Nous considérons un système mécanique en vibration non linéaire, pour lequel nous fournissons une solution approchée par l'utilisation des développements multiples échelles; nous proposons d'abord une étude avec double échelles puis avec triple échelles où nous comparons les deux approches. Une preuve rigoureuse de ces développements a été faite. L'étude de la stabilité de la solution est nécessaire pour montrer la convergence au voisinage de la résonance. Un lien entre l'amplitude de la réponse vibratoire et la fréquence du système en vibration libre a été mis en évidence. / We consider small solutions of a vibrating mechanical system with smooth non-linearities for which we provide an approximate solution by using multiple scale analysis; we first use a double scale analysis; in order to improve the approximation, then we perform a triple scale analysis; a rigorous proof of convergence of the triple scale method is included; for the forced response, a stability result is needed in order to prove convergence in a neighborhood of a primary resonance. The amplitude of the response with respect to the frequency forcing is described and it is related to the frequency of a free periodic vibration.

Les modes de Laguerre-Gauss sont une des solutions de l’équation de propagation de la lumière dans l’approximation paraxiale en coordonnées cylindriques. Ces modes sont caractérisés par deux indices (azimutal et radial) et présentent des propriétés particulières : une structure en forme d’anneau et une phase en hélice. Ces propriétés ont été mises au profit pour plusieurs applications allant de la microscopie à l’astronomie. Cette thèse a été dédiée à l’étude de ces modes et à leur application dans le domaine des atomes froids. Dans un premier temps, la pureté des modes fabriqués par la méthode d’holographie numérique a été étudiée, ainsi que le rôle que la pureté joue dans leur propagation. Ces modes ont été ensuite utilisés pour l’obtention une source d’atomes froids brillante. Depuis plus de 20 ans, des efforts considérables ont été faits pour obtenir des sources d’atomes froids les plus brillantes et les plus compactes possibles. Un piège magnéto-optique à deux dimensions (2D-MOT) est couramment utilisé pour obtenir une source continue d’atomes froids avec un flux important de l’ordre de 1010 atomes/s. Toutefois, le jet atomique ainsi obtenu présente une divergence d’environ 40 mrad ce qui contraint l’utilisateur à travailler près de la sortie mais avec un accès optique limité ou bien loin où il a un bon accès optique mais au prix d’une densité atomique plus faible. Une alternative est présentée, dans laquelle un mode de Laguerre-Gauss est utilisé pour canaliser les atomes à la sortie d’un 2D-MOT. Le mode de Laguerre-Gauss réalise un piégeage dipolaire qui confine les atomes sont le centre noir du mode, ce qui présente l’intérêt de limiter le chauffage dû à l’absorption/émission de la lumière. Ainsi, puisque les modes de Laguerre-Gauss gardent leur forme au cours de leur propagation, les atomes sont canalisés sur une distance de plusieurs décimètres. Nous avons étudié le fonctionnement de ce système pour différents ordres du mode de Laguerre-Gauss et différentes fréquences, et nous avons montré que ce système est efficace et permet d’atteindre un gain en densité d’un facteur 200 par rapport au cas d’un 2D-MOT conventionnel. Un cas particulier est aussi présenté, dans lequel la fréquence du mode de Laguerre-Gauss est choisie pour effectuer non seulement la canalisation des atomes mais aussi leur repompage, ce qui conduit à une simplification importante du système. D’un autre côté, les modes de Laguerre-Gauss sont d’un grand intérêt dans le domaine de l’information et la cryptographie quantique car ils peuvent être utilisés pour encoder et enregistrer l’information. Pour cela, il est indispensable de pouvoir les détecter de façon non-équivoque. Dans ce contexte, nous nous sommes intéressés à la détermination de ces modes. Jusqu’à maintenant, les techniques de détection ont permis de mesurer l’indice azimutal mais peu d’entre elles mesurent l’indice radial. Si on est capable de mesurer aussi l’indice radial, il peut être utilisé comme une nouvelle variable pour le codage et l’enregistrement de l’information. Sous cette motivation, une technique basée sur la transformation du mode de Laguerre-Gauss par un système astigmatique a été mise au point pour déterminer les deux indices qui le caractérisent. Nous avons montré que cette technique peut aussi être utilisée pour optimiser expérimentalement la fabrication des modes de Laguerre-Gauss d’ordre élevé les plus purs possibles. / Laguerre-Gaussian modes of light are one of the solutions to the propagation equation of light in the paraxial approximation in cylindrical coordinates. These modes are characterized by two indices (azimuthal and radial) and present particular properties: ring-shaped structure and a helical phase. These properties have been put to use in several applications going from microscopy to astronomy. This work has been devoted to the study of these modes and their application in the cold atom domain. Initially, the purity of such modes generated by numerical holography was studied, as well as the role played by the purity in their propagation. These modes were then used to obtain a bright source of cold atoms. For more than 20 years, considerable efforts have been made to create sources of cold atoms as bright and compact as possible. A two dimensional magneto-optical trap (2D-MOT) is currently used