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Commande d'un système robotisé de type torse humanoïde pour le transport de colis de taille variable / Control of a robotic system based on humanoid torso and arms for the transport of parcels of variable dimensionsBenali, Khairidine 25 October 2019 (has links)
Dans les entrepôts logistiques, les moyens robotiques sont de plus en plus fréquemment utilisés pour réduire les temps non productifs, déplacer des charges lourdes, limiter les risques d'erreurs pendant les opérations de préparation de commandes (picking, de/palettisation,...), faire des inventaires (drones,...) et améliorer les conditions de travail des opérateurs humains. Bien que l'homme reste incontournable pour les tâches de préparation de commande à cause de son adresse et de son aptitude à s'adapter à des tâches toujours différentes, l'augmentation de la productivité est souvent synonyme d'augmentation de la pénibilité au travail (troubles musculo-squelettiques,...). Les travaux de recherche présentés dans cette thèse sont une contribution à la robotisation des opérations de dé/palettisation pour des colis de taille variable qui exigent une grande polyvalence du système de préhension. La solution innovante que nous proposons consiste à utiliser un torse humanoïde équipé de deux bras manipulateurs munis de préhenseurs adaptés à la saisie d'objets de taille et de masse différentes. La principale contribution porte sur la conception d'une loi de commande hybride Force/Position-Position avec commutations, estimation du glissement de l'objet, prise en compte de la compliance et correction de la force de serrage pendant la manipulation. Cette solution suppose d'assurer la collaboration entre les deux bras manipulateurs et de s'adapter à l'environnement matériel et humain (cobotique). / In logistics warehouses, automation in the sense of robotization is frequently being employed to cut down production times by efficiently managing the processes of picking heavy loads, place, pack and palletize, while reducing the risks and errors to improve the working conditions of human operators along the way. The flexibility of human is fundamental for order preparation owing to adaptive skills for task variation, but at the same time increasing productivity is complemented with fatigue (musculoskeletal disorders). In this context the research presented in this thesis is a contribution in the robotization of palletization operations requiring exceptional versatility of manipulation and gripping. We have proposed an innovative solution of utilizing a humanoid torso equipped with two manipulator arms with adaptive grippers to grasp and hold the objects of variable size and mass. The main contribution of research is the development of a hybrid Force / Position-Position control law with commutation and estimation of the object surface slip, while taking into account the compliance and correction of the clamping force during handling. The execution of the control involves the collaboration of the two arms for coordinated manipulation and adaptation to the material and the human environment (cobotics).
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Aggregate City: an urban machine that triggers intuitive experience of view from a non-single perspectiveSun, Shudi January 2023 (has links)
City Aggregation Machine- Project for HousingThe core concept of the project is Ambi-formalism. The main content of the design is urban morphology and an urban system of collective communities. Aim at creating a non-single perspective of reading, I call this intuitive experience, to increase presence to position “ourselves".Based on the generative logic of the Fengshui map and the European fortification map of the city wall, the origami method is used to decompose its shape, and the visual scale is used to decompose the schema into units and become a procedural grid of urban aggregation. Transform inoperable forms into operable urban unit systems. As an autonomous urban structure that can accommodate multiple reading views, in turn , which can trigger people's intuitive schema in it. so as to position ourselves.Residential district is the object designed to operate the system and skeleton of urban aggregation which mix of private and public volumes can accommodate a series of events, it aiso in itself constitutes an event. The visual layer is the schematic route(events) into a dwelling, to identify each neighborhood.
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