Ce travail de thèse concerne les circuits ultra-rapides pour la conversion analogique numérique performante en technologie bipolaire à hétérojonctions sur substrat Indium Phosphore (TBDH/InP). L'étude s'intéresse à la fonction principale qui est l'échantillonnage blocage. Elle a été menée par simulation de l'ensemble des blocs composant cette fonction. En particulier une étude extensive des cœurs des circuits Echantillonneurs/Bloqueurs a été effectuée pour différents paramètres électriques pour aboutir à des valeurs optimales réalisant un compromis entre la bande passante la résolution et la linéarité.Des architectures de circuits Echantillonneurs/Bloqueurs (E/B) avec ou sans l'étage d'amplification à gain variable ont été conçues, optimisées, réalisées et caractérisées et des performances à l'état de l'art ont été obtenues : des circuits E/B de bande passante supérieure à 50 GHz et cadencées à 70 Gs/s ont été réalisés pour les applications de communications optiques et des circuits de bande passante supérieure à 16 GHz cadencés à (2-8) Gs/s ont été réalisés pour la transposition de fréquence. / This thesis concerns the design of high speed circuits in Indium phosphide heterojunction Bipolar technology for High performance analog to digital conversion (ADC).The study focuses on the Track and Hold block (THA) which is the main function of the ADC. The study was conducted by simulating all blocks of the THA circuit. In particular, an extensive study of the THA main block was performed for various electrical parameters to achieve optimal conditions in order to obtain a good tradeoff between resolution bandwidth and linearity. THA architectures circuits with or without Voltage Gain Amplifier stage were designed, optimized and characterized. High THA performances were achieved: THA circuit with a bandwidth greater than 50 GHz at 70 Gs/s were achieved for optical communications and circuits of bandwidth more than16 GHz at (2-8 GS /s) have been realized for down conversion operation.

L’objectif principal de cette thèse est de modéliser en flambement des poutres pressurisées en tissu souple homogène orthotrope (THO) composite. La première partie détaille les études expérimentales qui ont été menées sur des poutres gonflables à certain niveaux de pression afin de caractériser les propriétés mécaniques du matériau et le comportement en flambement de la structure. Dans une deuxième partie, une approche analytique a été envisagée afin d’étudier le flambement ainsi que le comportement d’une poutre gonflable orthotrope. Un modèle 3D gonflables poutre orthotrope basé sur la cinématique de Timoshenko a été présenté brièvement. La charge critique a été étudiée pour différents cas de charge avec différentes conditions aux limites. Les résultats ont été confrontés aux résultats théoriques disponibles. Pour vérifier la limite de validité des résultats, la charge d’apparition des plis a également fait l’objet d’une étude pour chacun des cas. La dernière partie est consacrée à une étude linéaire et à une analyse non-linéaire du flambement de la poutre gonflable en THO composite. Le modèle éléments finis (MEF) établi ici implique un élément poutre de Timoshenko à trois-nœuds avec une continuité de type C0. Un test de convergence du maillage sur la force critique de la poutre a été réalisé par la résolution du problème aux valeurs propres. En outre, un MEF non-linéaire a été développé en utilisant la procédure itérative de quasi-Newton avec incréments de chargement adaptatif permettant le tracé pas à pas de la réponse charge-déflexion de la poutre. Les résultats ont été validés à partir d’un certain niveau de pression par des résultats expérimentaux et numériques / The main goals of this thesis are to modeling and to perform the buckling study of inflatable beams made from homogeneous orthotropic woven fabric (HOWF) composite. Three main scenarios were investigated in this thesis. The first is the experimental studies which were performed on HOWF inflatable beam in various inflation pressures for characterizing the orthotropic mechanical properties and buckling behaviors of the beam. In the second scenario, an analytical approach was considered to study the buckling and the behavior of an inflatable orthotropic beam. A 3D inflatable orthotropic beam model based on the Timoshenko's kinematics was briefly introduced: the nonlinearities (finite rotation, follower forces) were included in this model. The results were compared with theoretical results available in the literature. To check the limit of validity of the results, the wrinkling load was also presented in every case. The last scenario is devoted to the linear eigen and non-linear buckling analysis of inflatable beam made of HOWF. The finite element (FE) model established here involves a three-noded Timoshenko beam element with C0-type continuity for the transverse displacement and quadratic shape functions for the bending rotation and the axial displacement. In the linear buckling analysis, a mesh convergence test on the beam critical load was carried out by solving the linearized eigenvalue problem. In addition, a nonlinear FE model was developed by using the quasi-Newton iteration with adaptive load stepping for tracing load-deflection response of the beam. The results were validated from a certain pressure level by experimental and thin-shell FE results