to obtain a continuous source of cold atoms with high flux of the order of 1010 atomes/s. Nevertheless, the source of cold atoms thereby achieved show a divergence of about 40 mrad which constrains the user to work by output but with a limited optical access or far from the output but at the cost of lower density. An alternative is presented, in which a Laguerre-Gaussian mode of light is used to channel the atoms at the output of a 2D-MOT. The Laguerre-Gaussian mode of light carries out a dipole trapping that confines the atoms in the black center of the mode, which has the advantage of limiting the heating due to absorption/emission of light. Thus, since the Laguerre-Gaussian modes of light keep their ring-shape along their propagation, the atoms are channeled over a distance of several decimeters. We studied the functioning of this system for different orders of the Laguerre-Gaussian mode and at different frequencies, and we showed that this system is efficient and allows to achieve a density gain of a factor 200 compared to a conventional 2D-MOT. A particular case is also presented, in which the frequency of the Laguerre-Gaussian mode of light is chosen to carry out not only the channeling of the atoms, but also their repumping, which leads to an important simplification of the system. Laguerre-Gaussian modes of light are also of great interest in the domain of quantum information and quantum cryptography because they can be used to encode and store information. In order to do that, it is crucial to be able to detect them in an unequivocal way. In this context, we are interested in the determination of these modes. Until now, different detection techniques have measured the azimuthal index, but few of them have been able to measure the radial index. If we are able to measure the radial index, it can be used as a new variable to encode and store information. Under this motivation, a technique based on the transformation of a Laguerre-Gaussian mode of light by an astigmatic system has been extended to determine the two indices characterizing them. We showed that this technique can also be used to experimentally optimize the generation of the purest possible Laguerre-Gaussian modes of high order.

O objetivo desse trabalho é a verificação da hipótese de que, ao se basear na hierarquia viária direcionada ao automóvel, as estratégias de planejamento urbano e de transportes vigentes produzem impactos negativos no nível de serviço de outros modos de transporte, sobretudo os modos não motorizados. O método proposto, aplicado em um estudo de caso realizado na cidade de São Carlos, no estado de São Paulo, envolveu três etapas: (1) caracterização dos níveis de serviço das redes urbanas em análise para os modos a pé, bicicleta e automóvel; (2) análise exploratória dos resultados obtidos na etapa inicial através de geração de mapas e gráficos; e (3) comparação detalhada dos valores obtidos. Foram selecionadas cinco áreas de diferentes níveis de renda para o estudo de caso. Em cada uma delas foram identifi-cados diferentes tipos de vias (local, coletora, radial, estrutural e perimetral), e sele-cionados segmentos para compor uma amostra de 30% da extensão total das vias. A primeira atividade exigiu o desenvolvimento e adaptação de metodologias para a avaliação do nível de serviço dos modos considerados no estudo. Mais de trezentos e cinqüenta segmentos de vias foram examinados. Os resultados obtidos na análise exploratória apontaram que inúmeros segmentos com altos valores de NS para o modo automóvel tinham baixos valores de NS para o modo a pé, o que em princípio confirma a hipótese inicial. As análises detalhadas deram suporte a essa avaliação. No entanto, elas se restringiram às vias locais, o que aponta para a necessidade de estudos complementares nos demais tipos de vias. / The objective of this work is to verify the hypothesis that the current urban and transportation planning strategies based on the auto-oriented street hierarchy produce negative impacts on the level of service of other transportation modes, particularly the non-motorized modes. The proposed method, which was applied in a case study in the city of São Carlos, in the state of São Paulo, involved three steps: (1) the characterization of the level of service for pedestrians, bicycles and automobiles in the urban networks under analyses; (2) an exploratory analysis of the results obtained in the first step through maps and graphs; (3) a detailed comparison of the values found. Five areas with different income levels were selected for the case study. In each one of them five types of streets were identified (local streets, collector streets, minor arterials or radial streets, principal arterials or structural streets, and perimetral streets) and a sample of street segments covering 30% of the total length of the streets was selected. The first activity required the development and adaptation of methodologies for the assessment of the level of service of the transportation modes considered in the study. Over three hundred and fifty street segments were examined. The results obtained in the exploratory analyses have shown that several street segments with high values of level of service for the automobile had low values of level service for the pedestrians, thus confirming the initial hypothesis. The detailed analyses conducted in the sequence supported that observation. However, they were conducted only for the local streets, what indicates the need of further studies in the other types of streets.

