In doctoral thesis redundant systems and degradation models are considered. To ensure high reliability of important elements of the system, the stand-by units can be used. These units are commuted and operate instead of the main failed unit. The stand-by units can function in the different conditions: “hot”, “cold” or “warm” reserving. In the thesis systems with “warm” stand-by units are analyzed. Hypotheses of smooth commuting are formulated and goodness-of-fit tests for these hypotheses are constructed. Nonparametric and parametric point and interval estimation procedures are given. Modeling and statistical estimation of reliability of systems from failure time and degradation data are considered. / Daktaro disertacijos tyrimo objektai yra rezervuotos sistemos ir degradaciniai modeliai. Norint užtikrinti svarbių sistemos elementų aukštą patikimumą, naudojami jų rezerviniai elementai, kurie gali būti įjungiami sugedus šiems pagrindiniams elementams. Rezerviniai elementai gali funkcionuoti skirtinguose režimuose: „karštame“, „šaltame“ arba „šiltame“. Disertacijoje yra nagrinėjamos sistemos su „šiltai“ rezervuotais elementais. Darbe suformuluojama rezervinio elemento „sklandaus įjungimo“ hipotezė ir konstruojami statistiniai kriterijai šiai hipotezei tikrinti. Nagrinėjami neparametrinio ir parametrinio taškinio bei intervalinio vertinimo uždaviniai. Disertacijoje nagrinėjami pakankamai bendri degradacijos modeliai, kurie aprašo elementų gedimų intensyvumą kaip funkciją kiek naudojamų apkrovų, tiek ir degradacijos lygio, kuri savo ruožtu modeliuojama naudojant stochastinius procesus.

My work is aiming at establishing the bases of a semiotics of motion, in order to facilitate the programing of complex robotics systems. The objective is to build a symbolic model of the action, based on the analysis of the numerical functions that drive the motion (control and planning). The methodology comes from the well-known robotics concepts: motion-planning algorithms, control of redundant systems and task-function approach. The originality of the work is to consider the "task" as the unifying concept both to describe the motion and to control its execution. The document is organized in two parts. In the first part, the task-function control framework is extended to cover all the possible modalities of the robot. The objective is to absorb from the lowest-possible functional level the maximum of uncertainty factors. It is then not any more necessary to model these factors at the higher functional levels. This sensorimotor layer is then used as a basic action "vocabulary" that enables the system to be controlled with a higher-level interface. In the second part, this action vocabulary is used to provide a dedicated robotics programing language, to build motion-planning methods and to describe an observed movement. The proposed methods are generic and can be applied to a various systems, from robotics (redundant robots) to computer animation (virtual avatars). Nonetheless, the work is more specifically dedicated to humanoid robotics. Without forgetting other possible outlets, humanoid robotics provides a tangible applicative and experimental framework. It also leads toward the natural human motion, as presented in the end of the document.

