée. Basé sur des technologies nouvelles d’actionnement, un prototype d’un tel macroactionneur est alors conçu pour être testé. / Electroactive Morphing is a multidisciplinary axis, combining aerodynamics, innovative materials and mechatronics. This concept consists in improving the aerodynamic performance by the use of actuators deforming the airfoil of an aircraft in real time. Supported by Airbus, the modeling, design and implementation of a small scale demonstrator is a first step. Based on an A320 wing profile, it is equipped with actuators for hybrid electroactive morphing: large deformations at low speeds by Shape Memory Alloys are associated with the integration at the trailing edge of piezoelectric actuators allowing high operating frequencies at lower amplitude. A second step of the thesis is dedicated to wind tunnel tests. The measurement of forces and the Particle Image Velocimetries allow for the understanding of the flow and turbulence physics. The study of this fluid-structure-actuator coupling presents the effects of the morphism by independent actuation; then the nonlinear coupling of the hybrid actuation. The third step is the transition to a realistic scale of actuators, by designing an "electro-morphed" macro-actuator. An optimization sizing approach is proposed. Based on new actuation technologies, a prototype of such a macro-actuator is then designed to be tested.

A manipulação de materiais é uma das tarefas em que comumente empregam-se robôs para substituir o trabalho humano, dadas algumas vantagens como: maior precisão na manipulação de cargas e maior velocidade de execução da tarefa, bem como por aumentar a segurança do operador. Apesar dessas vantagens, os dispositivos robóticos são largamente empregados apenas em situações em que velocidade e precisão são indispensáveis, em outros casos, os equipamentos convencionais (como talhas, gruas e macacos hidráulicos) e os dispositivos específicos (aqueles fazem uso de molas e contrapesos), vêm sendo utilizados nas tarefas cotidianas, principalmente pelo fato de, entre outros, serem menos dispendiosos. Comparando-se estas duas soluções disponíveis, tem-se que os equipamentos tradicionais, apesar de sua simplicidade e versatilidade de movimentação, apresentam limitações quando são exigidas precisão e eficiência, enquanto os dispositivos robóticos apresentam alta complexidade tanto no projeto quanto na operação, representando uma solução cara e com movimentação restrita pela programação. Neste contexto, o presente trabalho tem por objetivo estudar e propor uma solução intermediária entre a solução convencional e a robótica. O foco do estudo é o projeto de um dispositivo simplificado, que faz uso de molas e de um sistema de alavanca para manipular cargas. Um estudo preliminar desse mecanismo mostrou imperfeições quanto à força de contrabalanceamento. Com o intuito de corrigir esse erro foi usado um sistema de controle, que é constituído por um motor elétrico, um mecanismo de correção, sensores e um módulo controlador. O dispositivo proposto apresenta um controle simplificado, vez que a movimentação é feita exclusivamente pelo operador, possibilitando assim que o dispositivo apresente um baixo consumo de energia. Um protótipo é desenvolvido e os testes demonstraram a eficácia da solução. / The material handling is one task in which robot is commonly employed to replace the human work because it has some advantages such as, higher precision in the handling and higher speed of the task, and to increase operator safety. Despite these advantages, the robotic device is most employed only in situation that speed and precision are essential; in other cases, the conventional equipments (such as hydraulic jacks, cranes and pulley systems) and the specific device (which use springs and counterweight), have been used in daily tasks mainly because of they are less expensive. Comparing these two solutions, it is possible to say that the conventional devices, despite its simplicity and guidance, have limitations when the task requires precision and speed, while the robotic solution has higher complexity in both design and in operation, representing an expensive solution with a programming that restrict the movement. In this context, the present work has the objective the study and development of an intermediate solution between the conventional solution and the robotic device. The proposed study is based on a simplified device, which uses springs and a lever system to handle material. A preliminary study on this mechanism shows imperfections in balance force. In order to correct this error, a control system is used. The control system is constituted by an electric motor, a correcting mechanism, sensors and a controller. The proposed device presents simple control because movements are responsibility of the human operator moreover presents low power consumption, due to the use of springs. A prototype is developed and tests demonstrate the effectiveness of the solution.