O objetivo desse trabalho é a verificação da hipótese de que, ao se basear na hierarquia viária direcionada ao automóvel, as estratégias de planejamento urbano e de transportes vigentes produzem impactos negativos no nível de serviço de outros modos de transporte, sobretudo os modos não motorizados. O método proposto, aplicado em um estudo de caso realizado na cidade de São Carlos, no estado de São Paulo, envolveu três etapas: (1) caracterização dos níveis de serviço das redes urbanas em análise para os modos a pé, bicicleta e automóvel; (2) análise exploratória dos resultados obtidos na etapa inicial através de geração de mapas e gráficos; e (3) comparação detalhada dos valores obtidos. Foram selecionadas cinco áreas de diferentes níveis de renda para o estudo de caso. Em cada uma delas foram identifi-cados diferentes tipos de vias (local, coletora, radial, estrutural e perimetral), e sele-cionados segmentos para compor uma amostra de 30% da extensão total das vias. A primeira atividade exigiu o desenvolvimento e adaptação de metodologias para a avaliação do nível de serviço dos modos considerados no estudo. Mais de trezentos e cinqüenta segmentos de vias foram examinados. Os resultados obtidos na análise exploratória apontaram que inúmeros segmentos com altos valores de NS para o modo automóvel tinham baixos valores de NS para o modo a pé, o que em princípio confirma a hipótese inicial. As análises detalhadas deram suporte a essa avaliação. No entanto, elas se restringiram às vias locais, o que aponta para a necessidade de estudos complementares nos demais tipos de vias. / The objective of this work is to verify the hypothesis that the current urban and transportation planning strategies based on the auto-oriented street hierarchy produce negative impacts on the level of service of other transportation modes, particularly the non-motorized modes. The proposed method, which was applied in a case study in the city of São Carlos, in the state of São Paulo, involved three steps: (1) the characterization of the level of service for pedestrians, bicycles and automobiles in the urban networks under analyses; (2) an exploratory analysis of the results obtained in the first step through maps and graphs; (3) a detailed comparison of the values found. Five areas with different income levels were selected for the case study. In each one of them five types of streets were identified (local streets, collector streets, minor arterials or radial streets, principal arterials or structural streets, and perimetral streets) and a sample of street segments covering 30% of the total length of the streets was selected. The first activity required the development and adaptation of methodologies for the assessment of the level of service of the transportation modes considered in the study. Over three hundred and fifty street segments were examined. The results obtained in the exploratory analyses have shown that several street segments with high values of level of service for the automobile had low values of level service for the pedestrians, thus confirming the initial hypothesis. The detailed analyses conducted in the sequence supported that observation. However, they were conducted only for the local streets, what indicates the need of further studies in the other types of streets.

Les systèmes composés d’une somme de sous-systèmes interconnectés offrent les avantages majeurs de flexibilité d’organisation et de redondance synonyme de fiabilité accrue. Une des plus belles réalisations basée sur ce concept réside dans les réseaux électriques qui sont reconnus à ce jour comme la plus grande et la plus complexe des structures existantes jamais développées par l’homme.Les phénomènes de plus en plus non linéaires rencontrés dans l’étude des nouveaux réseaux électriques amènent au développement de nouveaux outils permettant l’étude des interactions entre les différents éléments qui les composent. Parmi les outils d’analyse existants, ce mémoire présente le développement et l’application de la théorie des Formes Normales à l’étude des interactions présentes dans un réseau électrique. Les objectifs spécifiques de cette thèse concernent le développement de la méthode des Formes Normales jusqu’à l’ordre 3, l’application de cette méthode à l’étude des oscillations présentes dans des réseaux tests et l’apport de la méthode développée dans l’étude de la stabilité des réseaux. / Systems composed with a sum of interconnected sub-systems offer the advantages of a better flexibility and redundancy for an increased reliability. One of the largest and biggest system based on this concept ever devised by man is the interconnected power system.Phenomena encountered in the newest interconnected power systems are more and more nonlinear and the development of new tools for their study is od major concern. Among the existing tools, this PhD work presents the development and the application of the Normal Form theory to the study of the interactions existing on an interconnected power system. The specific objectives of this PhD work are the development of the Normal Form theory up to the third order, the application of this method to study power system interarea oscillations and the gain of the developed method for the study of stability of power systems.

