Le terme "usinage à porte fermée", fréquemment employé par les PME de l’aéronautique et de l’automobile, désigne l’automatisation sécurisée du processus d’usinage des pièces mécaniques. Dans le cadre de notre travail, nous nous focalisons sur la vérification du montage d’usinage, avant de lancer la phase d’usinage proprement dite. Nous proposons une solution sans contact, basée sur la vision monoculaire (une caméra), permettant de reconnaitre automatiquement les éléments du montage (brut à usiner, pions de positionnement, tiges de fixation,etc.), de vérifier que leur implantation réelle (réalisée par l’opérateur) est conforme au modèle 3D numérique de montage souhaité (modèle CAO), afin de prévenir tout risque de collision avec l’outil d’usinage. / In High Speed Machining it is of key importance to avoid any collision between the machining tool and the machining setup. If the machining setup has not been assembled correctly by the operator and is not conform to the 3D CAD model sent to the machining unit, such collisions can occur. We have developed a vision system, that utilizes a single camera, to automatically check the conformity of the actual machining setup within the desired 3D CAD model, before launching the machining operation. First, we propose a configuration of the camera within the machining setup to ensure a best acquisition of the scene. In the aim to segmente the image in regions of interest, e.g. regions of the clamping elements and piece, based-on 3D CAD model, we realise a matching between graphes, theorical and real graphe computed from theorical image of 3D-CAD model and real image given by real camera. The graphs are constructed from a simple feature, such as circles and lines, that are manely present in the machining setup. In the aim to define the regions of interest (ROI) in real image within ROI given by 3D CAD model, we project a 3D CAD model in the real image, e.g. augmented reality. To automatically check the accordance between every region defined, we propose to compute three parametres, such as skeleton to represente the form, edges to represent a geometry and Area to represent dimension. We compute a score of accordance between three parameters that will be analyzed in fuzzy system to get a decision of conformity of the clamping element within it definition given in the CAD model. Some cases of machining setup configurations require 3D information to test the trajectory of the machine tool. To get out this situation, we have proposed a new depth from defocus based-method to compute a depth map of the scene. Finally, we present the result of our solution and we show the feasibility and robustness of the proposed solution in differents case of machining setup.

Methods for predicting weld properties based on welding parameters are needed in friction stir welding (FSW). FSW is a joining process in which the resulting properties depend on the thermal cycle of the weld. Buckingham's Pi theorem and heat transfer analysis was used to identify dimensionless parameters relevant to the FSW process. Experimental data from Al 7075 and HSLA-65 on five different backing plate materials and a wide range of travel speeds and weld powers was used to create a dimensionless, empirical model relating critical weld parameters to the peak temperature rise and cooling rate of the weld. The models created have R-squared values greater than 0.99 for both dimensionless peak temperature rise and cooling rate correlations. The model can be used to identify weld parameters needed to produce a desired peak temperature rise or cooling rate. The model can also be used to explore the relative effects of welding parameters on the weld thermal response.