En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille. / In the context of interventional radiology, robotic-assisted surgery limits practitioners’ exposure to radiations and brings more accuracy to perform complex interventions. However, the presence of robot in the environment is a potential danger for the patient and the medical staff in case of unexpected interactions and manipulations.In this PhD thesis, we first focus on safety problems. An intrinsically safe mechanism is proposed. The achieved prototype allows to follow both planned trajectories and moving environments.Secondly, a guidance mechanism based on a passive approach is suggested. With a variable stiffness system, using a compliant mechanism, a resistive force is applied to the user which allows him to be guided in his gesture.Based on medical needs, we then study the possibility to integrate and generalize such systems to multiple degrees of freedom.

The number of electric powered sub-systems in road-vehicles is increasing fast. This development is primarily driven by the new and improved functionality that can be implemented with electro-mechanical sub-systems, but it is also necessary for the transition to electric and hybrid-electric drive trains. An electromechanical sub-system can be implemented as a physically integrated mechatronic module: controller, power electronics, electric motor, transmission and sensors, all integrated into one component. A mechatronic module, spans, as all mechatronic systems, over several closely coupled engineering disciplines: mechanics, electronics, electro-mechanics, control theory and computer science. In order to design and optimize a mechatronic system it is therefore desirable to design the system within all domains concurrently. Optimizing each domain or component separately will not result in the optimal system design. Furthermore, the very large production volumes of automotive sub-systems increase the freedom in the mechatronics design process. Instead of being limited to the selection from off-the shelf components, application specific components may be designed. The research presented in this thesis aims at development of an integrated design and optimization methodology for mechatronic modules. The target of the methodology is the conceptual design phase, where the number of design parameters is relatively small. So far, the focus has been on design methods for the electric motor and gearhead, two of the most important components in an actuation module. The thesis presents two methods for design and optimization of motor and gearhead in mechatronic applications. One discrete method, intended for the selection of off-the-shelf components, and one method mainly intended for high volume applications where new application specific components may be designed. Both methods can handle any type of load combination, which is important in mechatronic systems, where the load seldom can be classified as pure inertial or constant speed. Furthermore, design models relating spur gear weight, size and inertia to output torque and gear ratio are presented. It is shown that a gearhead has significantly lower inertia and weight than a motor. The results indicate that it almost always is favorable from a weight and size perspective to use a gearhead. A direct drive configuration may only be lighter for very high speed applications. The main contribution of this thesis is however the motor/gear ratio sizing methods that can be applied to any electromechanical actuation system that requires rotational motion. / QC 20101220

The implementation of automated systems in manufacturing industries increases efficiency, precision, and safety by reducing human intervention, errors, and waste. Variable loads can cause several problems for automation systems. One of the most significant challenges is maintaining the stability and precision of the production process despite changing load conditions. These variable loads can lead to unstable systems or failures, causing an increase in errors, reduced efficiency, and lower product quality. It is essential to design control systems that can adapt to changing load conditions and maintain stable and precise operation under all circumstances. To address this problem, this thesis presents an adaptive controller based on load identification and gain scheduling, to replace the standard FOC consisting of regular PI-controllers. The load estimator is used to estimate the external load with relatively small RMSD values, while the ain scheduler adjusts the controller gains based on the estimated load. Other controllers are also explored, such as an angular velocity error-based adaptive controller. The results shows that both proposed controllers perform better than the standard controller when the system is subject to variable external loads, however, the load estimator paired with the gain scheduled PI-controller performs best. / Automatiseringen, inom framförallt tillverkningsindustrin, ökar effektivitet, precision och säkerheten genom att minska den mänskliga faktorn, fel och kassationer. System som utsätts för variabel belastning kan orsaka flera olika problem för automationssystem. En av de största utmaningarna är att bibehålla stabilitet och precision i produktionsprocessen trots förändrade belastningsförhållanden. Dessa variabla belastningar kan leda till instabila system eller fel, vilket ökar felmängden, minskar effektiviteten och sänker produktkvaliteten. Därför är det viktigt att utforma styrsystem som kan anpassa sig till förändrade lastförhållanden och samtidigt upprätthålla stabil och precis drift under oavsett förutsättningar. För att lösa detta problem presenterar denna avhandling en adaptiv regulator baserad på lastidentifiering och gain-scheduling, för att ersätta den vanliga FOC som består av klassiska PI-regulatorer. Lastestimatorn används för att uppskatta den externa lasten med ett relativt litet RMSD, medan gain-scheduling justerar regulatorns förstärkning baserat på den uppskattade belastningen. Andra regulatorer utforskas också, såsom en adaptiv regulator baserad på fel i vinkelhastighet. Resultaten visar att båda föreslagna regulatorer presterar bättre än standardregulatorn när systemet utsätts för variabla externa belastningar, men att lastestimatorn tillsammans med gainscheduled PI-regulatorer presterar bäst.

