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This master thesis is devoted to developing an adaptive control scheme for the well- known Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique. The main objective of this adaptive scheme is to asymptotically stabilize a class of Underactuated Mechanical Systems (UMSs) in the presence of uncertainties (not necessarily matched). This class of UMSs is characterized by the solvability of the Partial Differential Equation (PDE) resulting from the IDA-PBC technique. Two propositions are stated in this work to design the adaptive IDA-PBC. One of the main properties of these propositions is that even though the parameter estimation conver- gence is not guaranteed, the adaptive IDA-PBC achieves asymptotic stabilization. To illustrate the effectiveness of these propositions, this work performs simulations of the Inertia Wheel Inverted Pendulum (IWIP) system, considering a time-dependent input disturbance, a type of physical damping, i.e., friction (not considered in the standard IDA-PBC methodology), and parameter uncertainties in the system (e.g., inertia). / Tesis

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Un équipement portable moderne intègre plusieurs capteurs d'image qui peuvent être de différents types. On peut citer en guise d'exemple un capteur couleur, un capteur infrarouge ou un capteur basse lumière. Cet équipement doit alors supporter différentes sources qui peuvent être hétérogènes en terme de résolution, de granularité de pixels et de fréquence d'émission des images. Cette tendance à multiplier les capteurs, est motivée par des besoins applicatifs dans un but de complémentarité en sensibilité (fusion des images), en position (panoramique) ou en champ de vision. Le système doit par conséquent être capable de supporter des applications de plus en plus complexes et variées, nécessitant d'utiliser une seule ou plusieurs sources d'image. Du fait de cette variété de fonctionnalités embarquées, le système électronique doit pouvoir s'adapter constamment pour garantir des performances en terme de latence et de temps de traitement en fonction des applications, tout en respectant des contraintes d'encombrement.% Même si depuis de nombreuses années, un grand nombre de solutions architecturales ont été proposées pour améliorer l'adaptabilité des unités de calcul, un problème majeur persiste au niveau du réseau d'interconnexion qui n'est pas suffisamment adaptable, en particulier pour le transfert des flux de pixels et l'accès aux données. Nous proposons dans cette thèse un nouveau réseau de communication sur puce (NoC) pour un SoC dédié à la vision. Ce réseau permet de gérer dynamiquement différents types de flux en parallèle en auto-adaptant le chemin de donnée entre les unités de calcul, afin d'exécuter de manière efficace différentes applications. La proposition d'une nouvelle structure de paquets de données, facilite les mécanismes d'adaptation du système grâce à la combinaison d'instructions et de données à traiter dans un même paquet. Nous proposons également un système de mémorisation de trames à adressage indirecte, capable de gérer dynamiquement plusieurs trames image de différentes sources d'image. Cet adressage indirect est réalisé par l'intermédiaire d'une couche d'abstraction matérielle qui se charge de traduire des requêtes de lecture et d'écriture, réalisées suivant des indicateurs de la trame requise (source de l'image, indice temporel et dernière opération effectuée). Afin de valider notre proposition, nous définissons une nouvelle architecture, appelée Multi Data Flow Ring (MDFR) basée sur notre réseau avec une topologie en anneau. Les performances de cette architecture, en temps et en surface, ont été évaluées dans le cadre d'une implémentation sur une cible FPGA / Modern portable vision systems include several types of image sensors such as colour, low-light or infrared sensor. Such system has to support heterogeneous image sources with different spatial resolutions, pixel granularities and working frequencies. This trend to multiply sensors is motivated by needs to complete sensor sensibilities with image fusion processing techniques, or sensor positions in the system. Moreover, portable vision systems implement image applications which require several images sources with a growing computing complexity. To face those challenges in integrating such a variety of functionalities, the embedded electronic computing system has to adapt permanently to preserve application timing performance in latency and processing, and to respect area and low-power constraints. In this thesis, we propose a new Network-On-Chip (NoC) adapted for a System-On-Chip (SoC) dedicated to image applications. This NoC can manage several pixel streams in parallel by adapting dynamically the datapatah between processing elements and memories. The new header packet structure enables adaptation mechanisms in routers by combining instructions and data in a same packet. To manage efficiently the frames storage required for an application, we propose a frame buffer system with an indirect frame addressing, which is able to manage several frames from different sensors. It features a hardware abstraction layer which is in charge to collect reading and writing requests, according to specific frame indicators such as the image source ID. The NoC has been validated in a complete processing architecture called Multi Data Flow Ring (MDFR) with a ring topology. The MDFR performances in time and area has been demonstrated for an FPGA target