Le travail présenté dans ce manuscrit a pour objet l’étude et le développement d’un banc de caractérisation généraliste appliqué à l’extraction du modèle comportemental d’amplificateur TPM-NIM (Two-Path Memory Nonlinear Integral). Ce modèle qui dispose d’une des architectures les plus abouties au laboratoire XLIM requiert une instrumentation microonde haut de gamme, très onéreuse, hors de portée de la majorité des concepteurs pour sa mise en œuvre expérimentale. L’objectif est donc de proposer des principes de mesure originaux permettant d’identifier le modèle TPM-NIM avec une instrumentation standard. Dans ces travaux, deux bancs sont présentés : tout d’abord, un banc de caractérisation développé autour d’une instrumentation de pointe disposant des meilleures propriétés pour extraire le modèle. Puis, un banc construit autour d’une instrumentation standard mais incluant des méthodes de traitement et de mesure novatrices. Ces deux bancs ont été utilisés avec plusieurs véhicules de tests et il ressort que le second permet de diminuer le bruit des mesures de phase tout en réduisant le coût total des équipements. Enfin, une dernière partie est consacrée à la comparaison du modèle TPM-NIM avec deux modèles comportementaux classiques mettant en avant sa polyvalence. / The work presented in this manuscript is devoted to the study and development of a general characterization bench applied to the extraction of the TPM-NIM (Two-Path Memory Nonlinear Integral) amplifier behavioral model. This model, has one of the most advanced architectures at the XLIM laboratory. It requires a high-end microwave instrumentation, overpriced and beyond reach for most of the designers for its experimental implementation. The aim is to propose some original measurements principles allowing the TPM-NIM model’s identification with a standard instrumentation. Two benches are presented in these works : firstly, a characterization bench, developed using a high performance instrumentation with the best properties to extract the model. Then, a bench, built with a standard instrumentation but through innovative processing and measurement methods. These two benches have been used with several test vehicles and it appears that the second one decreases the noise of phase measurements while reducing the equipment’s total cost. Finally, a last part is dedicated to the comparison of the TPM-NIM model with two classic behavioral models by emphasizing its versatility.

This thesis presents the design of Kalman filter based attitude determination algorithms for a hypothetical LEO satellite and for a satellite attitude control test setup. For the hypothetical LEO satellite, an Extended Kalman Filter based attitude determination algorithms are formed with a multi-mode structure that employs the different sensor combinations and as well as online switching between these combinations depending on the sensor availability. The performance of these different attitude determination modes are investigated through Monte Carlo simulations. New attitude determination algorithms are prepared for the satellite attitude control test setup by considering the constraints on the selection of the suitable sensors. Here, performances of the Extended Kalman Filter and Unscented Kalman Filter are investigated. It is shown that robust and sufficiently accurate attitude estimation for the test setup is achievable by using the Unscented Kalman Filter.

In semiconductor manufacturing, wafers are grouped into lots and sent to a separate facility for assembly and test (AT) before being shipped to the customer. Up to a dozen operations are required during AT. The facility in which these operations are performed is a reentrant flow shop consisting of several dozen to several hundred machines and up to a thousand specialized tools. Each lot follows a specific route through the facility, perhaps returning to the same machine multiple times. Each step in the route is referred to as a "pass." Lots in work in process (WIP) that have more than a single step remaining in their route are referred to as multi-pass lots. The multi-pass scheduling problem is to determine machine setups, lot assignments and lot sequences to achieve optimal output, as measured by four objectives related to key device shortages, throughput, machine utilization, and makespan, prioritized in this order. The two primary goals of this research are to develop a new formulation for the multipass problem and to design a variety of solution algorithms that can be used for both planning and real-time control. To begin, the basic AT model considering only single-pass scheduling and the previously developed greedy randomized adaptive search procedure (GRASP) along with its extensions are introduced. Then two alternative schemes are proposed to solve the multipass scheduling problem. In the final phase of this research, an efficient procedure is presented for prioritizing machine changeovers in an AT facility on a periodic basis that provides real-time support. In daily planning, target machine-tooling combinations are derived based on work in process, due dates, and backlogs. As machines finish their current lots, they need to be reconfigured to match their targets. The proposed algorithm is designed to run in real time. / text

No description available.

