La microcirculation sanguine est un système constitué de réseaux complexesde vaisseaux sanguins de diamètres micrométriques. C’est le lieu privilégié deséchanges de gaz et de nutriments entre le sang et les tissus.Les écoulements dans ces réseaux sont gouvernés par les propriétés des constituantsdu sang c’est-à-dire des cellules en suspension dans du plasma et plus particulièrementdes globules rouges qui sont les cellules majoritaires dans le sang.Selon les conditions de l’écoulement, les globules rouges, qui sont des particulesdéformables, peuvent présenter différents types de formes et de dynamiques quiinfluencent la rhéologie de la suspension. Les interactions hydrodynamiques entreglobules rouges et avec les parois dans les vaisseaux confinés influencent égalementles écoulements à travers des phénomènes de diffusion mais aussi de structurationdes globules au sein de la suspension. Il a notamment été montré que des couchesde plasma dépourvues de globules rouges près des parois des vaisseaux sanguins induisentune diminution de la viscosité effective de la suspension lorsqu’on diminuele diamètre du vaisseau. Par ailleurs, des structurations en file ont également étéobservées dans la microcirculation sanguine avec des conséquences probables surla rhéologie. Au cours de ces travaux de thèse, nous avons investigué les propriétésrhéologiques de suspensions de globules rouges en micro-écoulement grâce à uneméthode de rhéométrie microfluidique. Nous avons focalisé notre attention sur larelation entre la rhéologie et la structuration de la suspension dans un canal, liéeau confinement ainsi qu’aux régimes dynamiques des globules en écoulement.Dans certains cas pathologiques comme la drépanocytose où les propriétés desglobules rouges peuvent être modifiées, les écoulements dans la microcirculationpeuvent être perturbés et conduire à des crises vaso-occlusives dont les mécanismesphysiques restent mal compris. Nous avons exploré la dynamique de formationd’occlusions et leurs évolutions dans des réseaux de canaux micrométriques modèlesavec des suspensions de globules rouges dont les propriétés ont été modifiées,révélant ainsi une dynamique complexe où l’adhésion et des effets d’obstructionsinterviennent. / Blood microcirculation consists in blood flowing in complex microvessel networks.Gas and nutrient exchanges between blood and tissues occur in these networks.Microcirculatory blood flows are governed by the properties of blood components,mainly red blood cells suspended in plasma. Red blood cells are deformableparticles which can exibit different shapes and motion dynamics that influence therheology. Hydrodynamic interactions between red blood cells and with walls of theconfined channels lead to diffusion and structuration in the suspension that alsoaffects the rheology. Plasma cell-free layers near walls observed in the microcirculationinduce a decrease of the effective viscosity with decreasing vessel diameter.Other types of structuration like layering of red blood cells have been observed inthe microcirculation with possible rheological consequences. In the present work,we investigated the rheology of confined red blood cell suspensions and focusedon the link between rheology and structuration of the suspension thanks to amicrofluidic viscosimeter.The sickle cell disease which modifies the properties of red blood cells leadsto flow disorders with the formation of occlusions in the narrow capillaries ofthe microcirculation. We explored the formation and the evolution of occlusionsin simplified networks of microchannels when properties of red blood cells aremodified, revealing complex dynamics where adhesion and jamming effect occur.

Ce travail de thèse s’inscrit dans le cadre du rejet adaptatif de perturbations sur des structures de contrôle actif de vibrations. L’objectif était de développer des stratégies de commande adaptatives, pour le rejet actif de perturbations, et de les mettre en œuvre sur des procédés réels se trouvant au sein du département Automatique du laboratoire GIPSA-Lab de Grenoble. En première partie, le rejet de perturbations bande étroites inconnues a été traité en utilisant des lois de commande adaptatives en contre réaction basées sur le principe du modèle interne. Ces lois de commande ont été validées expérimentalement sur une plate-forme de suspension active. En deuxième partie, des algorithmes adaptatifs pour l’atténuation de perturbations bande larges par action anticipatrices « feedforward » ont été proposés, analysés, et testés en pratique sur une structure flexible de contrôle actif de vibrations. / This thesis work is a part of adaptive disturbances rejection on some flexible structures in active vibration control (AVC). The objective was to develop adaptive control strategies for the active disturbances rejection, and to implement them on real process located in the Automatic Control Department of GIPSA-Lab in Grenoble. In the first part, the rejection of unknown narrow-band disturbances (Sinusoidal and multi-sinusoidal) was treated using adaptive control laws in « feedback » based on the internal model principle. These control laws have been validated experimentally on an active suspension platform. In the second part, adaptive algorithms for the minimization of the effects of "broadband" disturbances in "feedforward" have been proposed, analyzed and tested in practice on a flexible structure of active vibration control.