In the following report, a study regarding the control of a dancing robot has been conducted. The study covers whether a robot’s movements can be controlled by a recurring and pacing audio signal at a given BPM, and how well it does so. In order to test this for results, five different BPMs have been played six times each in front of a sound sensor module connected to the robot’s microcontroller to perceive the signal. The reading of this signal then adjusts the speed at which the motors rotate. Two test subjects then pressed a button in the mobile app Soundbrenner each time they found the robot to change its movement. The presses of the button then generated a beat of their own which represents the viewer’s perceived BPM of the dancing robot. This is then used to compare the desired BPM with the BPM delivered by the robot. A maximum BPM for the robot to dance to has also been studied by gradually increasing the given BPM until it no longer could use the signal. The results showed that the robot could stick to the given BPM fairly well. The mean difference between the recorded and the desired beat was 4.9 BPM. At 100 and 140 BPM the sound sensor and microcontroller were most successful in reading the beat, while found it most challenging at 120. However, environmental factors such as noise pollution were a heavyweight cause for misreadings. The results where on the other hand near flawless when the signal was isolated and clear. The maximal beat the robot could follow was read to 239 BPM because of the delay used in the microcontroller’s code. / I följande projekt undersöks styrnnigen av en dansande robot och huruvida den kan, och isåfall hur väl, urföra sina rörelser i takt till ett uppspelat BPM, uppfattat av en ljudsensormodul. För att testa detta har fem olika takter spelats upp sex gånger var. När roboten börjat dansa, har två testpersoner fått klicka på en knapp i mobilappen Soundbrenner när de upplever att roboten byter rörelse. Dessa knapptryck har då alstrat en egen takt som i sin tur jämförs med den takt som faktiskt spelades upp. Även ett maximalt BPM som roboten kan dansa till har uppmäts genom en gradvis ökning tills den inte längre erhöll någon signal. Resultaten visade att roboten klarade av att hålla sig i takt någorlunda väl. Det medelvärde som erhölls för differensen mellan det uppmätta och den önskade takten var 4.9 BPM. Vid 100 och 140 BPM var det lättast för ljudsensorn och mikrokontrollern att göra korrekta mätningar, och svårat vid 120BPM. Dock var omgivningsfaktorer som buller en stor orsak till felläsningar. När signalen var tydlig och isolerad nog var resultaten mycket goda. Den högsta takt roboten kunde följa var 239 BPM på grund av den fördröjning som användes i mikrokontrollerns kod.

The design and manufacture of a sentry gun turret capable of accurately and rapidly tracking and shooting moving targets was a challenging task that required delving into various engineering disciplines. This bachelor's thesis explores this challenge by presenting the process of construction, as well as the performance results of a turret created using a combination of 3D printing, laser cutting, and metal workshop manufacturing. The subject was chosen to include different aspects of the engineering fields relating to mechatronics, and for the challenge of implementing and designing multiple systems that interconnect to effectively engage with a target. The turret was created as a two-axis robot driven by stepper motors, with a gun driven by compressed air firing 6 mm plastic airsoft pellets using a clocked timing mechanism for rapid automatic firing. It was controlled by a system separated into two parts: a PC running facial recognition and colour identification software as well as performing movement calculations through python and an Arduino micro-computer running C++ controlling stepper motors and other hardware. The turret can accurately identify a target within five meters and with great speed home in and fire at the target with significant power. / Utvecklingen av ett autonomt vakttorn som med god precision och upprepbarhet kan hitta och följa ett mål var en utmanande uppgift som krävde användning av många delar av olika ingenjörsmässiga områden. Denna kandidatexamensuppsats utforskar utmaningen genom att presentera design och framtagningsprocessen samt redovisa prestandan av ett vakttorn tillverkat med 3D-utskrift, metallverkstadsmaskiner, och laserskärning. Ämnet valdes för att inkludera olika fält i nära relation till mekatronik samt för utmaningen i att implementera och integrera elektriska och mekaniska system och på så sätt effektivt hitta och hantera ett mål. Vakttornet är en tvåaxlig robot styrd med stegmotorer som har ett mekaniskt indexerad lufttrycksvapen som helautomatiskt avfyrar 6 mm airsoftkulor. Det mekaniska systemet kontrolleras av ett tvådelat kontrollsystem: en PC som kör ansiktsigenkänning och färgidentifiering i Python samt utför beräkningar för förflyttning utifrån kameradatan, samt en Arduino mikrodator med programvara i C++ som driver stegmotorerna utifrån förflyttningsinstruktionerna. Tornet kan med god precision identifiera, sikta mot och skjuta ett mål inom fem meter med en projektil av noterbar styrka.

