Robot motion can be described in several alternative representations, including joint configuration or end-effector spaces. These representations are often used for manipulation or navigation tasks but they are not suitable for tasks that involve close interaction with the environment. In these scenarios, collisions and relative poses of the robot and its surroundings create a complex planning space. To deal with this complexity, we exploit several representations that capture the state of the interaction, rather than the state of the robot. Borrowing notions of topology invariances and homotopy classes, we design task spaces based on winding numbers and writhe for synthesizing winding motion, and electro-static fields for planning reaching and grasping motion. Our experiments show that these representations capture the motion, preserving its qualitative properties, while generalising over finer geometrical detail. Based on the same motivation, we utilise a scale and rotation invariant representation for locally preserving distances, called interaction mesh. The interaction mesh allows for transferring motion between robots of different scales (motion re-targeting), between humans and robots (teleoperation) and between different environments (motion adaptation). To estimate the state of the environment we employ real-time sensing techniques utilizing dense stereo tracking, magnetic tracking sensors and inertia measurements units. We combine and exploit these representations for synthesis and generalization of motion in dynamic environments. The benefit of this method is on problems where direct planning in joint space is extremely hard whereas local optimal control exploiting topology and metric of these novel representations can efficiently compute optimal trajectories. We formulate this approach in the framework of optimal control as an approximate inference problem. This allows for consistent combination of multiple task spaces (e.g. end-effector, joint space and the abstract task spaces we investigate in this thesis). Motion generalization to novel situations and kinematics is similarly performed by projecting motion from abstract representations to joint configuration space. This technique, based on operational space control, allows us to adapt the motion in real time. This process of real-time re-mapping generates robust motion, thus reducing the amount of re-planning. We have implemented our approach as a part of an open source project called the Extensible Optimisation library (EXOTica). This software allows for defining motion synthesis problems by combining task representations and presenting this problem to various motion planners using a common interface. Using EXOTica, we perform comparisons between different representations and different planners to validate that these representations truly improve the motion planning.

Context: Wireless Mesh Network (WMN) is a form of ad-hoc network with flexible backhaul infrastructure and configuration, provides adaptive wireless internet connectivity to end users with high reliability. WMN is a wireless network consisting of mesh clients, mesh routers and gateways which are organized in a mesh topology with decentralized nature can consume more energy for data transmission. The networking performance of WMNs can be degraded due to the fact of high energy consumption for data transmission. Therefore, energy efficiency is the primary factor for attaining eminent performance. Organizing efficient routing and proper resource allocation can save huge amount of energy. Objectives: The main goal of this thesis is to reduce the energy consumption in WMNs. To do this, a new energy efficient routing algorithm is suggested. Adaptive rates based on rate allocation strategy and end to end delay metric are used mainly for optimal path selection in routing, which may in turn reduces the resource utilization and energy consumption. Method: An energy efficient routing algorithm is implemented by using the Ad hoc OnDemand Distance Vector (AODV) routing protocol. The RREQ packet in AODV is modified by adding a new field known as delay parameter which measures end to end delay between nodes. Adaptive rates obtained from Rate allocation policy are considered in the routing process to reduce energy consumption in the network. Energy measurement of the WMN and its performance is evaluated by measuring the metrics such as Throughput, End-to-End delay, Packet Delivery Ratio (PDR). For performing the simulation process, in this thesis, Network Simulator - 3 (NS-3) which is an open source discrete-event network simulator in which simulation models can be executed in C++ and Python is used. Using NetAnim-3.107 animator in NS-3-25.1, traffic flows between all the nodes are displayed. Results: The results are taken for existing algorithm and proposed algorithm for 25,50,75 and 100 nodes. Comparison of results shows that the total energy consumption is reduced for proposed algorithm for in all four scenarios. Conclusion: Energy efficient routing algorithm is implemented in different scenarios of radio access networks and energy is saved. Due to this algorithm even the performance metrics, Throughput, End-to-End delay, Packet Delivery Ratio (PDR) have shown eminent performance.

The TurboPiston Pump was invented to make use of merits such as, high flow rates often seen in centrifugal pumps and high pressures associated with positive displacement pumps. The objective of this study is to manufacture a plastic model 12” TurboPiston Pump to demonstrate the working principle and a metal prototype for performance testing. In addition, this research includes the study of the discharge valve to estimate the valve closing time and fluid mass being recycled back into the cylinder through hand calculations. Furthermore, a transient simulation was performed in CFD using Fluent to provide a better estimate of what will happen in the actual pump while running. Additionally, an experimental rig was designed to investigate the performance of the first generation valve on the TurboPiston Pump known as the flapper valve. Means to improve the hydrodynamic performance of both valves have been identified for future study.