Este trabalho foca o estudo e desenvolvimento de um atuador linear com ímãs permanentes aplicado a sistemas de suspensão ativa, com ênfase em suspensão veicular. Seu desenvolvimento considera aspectos específicos como força, volume, razão força/volume, curso e resposta em frequência. Junto ao estudo teórico desenvolve-se o projeto baseado na simulação paramétrica em elementos finitos que analisa aspectos qualitativos e quantitativos importantes para tomada de decisão do projeto, especificamente na definição de materiais e geometrias. Para servir como ferramenta de análise foi empregada uma modelagem analítica que se mostrou eficiente, pois foi capaz de produzir resultados de forma mais rápida que o método de elementos finitos para avaliar grandezas de interesse como força e densidade de fluxo magnético. Por fim e com base nos aspectos de projeto, foi construído um protótipo que permitiu validar os modelos. Os resultados experimentais e teóricos mostraram boa concordância o que permite concluir que os métodos empregados são eficazes, fornecendo subsídios à aplicação em foco. / This work aims the study and development of a linear actuator with permanent magnets applied to active suspension systems, with emphasis on vehicular suspension. That development takes into account specific features such as force, volume, force per volume ratio, stroke and frequency response. Together with the theoretical study the design of the actuator is carried out based on parametric simulation by means of finite elements which analyses qualitative and quantitative aspects that are important to make the project decision, specifically to define materials and geometry. To suit as an analysis tool it was employed an analytical modelling, which showed to be efficient because it was capable of producing faster results than the finite elements method to evaluate physical quantities of interest such as force and magnetic flux density. Finally and based on project aspects, a prototype was built which allowed to validate all models. Experimental and theoretical results showed a good agreement which led to conclude that the employed methods are efficient, providing subsidies to the studied application.

L'objectif principale de cette thèse est de développer contrôleurs innovants MIMO pour la dynamique véhicule tout en préservant la stabilité du véhicule dans les situations de conduite critiques. Des stratégies de commandes innovatrices ont été introduites pour résoudre cette problématiques. En effet, ces travaux se base sur travaux l'utilisation de la commande LPV/Hinf pour contrôler simultanément les actionneurs de freinage, braquage et de suspensions pour réaliser les objectives du contrôle.Aussi de stratégies d'estimation du profil de route très intéressant et qui peuvent apporter une solution industrielle très intéressante pour développer des contrôleurs qui assurent adaptative aux différentes conditions de route.Aussi des stratégies de commande tolérante aux défauts actionneurs ont été établi en exploitant les caractéristiques de la commande LPV pour compenser la perte de certains actionneurs (en sachant que la voiture est un système sur actionné). Des implémentations ont été effectuées sur des bancs de test et sur un véhicule réel pour prouver l'efficacité des stratégies. / The main issue of this thesis is to work out new Global Chassis MIMO controllers that enhance the overall dynamics of the vehicle while preserving the vehicle stability in critical driving situations. Many innovative strategies have been explored and finalized to deal with these problematics. Various solutions have been given to deal with the vehicle stability and performance objectives. Indeed, many works based on the LPV/Hinf approach have been developed to control simultaneously the braking, steering and suspension actuators. On the other hand, innovative road profile estimation strategies have been introduced and validated via experimental procedures, providing new cheap and easily implementable techniques to estimate the road profile characteristics. Then, the vehicle control is adapted, depending on the road roughness (since it influences greatly the behaviour and the stability of the car). Several fault tolerant control strategies have been also considered to handle the actuators failures while keeping the vehicle stability, safety and enhancing the dynamical behaviour of the car in dangerous and critical driving situations.The general content of this thesisis as follows :-PART I : Theoretical backgrounds and vehicle modeling.-PART II : Road adaptive control vehicle dynamics.-PART III : Global chassis control using several actuators.Also, during this thesis and using the previous works of the advisors and the thesis results, a Matlab ToolBox "Automotive" has been developed to provide a bench test for the different automotive control studies. Implementations on test beds and real vehicle are also achieved to prove the efficiency of the proposed strategies.