The objective of this project is to provide bars with a cost-effective and straightforward way to increase their output per employee, allowing them to reduce drink prices. To achieve this, we have fully automated the bartender’s process, with staff only required to refill ingredients as they deplete and handle the payment for orders. The prototype has been tested for accuracy in knowing which drink to pour as well as in the precision of how much to pour. In testing, the prototype demonstrated a high level of accuracy in identifying which drink to pour, utilizing a load cell programmed to dispense the drink closest to the measured weight. The pouring accuracy was slightly less precise, particularly at lower volumes, but still met expectations, achieving an average accuracy of 93.75 percent for low volumes, increasing to circa 100 percent for larger volumes. Overall, the goals for the prototype were achieved, and the prototype’s ability to increase efficiency and reduce costs for bars is highly feasible. / Syftet med detta projekt är att erbjuda barer ett kostnadseffektivt och enkelt sätt att öka produktionen per anställd och därmed sänka dryckespriserna. För att uppnå detta har vi fullständigt automatiserat bartenderns process, där personalen endast behöver fylla på ingredienser när de tar slut och hantera betalningen för beställningarna. Prototypen har testats för att säkerställa noggrannhet vid identifiering av vilken dryck som ska hällas upp samt precisionen i hur mycket som ska hällas upp. I tester visade prototypen en hög noggrannhet vid identifiering av vilken dryck som skulle hällas upp, genom att använda en lastcell för att mäta vikten av glaset. Hällnoggrannheten var något mindre precis, särskilt vid lägre volymer, men uppfyllde fortfarande förväntningarna och uppnådde en genomsnittlig noggrannhet på 93,75 procent för de lägsta volymerna, något som steg till cirka 100 procent vid större volymer. Övergripande sett har målen för prototypen uppnåtts och dess för måga att öka effektiviteten och minska kostnaderna förbarer är högst genomförbar.

The purpose of this bachelor’s thesis was to create a functioning turret that can recognize heat sources and automatically shoot water at them using a thermal camera and water pump. The main areas to research was the cameras capability regarding fire detection and also the turret’s efficacy in putting out fires using this detection. The reason for building FIRESAFE is to understand how technology can be implemented to improve existing fire extinguishers in a way that enables fires to be put out at an earlier stage while minimizing water damage to property. The turret is controlled using two servo motors which rotate the structure in 2-axis and a IR-camera which locates heat sources. A Raspberry Pi was used to control the software side of the project, a ultrasonic sensor for distance measurement and a basic washer pump for a car was used for the water cannon. The prototype was able to extinguish candles at a distance of 1.5m with an accuracy of 50% on the first attempt. It had an average extinguishing time of 20 seconds. / Syftet med denna kandidatuppsats var att skapa ett fungerande torn som kan lokalisera värmekällor och automatiskt släcka dessa med hjälp av en värmekamera och en vattenpump. De huvudsakliga områdena att undersöka var kamerans förmåga att upptäck eld samt tornets förmåga att släcka bränder med hjälp av eldens position. Anledningen till att bygga FIRESAFE är att förstå hur teknologi kan implementeras för att förbättra befintliga brandsläckare så att bränder kan släckas i ett tidigare stadium och minimera vattenskador på egendom. Tornet styrs med hjälp av två servo motorer som roterar strukturen i 2-axlar och värmekameran används för att upptäcka värmekällor. En Raspberry Pi användes för att styra mjukvarudelen av projektet, en ultraljudssensor för avståndsbedömning och en grundläggande spolarvätskepump från en bil användes för vattenkanonen. Prototypen kunde bekämpa ett ljus på 1.5m med en träffsäkerhet på 50% på först försöket. Det hade en genomsnittlig släckningstid på 20 sekunder.