Cette thèse s'intéresse à la définition de mécanismes, aussi bien au niveau logiciel que matériel, facilitant la gestion des systèmes-sur-puce hétérogènes et dynamiquement reconfigurable (HRSoC). L'hétérogénéité de ses architectures se manifeste par la présence à la fois de processeurs de calcul généralistes et de modules matériels reconfigurables. L'objectif de cette thèse est de permettre à un développeur d'application de s'abstraire de cette hétérogénéité en ce qui concerne l'allocation des tâches sur les différentes unités de calcul disponibles. Cette abstraction passe par une première phase d'homogénéisation des interfaces utilisateurs (API) et la définition d'un modèle de thread matériel, au même titre qu'il existe des threads logiciels. Cette homogénéisation se poursuit ensuite dans la gestion de ces threads matériels. Nous avons implémenté des services au niveau du système d'exploitation permettant de sauvegarder, préempter, et restaurer le contexte d'un thread matériel. Des outils de conception ont également été développés afin de surpasser le problème de la relocation d'un thread matériel au sein d'un FPGA. Enfin, la dernière étape a été d'étendre l'accès aux services offerts par tous les systèmes d'exploitation distribués au sein de la plateforme à tous les threads s'exécutant sur celle-ci, indépendamment de leur localisation. Ceci a été réalisé via une implémentation originale de l'API MRAPI. Avec ces trois étapes, nous avons apporté une base solide afin, dans le futur, de proposer au développeur un flot de conception dédié aux architectures HRSoC lui permettant de procéder à une exploration architecturale précise de son système. Finalement, afin d'éprouver le fonctionnement de ces mécanismes, nous avons réalisé une plateforme de démonstration sur FPGA Virtex 5 mettant en scène une application de suivi de cibles dynamique. / This thesis aims to define software and hardware mechanisms helping in the management the Heterogeneous and dynamically Reconfigurable Systems-on-Chip (HRSoC). The heterogeneity is due to the presence of general processing units and reconfigurable IPs. Our objective is to provide to an application developer an abstracted view of this heterogeneity, regarding the task mapping on the available processing elements. First, we homogenize the user interface defining a hardware thread model. Then, we pursue with the homogenization of the hardware threads management. We implemented OS services permitting to save and restore a hardware thread context. Conception tools have also been developed in order to overcome the relocation issue. The last step consisted in extending the access to the distributed OS services to every thread running on the platform. This access is provided independently from the thread location and is is realized implementing the MRAPI API. With these three steps, we build a solid basis to, in future work, provide to the developer, a conception flow dedicated to HRSoC allowing to perform precise architectural space explorations. Finally, to validate these mechanisms, we realize a demonstration platform on a Virtex 5 FPGA running a dynamic tracking application.