Este trabalho foca o estudo e desenvolvimento de um atuador linear com ímãs permanentes aplicado a sistemas de suspensão ativa, com ênfase em suspensão veicular. Seu desenvolvimento considera aspectos específicos como força, volume, razão força/volume, curso e resposta em frequência. Junto ao estudo teórico desenvolve-se o projeto baseado na simulação paramétrica em elementos finitos que analisa aspectos qualitativos e quantitativos importantes para tomada de decisão do projeto, especificamente na definição de materiais e geometrias. Para servir como ferramenta de análise foi empregada uma modelagem analítica que se mostrou eficiente, pois foi capaz de produzir resultados de forma mais rápida que o método de elementos finitos para avaliar grandezas de interesse como força e densidade de fluxo magnético. Por fim e com base nos aspectos de projeto, foi construído um protótipo que permitiu validar os modelos. Os resultados experimentais e teóricos mostraram boa concordância o que permite concluir que os métodos empregados são eficazes, fornecendo subsídios à aplicação em foco. / This work aims the study and development of a linear actuator with permanent magnets applied to active suspension systems, with emphasis on vehicular suspension. That development takes into account specific features such as force, volume, force per volume ratio, stroke and frequency response. Together with the theoretical study the design of the actuator is carried out based on parametric simulation by means of finite elements which analyses qualitative and quantitative aspects that are important to make the project decision, specifically to define materials and geometry. To suit as an analysis tool it was employed an analytical modelling, which showed to be efficient because it was capable of producing faster results than the finite elements method to evaluate physical quantities of interest such as force and magnetic flux density. Finally and based on project aspects, a prototype was built which allowed to validate all models. Experimental and theoretical results showed a good agreement which led to conclude that the employed methods are efficient, providing subsidies to the studied application.

Este trabalho foca o estudo e desenvolvimento de um atuador linear com ímãs permanentes aplicado a sistemas de suspensão ativa, com ênfase em suspensão veicular. Seu desenvolvimento considera aspectos específicos como força, volume, razão força/volume, curso e resposta em frequência. Junto ao estudo teórico desenvolve-se o projeto baseado na simulação paramétrica em elementos finitos que analisa aspectos qualitativos e quantitativos importantes para tomada de decisão do projeto, especificamente na definição de materiais e geometrias. Para servir como ferramenta de análise foi empregada uma modelagem analítica que se mostrou eficiente, pois foi capaz de produzir resultados de forma mais rápida que o método de elementos finitos para avaliar grandezas de interesse como força e densidade de fluxo magnético. Por fim e com base nos aspectos de projeto, foi construído um protótipo que permitiu validar os modelos. Os resultados experimentais e teóricos mostraram boa concordância o que permite concluir que os métodos empregados são eficazes, fornecendo subsídios à aplicação em foco. / This work aims the study and development of a linear actuator with permanent magnets applied to active suspension systems, with emphasis on vehicular suspension. That development takes into account specific features such as force, volume, force per volume ratio, stroke and frequency response. Together with the theoretical study the design of the actuator is carried out based on parametric simulation by means of finite elements which analyses qualitative and quantitative aspects that are important to make the project decision, specifically to define materials and geometry. To suit as an analysis tool it was employed an analytical modelling, which showed to be efficient because it was capable of producing faster results than the finite elements method to evaluate physical quantities of interest such as force and magnetic flux density. Finally and based on project aspects, a prototype was built which allowed to validate all models. Experimental and theoretical results showed a good agreement which led to conclude that the employed methods are efficient, providing subsidies to the studied application.