Os micro-ressonadores que suportam whispering gallery modes têm atraído a atenção da comunidade científica devido a sua grande capacidade de confinar a luz, propriedade que faz dessas estruturas plataformas ideais para o desenvolvimento de pesquisa fundamental como interação da radiação com a matéria e óptica não linear. Além disso, suas características como operação em frequências do visível e de telecomunicações, facilidade de integração e alta sensitividade os tornam extremamente flexíveis para aplicações que vão desde filtros ópticos até sensores. Neste trabalho, demonstramos a fabricação de tais micro-ressonadores via fotopolimerização por absorção de dois fótons (FA2F). Esta técnica apresenta uma série de vantagens para a confecção de micro-dispositivos, sendo elas a capacidade de resolução inferior ao limite de difração, a flexibilidade de formas e ainda, a possibilidade de incorporar compostos de interesse à matriz polimérica a fim de introduzir novas funcionalidades ao material que compõe a estrutura final. Ademais, diferentes polímeros podem ser utilizados para a fabricação das microestruturas, tornando a técnica viável para uma vasta gama de aplicações. As microestruturas poliméricas que fabricamos são micro-cilindros ocos de boa integridade estrutural com 45 μm de diâmetro externo e 100 nm de rugosidade de superfície, o que as torna potencialmente aplicáveis como micro-ressonadores para frequências de operação típicas de telecomunicações. A fim de acoplar luz nessas estruturas, em colaboração com a Universidade de Valência, na Espanha, montamos um aparato de acoplamento. Neste aparato, a luz proveniente de uma fonte de luz centrada em 1540 nm é acoplada nos micro-ressonadores via campo evanescente por meio do uso de uma fibra óptica estirada de 1.5 μm de diâmetro. A potência transmitida é guiada para um analisador de espectro óptico, onde é possível identificar os modos ressonantes, representados como picos de atenuação com free spectral range em torno de 9.8 nm. Ao término desse projeto, um aparato similar foi montado no Grupo de Fotônica do IFSC/USP, a partir do qual pudemos medir os modos ressonantes tanto de fibras ópticas estiradas quanto dos micro-cilindros poliméricos. A finesse dos micro-ressonadores poliméricos caracterizados varia de 2.51 a 4.35, sendo da mesma ordem de grandeza do valor reportado na literatura para ressonadores de alta performance fabricados por FA2F a partir da mesma formulação de resina polimérica que utilizamos. / Whispering gallery modes microresonators have been attracting increasing interest due to their ability to strongly confine light within small dielectric volumes. This property is quite useful for basic research involving light-matter interaction and nonlinear optics, but their applications go beyond that. The ease of fabrication, on-chip integration and operation at telecommunication frequencies make them suitable for a variety of practical applications, including photonic filters and sensing. In the current work, we demonstrate the fabrication of such resonators via two-photon polymerization. Using this technique, complex 3D structures with submicrometer feature size can be produced. Besides, the flexibility of geometry and the possibility of incorporating a variety of additional materials, such as organic compounds make it a powerful tool for the fabrication of microresonators. The microstructures we have fabricated are 45 μm outer diameter hollow microcylinders, with good structural integrity and sidewall roughness estimated in 100 nm, which make their application as microresonators feasible in the near infrared wavelength regime. In order to couple light within these microresonators, an experimental setup was built at University of Valencia to implement the coupling. In this setup, light from a 1540 nm-centered broadband source was coupled into the fabricated microresonators via evanescent field using a 1.5 μm waist tapered fiber. The transmitted light was then guided to an optical spectral analyzer, where it was possible to measure resonances, represented as attenuation peaks, with free spectral range of about 9.8 nm. Afterwards, a similar experimental setup was assembled in the Photonics group at IFSC/USP, where we could observe resonances of both tapered optical fibers and the polymeric microresonators fabricated by means of two-photon polymerization. The finesse of the polymeric microresonators was estimated in 4.35, being in the same order of the finesse reported in the literature for high performance microring resonators fabricated using the same polymeric resin.