This master´s thesis deals an active elements called digitally controlled current amplifier, multiple-output current follower and its usage in frequency filters. These frequency filters operate in a pure current mode. In the first part of this work are presented the different types of current active elements. Multiple-output current follower, digitally controlled current amplifier (MO-CF, DCCA). In the second part of this work are introduced particular methods of design tunable frequency filters. Special attention is given to using the design method of via autonomous circuits because it is one of the most. In the last part of this thesis are designed and computer-simulated individual multifunction tunable frequency filters with those already active yet elements. These filters were designed via autonomous circuits or modification of existing circuits. The functionality of the proposed filtres have been verified by computer simulation. Snap3 program was used for the symbolic analyse of circuit and OrCad PSpice program was used to simulate the characteristics of multifunction filters.

Ce travail s’inscrit dans le cadre de la commande d’un système multi agents/ multi véhicules. Cette thèse traite en particulier le cas de la commande d’un système multi-robots mobiles non-holonomes. L'objectif est de concevoir des lois de commandes appropriées pour chaque robot de sorte que l’ensemble des robots puisse exécuter des tâches spécifiques, de suivre des trajectoires désirées tout en maintenant des configurations géométriques souhaitées. L’approche leadeur-suiveur pour la commande d’un groupe de robots mobiles non-holonomes est étudiée en intégrant la technologie backstepping, avec une approche basée sur les neurodynamiques bioinspirées. Le problème de commande distribuée d’un système multi robots sur le consensus est également étudié. Des lois de commandes cinématiques distribuées sont développés afin de garantir au système multi-robots la convergence exponentielle vers une configuration géométrique souhaitée. Afin de tenir compte de la dynamique des paramètres inconnus, des commandes adaptatives de couple sont développés pour que le système multi-robots puisse converger asymptotiquement vers le modèle géométrique souhaité. Lorsque la dynamique est inconnue, des commandes à base de réseaux de neurones sont proposées / This work is based on the multi-agent system / multi-vehicles. This thesis especially focuses on formation control of multiple nonholonomic mobile robots. The objective is to design suitable controllers for each robot according to different control tasks and different constraint conditions, such that a group of mobile robots can form and maintain a desired geomantic pattern and follow a desired trajectory. The leader-follower formation control for multiple nonholonomic mobile robots is investigated under the backstepping technology, and we incorporate a bioinspired neurodynamics scheme in the robot controllers, which can solve the impractical velocity jumps problem. The distributed formation control problem using consensus-based approach is also investigated. Distributed kinematic controllers are developed, which guarantee that the multi-robots can at least exponentially converge to the desired geometric pattern under the assumption of "perfect velocity tracking". However, in practice, "perfect velocity tracking" doesn’t hold and the dynamics of robots should not be ignored. Next, in consideration of the dynamics of robot with unknown parameters, adaptive torque controllers are developed such that the multi-robots can asymptotically converge to the desired geometric pattern under the proposed distributed kinematic controllers. Furthermore, When the partial knowledge of dynamics is available, an asymptotically stable torque controller has been proposed by using robust adaptive control techniques. When the dynamics of robot is unknown, the neural network controllers with the robust adaptive term are proposed to guarantee robust velocity tracking

This master´s thesis deals an active elements called digitally controlled current amplifier, multiple-output current follower and its usage in tunable frequency filters. These tunable frequency filters operate in a pure current mode. In the first part of this work are presented the different types of current active elements. Universal current conveyor, multiple-output current follower, digitally controlled current amplifier (UCC, MO-CF, DCCA). In the second part of this work are introduced particular methods of design tunable frequency filters. Special attention is given to using the design method of via autonomous circuits because it is one of the most. In the last part of this thesis are designed and computer-simulated individual multifunction tunable frequency filters with those already active yet elements. These filters were designed via autonomous circuits or modification of existing circuits. The functionality of the proposed filtres have been verified by computer simulation. Snap3 program was used for the symbolic analyse of circuit and OrCad PSpice program was used to simulate the characteristics of multifunction filters.