Par rapport à un fluide Newtonien, les suspensions denses de particules présentent des propriétés rhéologiques différentes. Des comportements rhéofluidifiants ou rhéoépaississants liés à des phénomènes de migration de particules peuvent apparaitre. Pour des suspensions, le taux de cisaillement, la concentration et la taille des particules ont une grande influence sur ce comportement rhéologique (Denn et Morris 2014). Pour observer l'influence de ces facteurs, l'un des meilleurs moyens est de disposer d’un système simple dans lequel tous les facteurs mentionnés ci-dessus sont bien contrôlés. Ceci peut être réalisé par le développement d'une plate-forme expérimentale, sur laquelle les comportements d'écoulement de suspension (profil de vitesse et concentration locale de particules) à des vitesses de cisaillement et des concentrations de particules bien contrôlées peuvent être étudiés. Dans l'étude actuelle, 4 tâches ont été réalisées :1) Le développement d'une nouvelle formulation pour la préparation d’une suspension adaptée en indice de réfraction et en densité basée sur des particules de PMMA. 2) Le développement d'un dispositif expérimental consacré à l'étude des flux de suspension dense sous une large gamme de taux de cisaillement constant. 3) La caractérisation des profils de vitesse des flux de suspension dense sous un dispositif cône-plan utilisant des techniques de micro-PIV. 4) Une mesure préliminaire de la concentration locale de particules de la suspension sous écoulement cône-plan en utilisant des méthodes de traitement d'image. / Compared to general Newtonian fluids, highly concentrated mixtures of particles and fluid, so called dense suspensions, have different rheological properties and fluid dynamic behaviors. Such as, shear-thinning or shear-thickening effect, and apparent slip and particle migration behaviors under certain shear flow conditions. These properties are related to the application of suspension flow in real systems, for example, the blood.For suspensions, shear rate, particle concentration and particle size have a big influence of on their rheological behaviors (Denn and Morris 2014). To observe the influence of these factors, one of the best ways is to start the research from a simple case in which all the above mentioned factors are well controlled. This can be realized by developing such an experimental platform, on which the suspension flow behaviors (velocity profile and local particle concentration) at different shear rates and particle concentrations can be investigated.In the current study, 4 tasks were achieved:1) The development of a new recipe for the preparation of density and refractive index matched suspension with PMMA particles. 2) The development of an experimental set-up devoted to the investigation of dense suspension flow under a large range of constant shear rate. 3) The characterization of the velocity profiles of dense suspension flows under a cone-plate device by using micro-PIV techniques.4) A preliminary measurement of the local particle concentration of the suspension flow by using image processing techniques.

De la pâte à dentifrice au moût de fermentation en passant par la peinture, le lit d’une rivière, le propergol d’un réacteur de fusée et le sang, les suspensions sont présentes dans de nombreux usages de notre vie courante. La maîtrise de leur mise en œuvre notamment nécessite la compréhension de leur comportement et constitue un des challenges de la recherche. Dans le présent travail de thèse, nous nous sommes intéressés au processus de sédimentation de suspensions concentrées de particules non-colloïdales et inertes dont la distribution de taille est mono, bi ou tri-disperse. Deux types de sédimentation ont été étudiés : la décantation et l’alimentation continue. L’objectif est de mener une étude expérimentale et dans une moindre mesure numérique pour caractériser de la façon la plus complète possible la sédimentation avec une attention particulière à la structure de l’écoulement et du dépôt, aux profils de concentration et à la détermination des modes de sédimentation. Les moyens expérimentaux utilisés sont les techniques usuelles de mesure bidimensionnelle (vélocimétrie laser et visualisation directe) qui autorisent l’acquisition de données d’intérêt pour des configurations où les particules évoluent dans le plan. Ces techniques laser ont été améliorées pour permettre le suivi simultané de populations de différentes particules et l’accès à des grandeurs diverses telles que le champ de vitesse de l’écoulement, la fraction volumique locale, et les vitesses des divers fronts de sédimentation. En parallèle, un outil numérique simple a été construit, utilisant la Dynamique Stokesienne et saisissant l’essentiel des phénomènes physiques mis en jeu menant à la modélisation des interactions hydrodynamiques. / From toothpaste to must of fermentation passing by painting, bed of a river, propellant of an rocket engine and blood, suspensions are present in many uses of our everyday life. The control of their implementation requires comprehension of their behavior and constitutes one of the challenges of nowadays research. In this work of thesis, we were interested in the sedimentation process of concentrated suspensions of non-colloidal and inert particles whose size distribution is mono, bi or tri-disperse. Two types of sedimentation were studied: decantation and thickening. The objective is to do an experimental and in a lesser way numerical study to characterize sedimentation the most completly possible with a detailed attention to flow and deposit structure, concentration profiles and determination of sedimentation modes. Used experimental means are the usual techniques of two-dimensional measurement (laser velocimetry and direct visualization) which authorize the data acquisition for configurations where particles evolve in the plan. These laser techniques were improved to simultaneously follow various particles populations and access to various outpouts such as velocities field, local volumic fraction, and velocities of various sedimentation fronts. A simple numerical tool was also built using Stokesian Dynamics and seizing the main part of the physical phenomena driving sedimentation leading to the modeling of the hydrodynamic interactions.