Cette thèse présente la conception et la commande d’une main robotique légère et peu onéreuse pour un robot compagnon humanoïde. La main est conçue pour exprimer des émotions à travers des gestes et pour saisir de petits objets légers. Sa géométrie est définie à l’aide de données anthropométriques. Sa cinématique est simplifiée par rapport à la main humaine pour réduire le nombre d’actionneurs tout en respectant ses exigences fonctionnelles. La main préserve son anthropomorphisme grâce aux nombres et au placement de la base des doigts et à une bonne opposabilité du pouce. La mécatronique de la main repose sur un compromis entre des phalanges couplés, qui permettent de bien connaître la posture des doigts pendant les gestes, et des phalanges capable de s’adapter à la forme des objets pendant la saisie, réunis en une conception hybride unique. Ce compromis est rendu possible grâce à deux systèmes d’actionnement distincts placés en parallèle. Leur coexistence est garantie par une transmission compliante basée sur des barres en élastomère. La solution proposée réduit significativement le poids et la taille de la main en utilisant sept actionneurs de faible puissance pour les gestes et un seul moteur puissant pour la saisie. Le système est conçue pour être embarqué sur Romeo, un robot humanoïde de1.4 [m] produit par Aldebaran. Les systèmes d’actionnements sont dimensionnés pour ouvrir et fermer les doigts en moins de 1 [s] et pour saisir une canette pleine de soda. La main est réalisée et contrôlée pour garantir une interaction sûre avec l’homme mais aussi pour protéger l’intégrité de la mécanique. Un prototype (ALPHA) est réalisé pour valider la conception et ses capacités fonctionnelles. / This thesis presents the design and control of a low-cost and lightweight robotic hand for a social humanoid robot. The hand is designed to perform expressive hand gestures and to grasp small and light objects. Its geometry follows anthropometric data. Its kinematics simplifies the human hand structure to reduce the number of actuators while ensuring functional requirements. The hand preserves anthropomorphism by properly placing five fingers on the palm and by ensuring an equilibrated thumb opposability. Its mechanical system results from the compromise between fully-coupled phalanges and self-adaptable fingers in a unique hybrid design. This answers the need for known finger postures while gesturing and for finger adaptation to different object shapes while grasping. The design is based on two distinct actuation systems embodied in parallel within the palm and the fingers. Their coexistence is ensured by a compliant transmission based on elastomer bars. The proposed solution significantly reduces the weightand the size of the hand by using seven low-power actuators for gesturing and a single high-power motor for grasping. The overall system is conceived to be embedded on Romeo, a humanoid robot 1.4 [m] tall produced by Aldebaran. Actuation systems are dimensioned to open and close the fingers in less than1 [s] and to grasp a full soda can. The hand is realized and controlled to ensure safe human-robot interaction and to preserve mechanical integrity. A prototype(ALPHA) is realized to validate the design feasibility and its functional capabilities.

This thesis proposed solutions to some shortcomings to current eLearning architectures. The proposed DeLC architecture supports context-aware and adaptable provision of eLearning services and electronic content. The architecture is fully distributed and integrates service-oriented development with agent technology. Central to this architecture is that a node is our unit of computation (known as eLearning node) which can have purely service-oriented architecture, agent-oriented architecture or mixed architecture. Three eLeaerning Nodes have been implemented in order to demonstrate the vitality of the DeLC concept. The Mobile eLearning Node uses a three-level communication network, called InfoStations network, supporting mobile service provision. The services, displayed on this node, are to be aware of its context, gather required learning material and adapted to the learner request. This is supported trough a multi-layered hybrid (service- and agent-oriented) architecture whose kernel is implemented as middleware. For testing of the middleware a simulation environment has been developed. In addition, the DeLC development approach is proposed. The second eLearning node has been implemented as Education Portal. The architecture of this node is poorly service-oriented and it adopts a client-server architecture. In the education portal, there are incorporated education services and system services, called engines. The electronic content is kept in Digital Libraries. Furthermore, in order to facilitate content creators in DeLC, the environment Selbo2 was developed. The environment allows for creating new content, editing available content, as well as generating educational units out of preexisting standardized elements. In the last two years, the portal is used in actual education at the Faculty of Mathematics and Informatics, University of Plovdiv. The third eLearning node, known as Agent Village, exhibits a purely agent-oriented architecture. The purpose of this node is to provide intelligent assistance to the services deployed on the Education Pportal. Currently, two kinds of assistants are implemented in the node - eTesting Assistants and Refactoring eLearning Environment (ReLE). A more complex architecture, known as Education Cluster, is presented in this thesis as well. The Education Cluster incorporates two eLearning nodes, namely the Education Portal and the Agent Village. eLearning services and intelligent agents interact in the cluster.