System characteristics of automated pumping systems may change due to wear, aging of piping, and accumulation of deposits in the system and/or due to configuration changes. Such changes might result in conflicts between the controlling algorithms and the actual system requirements for each particular case. The said mismatch between the actual physical system and the software controlling it, may result in inefficient operation of the pump which may even lead to total system failures (overpressurization of instrumentation and sensing elements etc.) due to temporary malfunctioning of the system components or permanent damages incurred by them during operating under unsuitable conditions. It is intended in this study to design and construct an experimental automated pump bench with operational components (mechanical, electronical and instrumentation etc.), serving in a system introducing multiple geometric heads and its controlling and monitoring software in order to visualize effects of the above-mentioned cases for education and training purposes. System characteristics data acquisition module (system test module) provides the means of recognizing new pump and system characteristics, provided that they were changed due to some reason (throttled valve, changed pump speed, changed flowrate or elevation of discharge etc.). Then the pump operation module enables users to make comparative judgments by observing the effects of the abovementioned changes. Above-mentioned testing sequence and monitoring of changing physical quantities were achieved by employing four pressure transducers, a custom made DC motor operated -throttling valve with position feedback which was designed and constructed specifically for this study and a variable frequency drive (VFD) which were all connected to a custom made Main Control Circuit (MCC) Board.

IEC 61850 is rapidly becoming the internationally recognized standard for substation automation systems making it an indispensable element in power system protection and automation education. In order to facilitate teaching this very practical subject, a laboratory setup was developed to demonstrate IEC 61850 station bus inter Intelligent Electronic Device (IED) communication. In this setup, an electrical substation was implemented in a real time digital simulator (RTDS) and protection schemes were implemented in IEC 61850 station bus compliant IEDs from different vendors. Trip signals and breaker statuses were exchanged between RTDS and IEDs using GOOSE (Generic Object Oriented Substation Event) messages. Several protection applications including a novel backup bus protection scheme were developed based on the setup to demonstrate the use of GOOSE messages in time critical applications. The developed test setup along with the designed laboratory exercises will undoubtedly enhance teaching, training and research in this important field. / February 2016

O presente estudo analisa os aspectos jurídicos da parceria entre a Rede Municipal de Ensino de Sapiranga e o Instituto Ayrton Senna, discutindo a relação do público e do privado na educação. O marco teórico é a crise do capital, que, entre suas estratégias de superação apresenta o Neoliberalismo e a Terceira Via, ambos propondo a reforma do Estado para a solução de uma crise centrada no Estado. Em 1995, no Brasil, tem-se o Ministério de Administração e Reforma do Estado, que cria o Plano Diretor da Reforma do Aparelho do Estado, o qual propunha a descentralização de serviços, até então de exclusividade do Estado, incluindo a sociedade civil organizada, o terceiro setor ou público não-estatal. Em 1998, foi promulgada a Emenda Constitucional n°19, que irá promover a reforma na Administração Pública brasileira. Dentre outras alterações, tem-se a inserção do princípio da eficiência como um dos princípios da Administração pública. A Emenda Constitucional n°19 irá fazer com que prevaleça a lógica da iniciativa privada agindo no setor público, através das entidades do Terceiro Setor. Diante disso, é apresentada a configuração jurídica dessas entidades, suas especificidades e as formas de controle social que podem ser exercidas sobre elas.Este trabalho apresenta a parceria entre o Município de Sapiranga e o Instituto Ayrton Senna, a partir da análise da legislação municipal como forma de materialização da relação públicoprivada, e as implicações da parceria para a educação municipal. / This study examines the legal aspects of the partnership between the Municipal Network for Teaching Sapiranga and the Ayrton Senna Institute, discussing the relationship of public and private education. The theoretical framework is the crisis of capital, which, among their strategies for overcoming the present Neoliberalism and the Third Way, both proposing a reform of the state to solve a crisis centered in the state. In 1995, in Brazil, it established the Ministry of Administration and State Reform of establishing a Master Plan for Reform of the state apparatus, which proposed the decentralization of services, then the exclusivity of the state, including civil society, the third sector or public non-state. In 1998, was enacted Constitutional Amendment No. 19, which will promote the reform in the Brazilian government. Among other changes, has been the inclusion of the principle of efficiency as one of the principles of government. The Constitutional Amendment No 19 will prevail to make the logic of private enterprise acting in the public sector, through the entities of the Third Sector. Thus, the configuration is displayed such legal entities, and their specific forms of social control can be exerted on them. This paper describes the partnership between the City of Sapiranga and the Ayrton Senna Institute, from the analysis of municipal law as a materialization of the public-private partnership and the implications for local education.