Control of MHD instabilities using a conducting wall together with external magnetic fields is an important route to improved performance and reliability in fusion devices. Active control of MHD modes is of interest for both the Advanced Tokamak and the Reversed Field Pinch (RFP) configurations. A wide range of unstable, current driven MHD modes is present in the RFP. An ideally conducting wall facing the plasma can in principle provide stabilization to these modes. However, a real, resistive wall characterized by a wall field diffusion time, cannot stabilize the ideal MHD modes unless they rotate with Alfvénic velocity, which is usually not the case. With a resistive wall, the ideal modes are converted into resistive wall modes (RWM) with growth rates comparable to the inverse wall time. Resistive wall modes have been studied in the EXTRAP T2R thin shell RFP device. Growth rates have been measured and found in agreement with linear MHD stability calculations. An advanced system for active control has been developed and installed on the EXTRAP T2R device. The system includes an array of 128 active saddle coils, fully covering the torus surface. Experiments on EXTRAP T2R have for the first time demonstrated simultaneous active suppression of multiple independent RWMs. In experiments with a partial array, coupling of different modes due to the limited number of feedback coils has been observed, in agreement with theory. Different feedback strategies, such as the intelligent shell, the rotating shell, and mode control have been studied. Further, feedback operation with different types of magnetic field sensors, measuring either the radial or the toroidal field components have been compared / QC 20100929

SAMMANFATTNING Vi lever i en tid av ständiga och snabba förändringar. Detta sägs även gälla i arbetslivet. Framförallt kvinnornas roll i arbetet är i förändring, de tar allt större plats inom företagsmarknaden. Det blir allt vanligare att kvinnor startar och driver företag, många av dessa är små. Vårt gemensamma intresse för den realistiska livsformsanalysen och kvinnligt företagande blev grunden för detta arbete. Det var av intresse för oss att söka finna svar på hur kvinnliga småföretagare upplever sin situation gällande balans mellan fritid och arbete. Vi ville ta reda på vilka livsformer dessa kvinnor lever för att öka vår förståelse för hur detta påverkar synen på vad som är viktigt i livet och vilka medel de tar till för att nå sina mål i enlighet med detta. Livsformsanalysen söker öka vår förståelse för andra individer och hur de väljer att leva sina liv. Alla har vi olika mål och medel för att nå dessa och olika definitioner på vad som är det goda livet. Den livsform vi lever styr på många sätt hur vi ser på verkligheten. Vi utgick från att ett livsformsperspektiv skulle vara fruktbart för denna undersökning då det skulle ge oss förklaringar till det som skiljer olika företagare åt. Vår förförståelse var att kvinnor till större del tar ansvar för hem och familj, det var därför spännande att utröna hur de klarar av att balansera detta ansvar med företagande. Då det är upplevelsen av de kvinnliga småföretagarnas situation vi velat undersöka valde vi att göra en kvalitativ undersökning. Vi genomförde fem intervjuer med småföretagande kvinnor som visade sig leva olika livsformer och därmed ha olika förutsättningar för sitt företagande. Gemensamt för dem är att de alla delvis lever självständighetens livsform. I enlighet med detta har de svårt att skilja arbetsliv från privatliv. Analyser av materialet visade att den eller de livsformer företagaren lever påverkar hur hon söker finna balans i tillvaron. Nyckelord: Livsformer, kombinationslivsform, balans, småföretagare och kvinnor / ABSTRACT We are living in a time of constant and rapid change. This also applies to work life. This applies in particular on the women’s role at work, women gain more ground in the business market. It is becoming more common for women to start and lead their own businesses, many of these are small. Our mutual interest in the realistic life mode analysis and in women who run their own businesses became the base of this composition. It was in our interest to find answers about how self employed women experience their situation concerning balance between leisure time and the time of work. We aspired to find out what life modes these women live. This in order to increase our understanding of how this influences their view of what is most important in life and the means they use to acquire their goals. The life mode analysis was created to increase our understanding of other individuals and the way they chose to live their lives. All of us have different goals and means to reach them, we have also got different views of what the good life is. The life mode one person lives in many ways predicts how he or she looks upon reality. We assumed that a life mode perspective analysis would be productive on this study since it would explain the differences amongst the self employed women. Our pre understanding was that women usually take on