[ES] Uno de los elementos más importantes en el sistema de control de un robot es su Modelo Cinemático Inverso (IKM, por sus siglas en inglés), el cual calcula las referencias de posición y velocidad requeridas para que dicho robot pueda seguir una trayectoria. Los métodos más comúnmente empleados para la síntesis del IKM de sistemas robotizados de cadena cinemática abierta dependen fuertemente de la geometría del robot, por lo que no son procedimientos sistemáticos que puedan ser aplicados uniformemente en todas las situaciones. Este proyecto presenta el desarrollo de un procedimiento sistemático para la síntesis del IKM completo de sistemas robotizados no redundantes de cadena cinemática abierta usando la teoría de Bases de Groebner, el cual no depende de la geometría del robot. Las entradas del procedimiento desarrollado son los parámetros de Denavit-Hartenberg del robot y el rango de movimiento de sus actuadores, mientras que la salida es el IKM sintetizado, listo para ser usado en el sistema de control del robot o en una simulación de su funcionamiento. El desempeño del procedimiento desarrollado fue demostrado sintetizando los IKMs de un manipulador PUMA y un hexápodo caminante. Los tiempos de ejecución de ambos IKMs son comparables con los requeridos por los modelos cinemáticos calculados por procedimientos tradicionales, y los errores de las referencias que ofrecen como salida son totalmente despreciables. Los IKMs sintetizados son completos, porque no sólo ofrecen las referencias de posición para todos los actuadores del robot, sino que también calculan las correspondientes referencias de velocidades y aceleraciones de dichos actuadores, por lo que el procedimiento desarrollado puede ser empleado en una amplia variedad de sistemas robotizados. / [CA] Un dels elements més importants en el sistema de control d'un robot és el seu Model Cinemàtic Invers (IKM, per les seues sigles en anglés), el qual calcula les referències de posició i velocitat requerides perquè aquest robot puga seguir una trajectòria. Els mètodes més comunament emprats per a la síntesi del IKM de sistemes robotitzats de cadena cinemàtica oberta depenen fortament de la geometria del robot analitzat, per la qual cosa no són procediments sistemàtics que puguen ser aplicats uniformement en totes les situacions. Aquest projecte presenta el desenvolupament d'un procediment sistemàtic per a la síntesi del IKM complet de sistemes robotitzats no redundants de cadena cinemàtica oberta usant la teoria de Bases de Groebner, el qual no depén de la geometria del robot. Les entrades del procediment desenvolupat són els paràmetres de Denavit-Hartenberg del robot i el rang de moviment dels seus actuadors, mentre que l'eixida és el IKM sintetitzat, llest per a ser usat en el sistema de control del robot o en una simulació del seu funcionament. L'acompliment del procediment desenvolupat va ser demostrat sintetitzant els IKMs d'un manipulador PUMA i un robot caminante. Els temps d'execució de tots dos IKMs són comparables amb els requerits pels models cinemàtics calculats per procediments tradicionals, i els errors de les referències que ofereixen com a eixida són totalment menyspreables. Els IKMs sintetitzats són complets, perquè no sols ofereixen les referències de posició per a tots els actuadors del robot, sinó que també calculen les corresponents referències de velocitats i acceleracions d'aquests actuadors, per la qual cosa el procediment desenvolupat pot ser emprat en una àmplia varietat de sistemes robotitzats. / [EN] One of the most important elements of a robot's control system is its Inverse Kinematic Model (IKM), which calculates the position and velocity references required by the robot's actuators to follow a trajectory. The methods that are commonly used to synthesize the IKM of open-chain robotic systems strongly depend on the geometry of the analyzed robot, so they are not systematic procedures that can be applied equally in all situations. This project presents the development of a systematic procedure to synthesize the complete IKM of non-redundant open-chain robotic systems using Groebner Basis theory, which does not depend on the robot's geometry. The inputs to the developed procedure are the robot's Denavit-Hartenberg parameters and the movement range of its actuators, while the output is the IKM, ready to be used in the robot's control system or in a simulation of its behavior. This procedure's performance was proved synthesizing the IKMs of a PUMA manipulator and a walking hexapod robot. The computation times of both IKMs are comparable to those required by the kinematic models calculated by traditional methods, while the errors of their computed references were absolutely negligible. The synthesized IKMs are complete in the sense that they not only supply the position reference for all the robot's actuators, but also the corresponding references for their velocities and accelerations, so the developed procedure can be used in a wide range of robotic systems. / Guzmán Giménez, J. (2022). Synthesis of the Complete Inverse Kinematic Model of Non-Redundant Open-Chain Robotic Systems using Groebner Basis Theory [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/181632

Cette thèse aborde les problèmes inverses de contrôle optimal (IOCP) pour trouver les fonctions de coûts pour lesquelles les mouvements humains sont optimaux. En supposant que les observations de mouvements humains sont parfaites, alors que le processus de commande du moteur humain est imparfait, nous proposons un algorithme de commande approximative optimale. En appliquant notre algorithme pour les observations de mouvement humaines collectées: mouvement du bras humain au cours d'une tâche de vissage industrielle, une tâche de suivi visuel d’une cible et une tâche d'initialisation de la marche, nous avons effectué une analyse en boucle ouverte. Pour les trois cas, notre algorithme a trouvé les fonctions de coût qui correspondent mieux ces données, tout en satisfaisant approximativement les Karush-Kuhn-Tucker (KKT) conditions d'optimalité. Notre algorithme offre un beau temps de calcul pour tous les cas, fournir une opportunité pour son utilisation dans les applications en ligne. Pour la tâche de suivi visuel d’une cible, nous avons étudié une modélisation en boucle fermée avec deux boucles de rétroaction PD. Avec des données artificielles, nous avons obtenu des résultats cohérents en termes de tendances des gains et les critères trouvent par notre algorithme pour la tâche de suivi visuel d’une cible. Dans la seconde partie de notre travail, nous avons proposé une nouvelle approche pour résoudre l’IOCP, dans un cadre d'erreur bornée. Dans cette approche, nous supposons que le processus de contrôle moteur humain est parfait tandis que les observations ont des erreurs et des incertitudes d'agir sur eux, étant imparfaite. Les erreurs sont délimitées avec des limites connues, sinon inconnu. Notre approche trouve l'ensemble convexe de de fonction de coût réalisables avec la certitude qu'il comprend la vraie solution. Nous numériquement garanties en utilisant des outils d'analyse d'intervalle. / This thesis addresses inverse optimal control problems (IOCP) to find the cost functions for which the human motions are optimal. Assuming that the human motion observations are perfect, while the human motor control process is imperfect, we propose an approximately optimal control algorithm. By applying our algorithm to the human motion observations collected for: the human arm trajectories during an industrial screwing task, a postural coordination in a visual tracking task and a walking gait initialization task, we performed an open loop analysis. For the three cases, our algorithm returned the cost functions which better fit these data, while approximately satisfying the Karush-Kuhn-Tucker (KKT) optimality conditions. Our algorithm offers a nice computational time for all cases, providing an opportunity for its use in online applications. For the visual tracking task, we investigated a closed loop modeling with two PD feedback loops. With artificial data, we obtained consistent results in terms of feedback gains’ trends and criteria exhibited by our algorithm for the visual tracking task. In the second part of our work, we proposed a new approach to solving the IOCP, in a bounded error framework. In this approach, we assume that the human motor control process is perfect while the observations have errors and uncertainties acting on them, being imperfect. The errors are bounded with known bounds, otherwise unknown. Our approach finds the convex hull of the set of feasible cost function with a certainty that it includes the true solution. We numerically guaranteed this using interval analysis tools.