Cette thèse de création porte sur les nouveaux enjeux de pesanteur etde légèreté revendiqués par un certain nombre d’artistes contemporains.Nous vivons dans un monde de plus en plus pesant et pourtant les artistesexplorent des moyens de s’extraire de cette gravité pour atteindreune apesanteur théorique. Car l’apesanteur telle que nous nous la représentonsn’existe pas en terme de physique : il s’agit d’un phénomène dechute libre qui crée l’impression de flottement. J’interroge donc la notiond’(a)pesanteur, qui prend en considération cette dialectique de l’envol etde la chute, au sein de nombreuses oeuvres, principalement sculpturales. Jequestionne ma pratique de la sculpture, de l’installation et du dessin à traversle prisme de l’(a)pesanteur, qui construit un véritable rapport aumonde et à l’acte de création. J’utilise les propriétés intrinsèques du matériauafin de générer des sensations de poids ou de légèreté. J’interrogeégalement l’acte de suspendre une oeuvre dans l’espace d’exposition: lasuspension serait-elle aujourd’hui devenue le nouveau socle de la sculpture? De l’espace d’exposition à l’Espace cosmique, l’oeuvre d’art est, depuisla conquête spatiale, de plus en plus présente hors des frontières terrestres.Elle est créée dans l’Espace ou pour l’Espace : l’Espace cosmique serait-il devenu le nouveau lieu de l’art ?A travers les figures de la chute,de l’envol,du suspens,de l’imaginaire spatial,et jusqu’aux figures de l’invisible, l’(a)pesanteur tisse un véritable filrouge à travers la création contemporaine. / This creative thesis is about the new challenges of weightlessness andlightness faced by a number of contemporary artists.We are living in a increasinglyheavy world, yet artists are exploring ways to escape this gravityto reach a theoretical weightlessness. Because the way to display weightlessnessdoesn’t exist in terms of physics: it’s the phenomenon of free-fallingwhich creates this feeling of floating. So I seek to test theweight(less)ness concept, which explores this float and fall dialectic in numerousworks, mainly sculptural. I’m questioning my own practice ofsculpture, installation and drawing, through the prism of weight(less)ness,which builds an actual connection to the world and to the act of creation.I’m using the intrinsic property of the material to generate feelings ofweight or lightness. I’m also questioning the act of hanging a work in theexhibition space : nowadays, has suspension become the new pedestal of asculpture ? From the exhibition space to cosmic Space, artwork increasinglygains presence beyond earth’s boundaries, ever since the conquest ofspace. It’s created in Space and for Space : has cosmic Space become thenew place for art? Through figures of falling, of flight, of suspension, ofimaginary spaces, and even figures of invisibility, weight(less)ness builds averitable guiding light through contemporary creation.

Conventional vehicle suspensions consist of a spring and a damper, while mass is rarely used. A mass, if properly used, can also create a damping-like effect. However, a mass has only one terminal which makes it difficult to be incorporated into a suspension. In order to use a mass to achieve the damping-like effect, a two-terminal mass (TTM) has to be designed. However, most of the reported TTMs are of fixed moment of inertia (TTM-CMI), which limits the further improvement of the suspension performance and responsiveness to changes in environment and driving conditions. In this study, a TTM-based vibration absorber with variable moment of inertia (TTM-VMI) is proposed. The main component of the proposed TTM absorber contains a hydraulic-driven flywheel with sliders. The moment of inertia changes with the positions of the sliders in response to the driving conditions. The performance of the proposed TTM-VMI absorber has been analyzed via dynamics modeling and simulation and further examined by experiments. The analysis results indicate that the TTM-VMI absorber outperforms the TTM-CMI design in terms of body displacement; and ride comfort, tire grip and suspension deflection for zero and impulse inputs with comparable performance for sinusoidal input.