O objetivo desta dissertação consiste em aprofundar o entendimento dos mecanismos que controlam o atrito lateral sob arrancamento de estacas instaladas por fluidização em areia. A técnica de instalação é estudada como uma alternativa para a utilização de estacas torpedo na fixação de plataformas offshore. Trabalhou-se em laboratório com o arrancamento de estacas metálicas circulares em modelo reduzido. Foram utilizados três diâmetros de estacas modelo, simulando três diferentes escalas: 14 mm (1:76), 16,2 mm (1:67) e 21,3 mm (1:50). Foram realizados 8 ensaios de arrancamento (24 horas após a fluidização) em estacas modelo instaladas por fluidização em solo arenoso com densidade relativa de 50% e submetido à sobrecarga de 2,236 kPa. Foram também realizados 17 ensaios de arrancamento em estacas modelo pré-instaladas (sem fluidização) em areia com densidade relativa de 30%, simulando uma instalação sem perturbação do solo, uma vez que esta é a densidade relativa aproximada que a areia atinge após o processo de fluidização. Os resultados foram comparados com pesquisas anteriores de arrancamento de estacas instaladas por fluidização em areia. Para um aumento médio de 2 vezes a tensão vertical efetiva nas estacas modelo instaladas por fluidização com sobrecarga, observa-se um ganho médio de 1,8 na resistência. O coeficiente de empuxo lateral de serviço para estes ensaios não apresentou diferenças significativas em relação ao mesmo tipo de ensaio sem sobrecarga. As estacas instaladas por fluidização com sobrecarga e estacas pré-instaladas (sem perturbação) apresentam valores de constantes e independentes das profundidades instaladas, com respectivas médias de 0,15 e 0,31. O valor de parece aumentar com o tempo para as estacas fluidizadas (efeito setup) devido à reconstituição das tensões radiais. Os valores de estacas cravadas em areia densa diminuem seu valor com o aumento da profundidade instalada (e da tensão efetiva média atuante), por restrição de dilatação, tendendo ao valor de encontrado para ensaios pré-instalados realizados neste trabalho. / The main goal of this study is to deepen the understanding of the shaft friction behavior under tension loads of piles installed by fluidization in Osório sand. The installation technique is studied as an alternative for the use of torpedo piles in offshore platforms anchoring. This work was done in laboratory with metallic circular piles in reduced model. Three diameters of model piles were used, simulating three different scales: 14 mm (1:76), 16,2 mm (1:67) and 21,3 mm (1:50). Eight pullout tests (24 hours after fluidization) were carried out on model piles installed by fluidization in sandy soil with a relative density of 50% and subjected to a surcharge of 2,236 kPa. Eighteen pullout tests were performed on pre-installed (non-fluidized) model piles in sand with a relative density of 30%, simulating an installation without soil disturbance, since this is the approximate relative density reached after the process of fluidization. The results were compared with previous studies of pullout resistance of fluidized piles in sand. For an average increase of 2 times the vertical effective stress in the model piles installed by fluidization with surcharge, an average increase of 1,8 times is observed in the pullout resistance. The lateral earth pressure coefficient on the pile shaft for these tests did not show significant differences in relation to the same type of test without surcharge. For tests installed by fluidization and pre-installed tests (without soil disturbance), remains constant and independent of the installed depths, with respective averages of 0,15 and 0,31. The value seems to increase with time for fluidized tests (setup effect) due to the reconstitution of the radial tensions. The values for pullout tests in driven model piles in dense sand decrease their value with the increase of the installed depth (and the increase of the vertical effective stress), by restriction of the expansive behavior, tending to the value found for pre-installed tests carried out in this work.