O principal objetivo desse trabalho é introduzir um modelo geral bayesiano Weibull hierárquico para dados censurados que estima a função de confiabilidade de cada componente para sistemas de confiabilidade coerentes. São introduzidos formas de estimação mais sólidas, sem a inserção de estimativas médias nas funções de confiabilidade (estimador plug-in). Através desse modelo, são expostos e solucionados exemplos na área de confiabilidade como sistemas em série, sistemas em paralelo, sistemas k-de-n, sistemas bridge e um estudo clínico com dados censurados intervalares. As soluções consideram que as componentes tem diferentes distribuições, e nesse caso, o sistema bridge ainda não havia solução na literatura. O modelo construído é geral e pode ser utilizado para qualquer sistema coerente e não apenas para dados da área de confiabilidade, como também na área de sobrevivência, dentre outros. Diversas simulações com componentes com diferentes proporções de censura, distintas médias, três tipos de distribuições e tamanhos de amostra foram feitas em todos os sistemas para avaliar a eficácia do modelo. / The main purpose of this work is to introduce a general bayesian Weibull hierarchical model for censored data which estimates each reliability components function from coherent systems. Its introduced estimation procedures which do not consider plug-in estimators. Also, its exposed and solved with this model examples in reliability area such as series systems, parallel systems, k-out-of-n systems, bridge systems and a clinical study with interval censoring data. The problem of bridge system hadnt a solution before for the case of each component with different distribution. Actually, this model is general and can be used to analyse any kind of coherent system and censored data, not only reliability ones, but also survival data and others. Several components simulations with different censored proportions, distinct means, three kinds of distributions and sample size were made in all systems to evaluate model efficiency.

O principal objetivo desse trabalho é introduzir um modelo geral bayesiano Weibull hierárquico para dados censurados que estima a função de confiabilidade de cada componente para sistemas de confiabilidade coerentes. São introduzidos formas de estimação mais sólidas, sem a inserção de estimativas médias nas funções de confiabilidade (estimador plug-in). Através desse modelo, são expostos e solucionados exemplos na área de confiabilidade como sistemas em série, sistemas em paralelo, sistemas k-de-n, sistemas bridge e um estudo clínico com dados censurados intervalares. As soluções consideram que as componentes tem diferentes distribuições, e nesse caso, o sistema bridge ainda não havia solução na literatura. O modelo construído é geral e pode ser utilizado para qualquer sistema coerente e não apenas para dados da área de confiabilidade, como também na área de sobrevivência, dentre outros. Diversas simulações com componentes com diferentes proporções de censura, distintas médias, três tipos de distribuições e tamanhos de amostra foram feitas em todos os sistemas para avaliar a eficácia do modelo. / The main purpose of this work is to introduce a general bayesian Weibull hierarchical model for censored data which estimates each reliability components function from coherent systems. Its introduced estimation procedures which do not consider plug-in estimators. Also, its exposed and solved with this model examples in reliability area such as series systems, parallel systems, k-out-of-n systems, bridge systems and a clinical study with interval censoring data. The problem of bridge system hadnt a solution before for the case of each component with different distribution. Actually, this model is general and can be used to analyse any kind of coherent system and censored data, not only reliability ones, but also survival data and others. Several components simulations with different censored proportions, distinct means, three kinds of distributions and sample size were made in all systems to evaluate model efficiency.