This master´s thesis is about MO-CF, DCCA and CC frequency filters with current active elements proposal. Current active elements, their features, structure and utilization are shown in introduction. A progress propose of universal filter is described in thesis. With the use of active elements has been established an universal filter with basic parameter changes capability (quality and limit frequency). SNAP software was used in this propose and the characteristics simulation have been done in OrCad-PSpice. For control changes of quality and limit frequency was used active element DCCA. The main circuit board of universal controlled filter was made with the EAGLE software. Created sample was measured for each type of filter, the different quality and limit frequency. These values were compared with simulated values of the filter.

Un groupe de robots collaboratifs peut gérer des tâches qui sont difficiles, voire impossibles, à accomplir par un seul. On appelle un ensemble de robots coopérant un système multi-agents (SMA). L'interaction entre agents est un facteur clé dans la commande coopérative qui pose d'importants défis théoriques et pratiques. L'une des tâches du contrôle coopératif est le consensus dont l'objectif est de concevoir des protocoles de commande afin de parvenir à un accord entre leurs états respectifs. Cette thèse améliore la navigation pour les SMA, tout en tenant compte de certaines contraintes pratiques (modèle du robot et contraintes temporelles) dans la conception de contrôleurs coopératifs pour chaque agent, de manière décentralisée. Dans cette thèse, deux directions sont étudiées. D'une part, le taux de convergence est une spécification de performance importante pour la conception du contrôleur pour un système dynamique. La convergence rapide est toujours recherchée pour améliorer les performances et la robustesse. La plupart des algorithmes de consensus existants se concentrent sur la convergence asymptotique, où le temps d'établissement est infini. Cependant, de nombreuses applications nécessitent une convergence rapide généralement caractérisée par une stratégie de commande à temps fini. De plus, la commande à temps fini autorise certaines propriétés intéressantes, mais le temps de stabilisation dépend des conditions initiales des agents. L'objectif ici est de concevoir un protocole de consensus leader-follower à temps fixe pour les SMA décrits en temps continu. Ce problème est étudié en utilisant la théorie de la stabilisation à temps fixe, qui garantit que le temps de stabilisation est borné quelles que soient les conditions initiales. Les contrôleurs et les observateurs à modes glissants sont conçus pour que chaque agent résolve le problème du consensus à temps fixe lorsque le leader est dynamique. D'autre part, par rapport aux systèmes à temps continu, le problème du consensus dans un cadre à temps discret convient mieux aux applications pratiques en raison de la limitation des ressources de calcul pour chaque agent. Le modèle de commande prédictive (MPC) permet de gérer les contraintes de commande et d'état des systèmes. Dans cette thèse, cette méthode est appliquée pour traiter le problème du consensus en temps discret en laissant chaque agent résoudre, à chaque étape, un problème de commande optimale contraint impliquant uniquement l'état des agents voisins. Les performances de suivi sont également améliorées dans cette thèse en ajoutant de nouveaux termes à partir du MPC classique. Les contrôleurs proposés sont simulés et implémentés sur un groupe composé de plusieurs robots réels en utilisant ROS (Robotic Operating System). Dans cette thèse, quelques solutions correspondant au problème de la connexion entre plusieurs robots mobiles de manière décentralisée, du réglage des périodes d'échantillonnage et des paramètres de contrôle sont également abordées. / Nowadays, robots have become increasingly important to investigate hazardous and dangerous environments. A group of collaborating robots can often deal with tasks that are difficult, or even impossible, to be accomplished by a single robot. Multiple robots working in a cooperative manner is called as a Multi-Agent System (MAS). The interaction between agents to achieve a global task is a key in cooperative control. Cooperative control of MASs poses significant theoretical and practical challenges. One of the fundamental topics in cooperative control is the consensus where the objective is to design control protocols between agents to achieve a state agreement. This thesis improves the navigation scheme for MASs, while taking into account some practical constraints (robot model and temporal constraints) in the design of cooperative controllers for each agent, in a fully decentralized way. In this thesis, two directions are investigated. On one hand, the convergence rate is an important performance specification to design the controller for a dynamical system. As an important performance measure for the coordination control of MASs, fast convergence is always pursued to achieve better performance and robustness. Most of the existing consensus algorithms focus on asymptotic convergence, where the settling time is infinite. However, many applications require a high speed convergence generally characterized by a finite-time control strategy. Moreover, finite-time control allows some advantageous properties but the settling time depend on the initial states of agents. The objective here is to design a fixed-time leader-follower consensus protocol for MASs described in continuous-time. This problem is studied using the powerful theory of fixed-time stabilization, which guarantee that the settling time is upper bounded regardless to the initial conditions. Sliding mode controllers and sliding mode observers are designed for each agent to solve the fixed-time consensus tracking problem when the leader is dynamic. On the other hand, compared with continuous-time systems, consensus problem in a discrete-time framework is more suitable for practical applications due to the limitation of computational resources for each agent. Model Predictive Control (MPC) has the ability to handle control and state constraints for discrete-time systems. In this thesis, this method is applied to deal with the consensus problem in discrete-time by letting each agent to solve, at each step, a constrained optimal control problem involving only the state of neighboring agents. The tracking performances are also improved in this thesis by adding new terms in the classical MPC technique. The proposed controllers will be simulated and implemented on a team of multiple Mini-Lab Enova Robots using ROS (Robotic Operating System) which is an operating system for mobile robots. ROS provides not only standard operating system services but also high-level functionalities. In this thesis, some solutions corresponding to problem of connection between multiple mobile robots in a decentralized way for a wireless robotic network, of tuning of the sampling periods and control parameters are also discussed.