the main responsibility for the home and family .It was interesting to us to find out how they manage to balance this responsibility and their businesses. Since we wanted to explore the women’s experiences in our study we chose to make a qualitative research. We made five interviews with self employed women. We found out that they live different life modes, this gives them different conditions under witch they run their businesses. What they all have in common is that they, in part, live the independent life mode. In accordance to this they find it difficult to separate their time of work from their leisure time. Our analysis shows that the life mode or life modes influences how the business woman chooses to find her balance in life. Key words: Life modes, combinations of life modes, balance, self employed women

Wave scattering by arrays of cylinders has received special attention by many authors and analytical solutions have been derived. The investigation of optical and acoustical analogies to the problem of interaction of water waves with rigid and flexible cylinder arrays is the main focus of this thesis. In acoustics, a sound may be attenuated while it propagates through a layer of bubbly liquid. In fact, if the natural frequency of the bubbles is in the range of the wave periods, the attenuation becomes more evident. The ultimate objective of the research described herein is to determine if this phenomenon may also be found in the interaction between water waves and arrays of flexible cylinders. In a first approach, arrays of rigid cylinders are studied in shallow water. The array is treated as an effective medium, which allows for the definition of reflection and transmission coefficients for the array, and theories from Hu and Chan (2005) associated with the Fabry-Perot interferometer are compared against direct computations of wave scattering using the commercial code WAMIT. Reflection and transmission coefficients from WAMIT are evaluated by applying a Maximum Likelihood Method. The results from WAMIT were found to be in good agreement with those obtained from the effective medium theory. Due to observed inconsistencies for short wave periods and small incident angles, the effective width of the medium is defined and corrected. For the case of a flexible cylinder, generalized modes corresponding to deformations of the cylinder's surface are formulated and added to WAMIT's subroutine. Equations of motion are derived from the theory of vibration for thin shells and mass and stiffness matrices are defined. The objective is to maximize wave attenuation from the array of flexible cylinders. Therefore, the natural periods of the "breathing" mode for these cylinders is set in the range of the studied wave periods. Then, material properties, as well as mass and stiffness matrices, are chosen to achieve this effect.

Le déplacement entièrement autonome d'un robot mobile en environnements naturels est un problème encore loin d'être résolu. Il nécessite la mise en oeuvre de fonctionnalités permettant de réaliser le cycle perception/décision/action, que nous distinguons en deux catégories : navigation (perception et décision sur le mouvement à réaliser) et locomotion (réalisation du mouvement). Pour pouvoir faire face à la grande diversité de situations que le robot peut rencontrer en environnement naturel, il peut être primordial de disposer de plusieurs types de fonctionnalités complémentaires, constituant autant de modes de déplacement possibles. En effet, de nombreuses réalisations de ces derniers ont été proposées dans la littérature ces dernières années mais aucun ne peut prétendre permettre d'exécuter un déplacement autonome en toute situation. Par conséquent, il semble judicieux de doter un robot mobile d'extérieur de plusieurs modes de déplacement complémentaires. Dès lors, ce dernier doit également disposer de moyens de choisir en ligne le mode le plus approprié. Dans ce cadre, cette thèse propose une mise en oeuvre d'un tel système de sélection de mode de déplacement, réalisée à partir de deux types de données : une observation du contexte pour déterminer dans quel type de situation le robot doit réaliser son déplacement et une surveillance du comportement du mode courant, effectuée par des moniteurs, et qui influence les transitions vers d'autres modes lorsque le comportement du mode actuel est jugé non satisfaisant. Nous présentons donc : un formalisme probabiliste d'estimation du mode à appliquer, des modes de navigation et de locomotion exploités pour réaliser le déplacement autonome, une méthode de représentation qualitative du terrain (reposant sur l'évaluation d'une difficulté calculée après placement de la structure du robot sur un modèle numérique de terrain), et des moniteurs surveillant le comportement des modes de déplacement utilisés (évaluation de l 'efficacité de la locomotion par roulement, surveillance de l'attitude et de la configuration du robot...). Des résultats expérimentaux de ces éléments intégrés à bord de deux robots d'extérieur différents seront enfin présentés et discutés.