Mon travail de thèse consiste en la mise en place d'une méthode de reconstruction 3D. Les objets à reconstruire sont des petits corps du système solaire qui ont été observée dans le domaine visible par des sondes lors de missions spatiales. La méthode proposée (appelée photoclinométrie par déformation) consiste à déformer un maillage jusqu'à ce que les images synthétiques de ce maillage correspondent aux images observées, ceci s'effectue au sein d'une boucle d'optimisation. Cette méthode nécessitant un maillage de départ proche de la solution souhaitée, nous avons implémenter cette méthode au sein d'un schéma multirésolution (multirésolution photoclinométrie par déformation) permettant d'obtenir une reconstruction sans apriori de forme. Cependant cette méthode ne permet pas d'obtenir de modèles contenant des millions de facettes. Une troisième méthode a donc été développé pour pallier ce problème, elle consiste à découper le maillage en différents morceaux et à appliquer la méthode multirésolution photoclinométrie par déformation à chacun de ces morceaux. Par fusion de ces morceaux, on arrive ainsi à obtenir des maillages de plusieurs millions de facettes (modèle haute résolution). Ces méthodes ont été testées avec la reconstruction des deux astéroïdes (Steins and lutetia) survolé par la sonde Rosetta de l'Agence Spatiale Européenne (ESA). / My PhD work consists in the establishment of a method of 3D reconstruction. Studied objects are small solar system bodies that have been observed in the visible range by sensors during space missions. The proposed method (called photoclinometry by deformation ) consists in deforming a mesh until the synthetic images of the mesh correspond to the observed ones, this is done in an optimization loop . This method requires an initial mesh close to the desired solution. We implement this method in a multiresolution scheme (multiresolution photoclinometry by deformation) to obtain a reconstruction without an apriori shape . However, this method does not allow models containing millions of facets . A third method has been developed to overcome this problem, it consists in cutting the mesh into different pieces and apply the multiresolution method photoclinometry by deforming to each of these pieces . By merging these pieces , we obtain meshes of several millions facets (high resolution model). These methods have been tested by reconstructing the two asteroids (Steins and lutetia) flown-by the Rosetta spacecraft of the European Space Agency (ESA).

Ces dernières années, les techniques d'imagerie ont fait l'objet de beaucoup d'améliorations. Elles permettent de fournir des images numériques 2D ou 3D précises de zones parfois invisibles à l’œil nu. Ces techniques s'appliquent dans de nombreux domaines comme l'industrie cinématographique, la photographie ou l'imagerie médicale... Dans cette thèse, l'imagerie sera utilisée pour effectuer des simulations numériques en la couplant avec un solveur éléments finis. Nous présenterons, en premier lieu, la morphologie mathématique et la méthode d'immersion d'image. Elles permettront l'extraction d'informations permettant la transformation d'une image dans un maillage exploitable. Puis, une méthode itérative d'adaptation de maillage basée sur un estimateur d'erreur sera utilisée afin de construire un maillage optimal. Ainsi, un maillage sera construit uniquement avec les données d'une image. Nous proposerons également une nouvelle méthodologie pour construire une fonction régulière a l'aide d'une méthode de réinitialisation de la distance signée. Deux avantages sont à noter : l'utilisation de la fonction régularisée permet une bonne adaptation de maillage. De plus, elle est directement utilisable par le solveur éléments finis. Les simulations numériques sont donc réalisées en couplant éléments finis stabilisés, adaptation de maillage anisotrope et réinitialisation. L'objectif de cette thèse est donc de simplifier le calcul numérique à partir d'image, d'améliorer la précision numérique, la construction d'un maillage automatique et de réaliser des calculs numériques parallèles efficaces. Les applications envisagées peuvent être dans le domaine médical, de la physique des matériaux ou du design industriel. / Imaging techniques have well improved in the last decades. They may accurately provide numerical descriptions from 2D or 3D images, opening perspectives towards inner information, not seen otherwise, with applications in different fields, like medicine studies, material science or urban environments. In this work, a technique to build a numerical description under the mesh format has been implemented and used in numerical simulations when coupled to finite element solvers. Firstly, mathematical morphology techniques have been introduced to handle image information, providing the specific features of interest for the simulation. The immersed image method was then proposed to interpolate the image information on a mesh. Then, an iterative anisotropic mesh adaptation operator was developed to construct the optimal mesh, based on the estimated error concerning the image interpolation. The mesh is thus directly constructed from the image information. We have also proposed a new methodology to build a regularized phase function, corresponding to the objects we wish to distinguish from the image, using a redistancing method. Two main advantages of having such function are: the gradient of the regularized function performs better for mesh adaptation; the regularized function may be directly used for the finite element solver. Stabilized finite element flow and advection solvers were coupled to the constructed anisotropic mesh and the redistancing function, allowing its application to multiphase flow numerical simulations. All these developments have been extended in a massively parallel context. An important objective of this work is the simplification of the image based computations, through a modified way to segment the image and by coupling all to an automatic way to construct the mesh used in the finite element simulations.