This diploma thesis deals with a phenomenon of influencers - specifically how do these producers of media content perceive their audience. The goal of this diploma thesis is to identify and understand the behavior and culture of followers from the perspective of influencers in the context of media literacy. Nowadays anyone with an internet connection can become a follower of an influencer and basic knowledge about the cyberspace is not necessary. Thanks to the qualitative research among six different influencers this diploma thesis does offer theoretical and empirical point of view on a behavior, culture and media literacy of a young digital audience. The first part of the diploma thesis is dedicated to theoretical knowledge related to the digital audience, internet and danger that comes with the usage of cyberspace as well as media literacy in the context of a new media. The next part focuses on the interpretation of the methodology of research, followed by the presentation of results of the conducted research and their summary. Based on the research the author found out that participating influencers are aware of a connection between their behavior and hobbies and behavior and hobbies of their influencers. Subjects of the research perceive their audience in a positive way, their feedback is important to...

Kommunen är en stor arbetsgivare och verksamheten inom kommunal hemtjänst berördessutom många människor som kommer i kontakt med anställda inom hemtjänsten i rollensom vårdtagare. För att uppfylla organisationens mål om att en god omvårdnad ska bedrivashar forskningen tidigare mest fokuserat på betydelsen av en framgångsrik ledare. På senare tidhar även följarnas betydelse för både organisation och ledarskapet lyfts fram. Teorin om Leader-Member Exchange handlar om relationen mellan ledare och följare och detutbyte som sker där. Ledaren värderar följarens bidrag till utbytet i relationen baserat på sinagenerella föreställningar om följare, även kallat Implicit Followership Theories. Tidigareforskning har visat att om dessa generella föreställningar hos ledaren är av positiv karaktär ökardet ledarens förväntningar på följaren och kan förbättra relationen. Syftet med vårundersökning är att undersöka hur ledare inom kommunal hemtjänst ser på följarskap och omde upplever att följarskapet påverkar deras möjlighet att leda. Semistrukturerade intervjuer och tematisk analys ligger till grund för denna undersökning somutförts i en chefsgrupp inom kommunal hemtjänst. Resultaten beskriver inledningsvisdeltagarnas uppfattning om begreppet följarskap och vilka egenskaper och beteenden som ingåri deras generella uppfattning om följare. Vidare beskriver resultatet av undersökningen hurdeltagarna uppfattar sina faktiska följare och att deras generella förväntningar på följare intehelt stämmer överens med det faktiska följarskapet. Slutligen visar undersökningen tydligt attföljarskapet har påverkan på förutsättningarna för att leda. / The municipality is a large employer and the activities within the municipal home care servicealso affect many people who encounter employees within the home care service in the role ofcare recipient. To fulfill the organization's goal that good nursing should be conducted; researchhas previously mostly focused on the importance of a successful leader. In recent times, theimportance of followers for both organization and leadership has also been highlighted. The theory of Leader-Member Exchange is about the relationship between leader and followerand the exchange that takes place there. The leader values the follower's contribution to theexchange in the relationship based on his general notions of followers, also called ImplicitFollowership Theories. Previous research has shown that if these general perceptions of theleader are of a positive nature, it increases the leader's expectations of the follower and canimprove the relationship. The purpose of our survey is to investigate how leaders in themunicipal home care service view followers and whether they feel that the followers affecttheir ability to lead. Semi-structured interviews and thematic analysis form the basis for this study, which wasconducted in a management group within municipal home care. The results initially describethe participants' perception of the concept of following and what characteristics and behaviorsare included in their general perception of followers. Furthermore, the results of the surveydescribe how the participants perceive their actual followers and that their general expectationsof followers do not fully correspond to the actual followership. Finally, the survey clearlyshows that following has an impact on the conditions for leading.