The existing buildings in the UK are not designed to be functionally adaptive to fit a spectrum of purposes. Alternatively, scrapping these buildings and building anew does not appear to be an economically viable and environmentally sustainable solution either. Proactive solutions to respond to future potential changes of use are rare in previous and current building designs, which ultimately make these buildings functionally redundant. At present, curiosity about adaptable buildings is spreading among owners, developers and policy makers; however, no detailed investigation has been undertaken to identify the economic costs and benefits of adaptability in new buildings. Thus, the present endeavour was designed to bridge this gap. The research exploited both case studies and survey designs to explore the answers to the above problem. Two case studies were undertaken to establish that building changes occur over time, as well as to assess their economic implications in the current built environment at both macro and micro levels. Three web-based surveys (WBS) were designed and circulated among quantity surveyors and architects of the 100 leading consultancy practices in the UK to identify both the design and economic aspects of adaptability in buildings. The total numbers of respondents to WBS1, WBS2 and WBS3 were 13, 32 and 42, respectively. In addition, data was collected from semi-structured interviews with two policy makers, two structural engineers, a quantity surveyor and a facilities manager. Unstructured interviews with a senior planner, a project manager, two architects and a services engineer were used to clarify the issues of design and planning for adaptability in buildings. The findings were interwoven to develop a conceptual framework to identify the economic considerations for adaptability in new buildings. Two workshops were undertaken with the industry partners for the Adaptable Futures research project to verify the results obtained from the case studies and to test the usability of the developed conceptual framework. The group members had multi-disciplinary backgrounds of architecture, quantity surveying and structural engineering, allowing a robust grounding for verification. The results contribute to the body of knowledge in two ways. Firstly, the developed conceptual framework identifies the economic considerations (costs and benefits) for change of use in buildings within the wider context of adaptability over the lifecycle aspects. This will assist owners/clients and developers in their economic decisions for designing new buildings for potential adaptations. Secondly, the research findings strengthen the reliability of the existing body of knowledge whilst confirming the urgent need for designing new buildings towards potential adaptations. In addition, the findings strongly emphasise plan depth and floor to ceiling height as the most influential design parameters for building change of use, the details of which are not highlighted in the previous literature.

This thesis investigates the use of static, adaptive, adaptable and mixed-initiative approaches to the personalisation of content and graphical user interfaces (GUIs). This empirical study consisted of three experimental phases. The first examined the use of static, adaptive, adaptable and mixed-initiative approaches to web content. More specifically, it measured the usability (efficiency, frequency of error occurrence, effectiveness and satisfaction) of an e-commerce website. The experiment was conducted with 60 subjects and was tested empirically by four independent groups (15 subjects each). The second experiment examined the use of adaptive, adaptable and mixed-initiative approaches to GUIs. More specifically, it measured the usability (efficiency, frequency of error occurrence, effectiveness and satisfaction) in GUI control structures (menus). In addition, it investigated empirically the effects of content size on five different personalised menu types. In order to carry out this comparative investigation, two independent experiments were conducted, on small menus (17 items) and large ones (29 items) respectively. The experiment was conducted with 60 subjects and was tested empirically by four independent groups (15 subjects each). The third experiment was conducted with 40 subjects and was tested empirically by four dependent groups (5 subjects each). The aim of the third experiment was to mitigate the drawbacks of the adaptive, adaptable and mixedinitiative approaches, to improve their performance and to increase their usability by using multimodal auditory solutions (speech, earcons and auditory icons). The results indicate that the size of content affects the usability of personalised approaches. In other words, as the size of content increases, so does the need of the adaptive and mixed-initiative approaches, whereas that of the adaptable approach decreases. A set of empirically derived guidelines were also produced to assist designers with the use of adaptive, adaptable and mixed-initiative approaches to web content and GUI control structure.

In many digital designs there is a need to use multi-stage tapered buffers to drive large capacitive loads. These buffers contribute a significant percentage of overall power. In this thesis, we propose two novel tunable buffer designs that enable reduction in power in the presence of process variation. A strategy to derive the optimal buffer size and the optimal tuning rule in post-silicon phase is developed. By comparing several tunable buffer circuit topologies, we also demonstrate the tradeoffs in tunable buffer topology selection as a function of switching activity, timing requirements, and the magnitude of process variations. Using HSPICE simulations based on the high performance 32nm ASU Predictive Model, we show that up to 30% average power reduction can be achieved for a SRAM word-line decoder while maintaining the same timing yield. / text