Ce travail porte sur la mise en œuvre de simulations sur des pales de machines tournantes. Une première partie de la thèse porte sur l’amélioration des performances du couplage fluide-structure. Des nouveaux algorithmes sont présentés. Une nouvelle méthode de déformation de maillage est évaluée. Les développements sont validés à partir de plusieurs cas tests. La deuxième partie porte sur l’application des avancées à des machines tournantes. Une première validation est faite sur une hydrolienne. La vibration d’une pale au passage du mat est étudiée. Enfin, des résultats sur une hydrolienne industrielle sont exposés. / A methodology to simulate blades of turbines is developed. A first part is dedicated to improving the performance of the fluid-structure coupling. New algorithms are presented. A new mesh morphing solution is shown. Developments are validated on many test cases. A second part is dedicated to applying the developments on turbines. A first validation is made on a water turbine. The vibration of a blade interacting with a mast is studied. Finally, some results of an industrial water turbine are shown.

Adaptive methods in finite element analysis are essential tools in the efficient computation and error control of problems that may exhibit singularities. In this paper, we consider solving a boundary value problem which exhibits a singularity at the origin due to both the structure of the domain and the regularity of the exact solution. We introduce a hybrid mixed finite element method using Lagrange Multipliers to initially solve the partial differential equation for the both the flux and displacement. An a posteriori error estimate is then applied both locally and globally to approximate the error in the computed flux with that of the exact flux. Local estimation is the key tool in identifying where the mesh should be refined so that the error in the computed flux is controlled while maintaining efficiency in computation. Finally, we introduce a simple refinement process in order to improve the accuracy in the computed solutions. Numerical experiments are conducted to support the advantages of mesh refinement over a fixed uniform mesh.

Ce travail de thèse concerne l'analyse structurelle des maillages triangulaires surfaciques, ainsi que leur traitement en vue de l'amélioration de leur qualité (remaillage) ou de leur simplification. Dans la littérature, le repositionnement des sommets d'un maillage est soit traité de manière locale, soit de manière globale mais sans un contrôle local de l'erreur géométrique introduite, i.e. les solutions actuelles ne sont pas globales ou introduisent de l'erreur géométrique non-contrôlée. Les techniques d'approximation de maillage les plus prometteuses se basent sur une décomposition en primitives géométriques simples (plans, cylindres, sphères etc.), mais elles n'arrivent généralement pas à trouver la décomposition optimale, celle qui optimise à la fois l'erreur géométrique de l'approximation par les primitives choisies, et le nombre et le type de ces primitives simples. Pour traiter les défauts des approches de remaillage existantes, nous proposons une méthode basée sur un modèle global, à savoir une modélisation graphique probabiliste, intégrant des contraintes souples basées sur la géométrie (l'erreur de l'approximation), la qualité du maillage et le nombre de sommets du maillage. De même, pour améliorer la décomposition en primitives simples, une modélisation graphique probabiliste a été choisie. Les modèles graphiques de cette thèse sont des champs aléatoires de Markov, ces derniers permettant de trouver une configuration optimale à l'aide de la minimisation globale d'une fonction objectif. Nous avons proposé trois contributions dans cette thèse autour des maillages triangulaires 2-variétés : (i) une méthode d'extraction statistiquement robuste des arêtes caractéristiques applicable aux objets mécaniques, (ii) un algorithme de segmentation en régions approximables par des primitives géométriques simples qui est robuste à la présence de données aberrantes et au bruit dans la position des sommets, (iii) et finalement un algorithme d'optimisation de maillages qui cherche le meilleur compromis entre l'amélioration de la qualité des triangles, la qualité de la valence des sommets, le nombre de sommets et la fidélité géométrique à la surface initiale. / The work in this thesis concerns structural analysis of 2-manifold triangular meshes, and their processing towards quality enhancement (remeshing) or simplification. In existing work, the repositioning of mesh vertices necessary for remeshing is either done locally or globally, but in the latter case without local control on the introduced geometrical error. Therefore, current results are either not globally optimal or introduce unwanted geometrical error. Other promising remeshing and approximation techniques are based on a decomposition into simple geometrical primitives (planes, cylinders, spheres etc.), but they generally fail to find the best decomposition, i.e. the one which jointly optimizes the residual geometrical error as well as the number and type of selected simple primitives. To tackle the weaknesses of existing remeshing approaches, we propose a method based on a global model, namely a probabilistic graphical model integrating soft constraints based on geometry (approximation error), mesh quality and the number of mesh vertices. In the same manner, for segmentation purposes and in order to improve algorithms delivering decompositions into simple primitives, a probabilistic graphical modeling has been chosen. The graphical models used in this work are Markov Random Fields, which allow to find an optimal configuration by a global minimization of an objective function. We have proposed three contributions in this thesis about 2-manifold triangular meshes : (i) a statistically robust method for feature edge extraction for mechanical objects, (ii) an algorithm for the segmentation into regions which are approximated by simple primitives, which is robust to outliers and to the presence of noise in the vertex positions, (iii) and lastly an algorithm for mesh optimization which jointly optimizes triangle quality, the quality of vertex valences, the number of vertices, as well as the geometrical fidelity to the initial surface.