The first part of this Thesis deals with the analysis of piecewise-smooth mechanical systems and the definition of special stability criteria in presence of non-conservative follower forces. To illustrate the peculiar stability properties of this kind of dynamical system, a reference 2 d.o.f. structure has been considered, composed of a rigid bar, with one and constrained to slide, without friction, along a curved profile, whereas the other and is subject to a follower force. In particular, the curved constraint is assumed to be composed of two circular profiles, with different and opposite curvatures, defining two separated subsystems. Due to this jump in the curvature, located at the junction point between the curved profiles, the entire mechanical structure can be modelled by discontinuous equations of motion, the differential equations valid in each subsystem can be combined, leading to the definition of a piecewise-smooth dynamical system. When a follower force acts on the structure, an unexpected and counterintuitive behaviour may occur: although the two subsystems are stable when analysed separately, the composed structure is unstable and exhibits flutter-like exponentially-growing oscillations. This special form of instability, previously known only from a mathematical point of view, has been analysed in depth from an engineering perspective, thus finding a mechanical interpretation based on the concept of non-conservative follower load. Moreover, the goal of this work is also the definition of some stability criteria that may help the design of these mechanical piecewise-smooth systems, since classical theorems cannot be used for the investigation of equilibrium configurations located at the discontinuity. In the literature, this unusual behaviour has been explained, from a mathematical perspective, through the existence of a discontinuous invariant cone in the phase space. For this reason, starting from the mechanical system described above, the existence of invariant cones in 2 d.o.f. mechanical systems is investigated through Poincaré maps. A complete theoretical analysis on piecewise-smooth dynamical systems is presented and special mathematical properties have been discovered, valid for generic 2~d.o.f. piecewise-smooth mechanical systems, which are useful for the characterisation of the stability of the equilibrium configurations. Numerical tools are implemented for the analysis of a 2~d.o.f. piecewise-smooth mechanical system, valid for piecewise-linear cases and extendible to the nonlinear ones. A numerical code has been developed, with the aim of predicting the stability of a piecewise-linear dynamical system a priori, varying the mechanical parameters. Moreover, “design maps” are produced for a given subset of the parameters space, so that a system with a desired stable or unstable behaviour can easily be designed. The aforementioned results can find applications in soft actuation or energy harvesting. In particular, in systems devoted to exploiting the flutter-like instability, the range of design parameters can be extended by using piecewise-smooth instead of smooth structures, since unstable flutter-like behaviour is possible also when each subsystem is actually stable. The second part of this Thesis deals with the numerical analysis of an elastic cloak for transient flexural waves in Kirchhoff-Love plates and the design of special metamaterials for this goal. In the literature, relevant applications of transformation elastodynamics have revealed that flexural waves in thin elastic plates can be diverted and channelled, with the aim of shielding a given region of the ambient space. However, the theoretical transformations which define the elastic properties of this “invisibility cloak” lead to the presence of a strong compressive prestress, which may be unfeasible for real applications. Moreover, this theoretical cloak must present, at the same time, high bending stiffness and a null twisting rigidity. In this Thesis, an orthotropic meta-structural plate is proposed as an approximated elastic cloak and the presence of the prestress has been neglected in order to be closer to a realistic design. With the aim of estimating the performance of this approximated cloak, a Finite Element code is implemented, based on a sub-parametric technique. The tool allows the investigation of the sensitivity of specific stiffness parameters that may be difficult to match in a real cloak design. Moreover, the Finite Element code is extended to investigate a meta-plate interacting with a Winkler foundation, to analyse how the substrate modulus transforms in the cloak region. This second topic of the Thesis may find applications in the realization of approximated invisibility cloaks, which can be employed to reduce the destructive effects of earthquakes on civil structures or to shield mechanical components from unwanted vibrations.