Le développement de la numérisation systématique des formes 3D (conservation du patrimoine national, commerce électronique, reverse engineering, intégration d’objets réels dans des environnements de réalité virtuelle) et le besoin toujours croissant de ces objets géométriques dans de nombreuses applications (conception assistée par ordinateur, calcul de simulations par éléments finis, système d’informations géographiques, loisirs numériques) a entrainé une augmentation vertigineuse du volume de données à traiter, avec l’émergence de nombreuses méthodes de compression de modèles 3D. Ce volume de données devient encore plus difficile à maitriser lorsque l’aspect temporel entre en jeu. Les maillages correspondent au modèle classiquement utilisé pour modéliser les formes numérisées et certaines approches de compression exploitent la propriété qu’une bonne estimation de la connectivité peut être déduite de l’échantillonnage, lorsque ce dernier s’avère suffisamment dense. La compression de la connectivité d’un maillage revient alors au codage de l’écart entre deux connectivités proches. Dans ce mémoire, nous nous intéressons au codage compact de cette différence pour des maillages surfaciques. Nos travaux sont fondés sur l’utilisation de la bascule d’arête (edge flip) et l’étude de ses propriétés. Nos contributions sont les suivantes. Etant donné deux triangulations connexes partageant le même nombre de sommets et un même genre topologique, nous proposons un algorithme direct et efficace pour générer une séquence de bascules d’arêtes permettant de passer d’un maillage `a un autre. Nous nous appuyons sur une correspondance entre les sommets des deux maillages, qui, si elle est non fournie, peut être choisie de manière totalement aléatoire / The development of scanning 3D shapes (national heritage conservation, ecommerce, reverse engineering, virtual reality environments) and the growing need for geometric objects in many applications (computer-aided design, simulations, geographic information systems, digital entertainment) have led to a dramatic increase in the volume of data to be processed, and the emergence of many methods of compression of 3D models. This volume of data becomes even more difficult to control when the temporal aspect comes in. Meshes correspond to the pattern typically used to model the scanned forms and some approaches exploit a property of compression that a good estimation of connectivity can be derived from sampling, when it appears sufficiently dense. Compressing the connectivity of a mesh is equivalent to coding the difference between two close connectivities. In this thesis, we focus on the compact coding of this difference for 2-dimensional meshes. Our work is based on the use and study of the properties of the edge flip. Our contributions are the following : - Given two connected triangulations that share the same number of vertices and the same topological genus, we propose a direct and efficient algorithm to generate a sequence of edge flips to change one mesh into the other. We rely on a correspondence between the vertices of the two meshes, which, if not provided, may be chosen randomly. The validity of the algorithm is based on the fact that we intend to work in a triangulation of a different class from those generally used. - We then generalize the edge flips to triangulations in which we identify each edge with a label. We show that a sequence of edge flips can be used to transpose two labels, under certain conditions. From this result, the edge flip can be generalized to meshes whose faces are not necessarily triangular, which allowed us to develop an algorithm for reducing sequences of edge flips. - Finally, we present a compact coding approach for a sequence of edge flips, and determine under what conditions it is better to use this compact transformation between two connectivities instead of coding them independently by a static algorithm

This thesis presents a framework for collecting network traffic data usable in performance evaluations of Bluetooth Mesh networks. The framework is designed to be adaptive, effective, and efficient. These design goals are intended to minimize resource usage and thereby take constraints in Bluetooth Mesh into account. An implementation of the framework, based on the Bluetooth Mesh model concept, is also presented. The implementation is then validated and evaluated to analyse to what degree it fulfills the requirements of adaptive, effective, and efficient data collection. The evaluation demonstrates the importance of minimizing the size of the reports sent in the framework since larger messages sent with short intervals have a noticeable effect on both the packet delivery ratio of user traffic and the reporting latency. It is also shown that the adaptive reporting feature, that aims to reduce the effect of the framework on user traffic by postponing reporting during high traffic loads, has a positive effect on neighboring nodes overall packet delivery ratio.