The main goal of this thesis is to design intrinsically safe line analyzer. Thesis describes a device that consists of three measuring circuits and a communication circuit. The device is required to measure posistor resistance, isolation state of power cable and line continuity in potentially explosive areas. Document describes basic requirements of ATEX directive matching standards that are related to device. The function of each logical part of the device is described with help of block diagram. After the basic function description an electrical schematic design and component selection is discussed. After this a printed circuit board design follows. Another part of the thesis describes testing software development. At the end of the document the device is assembler and its basic function is verified.

Intrinsically safe (IS) active power supplies subjected to certain transient load conditions can deliver power to a circuit at significantly higher levels than indicated on their nameplate ratings. During a transient load such as an intermittent short-circuit, energy is transferred from the power supply to the short-circuit and an electrical arc may form when the short-circuit is applied or removed. This poses a spark ignition risk as energy is transferred from the arc to the surrounding atmosphere. Currently various International and Australian Standards define the performance requirements for IS electrical apparatus. A duly accredited laboratory is required to establish the intrinsic safety compliance of an apparatus with the Standards. It involves an assessment of the apparatus and may include testing. The assessment of the apparatus determines adequate segregation, separation, construction, and selection of components. The tests performed on the apparatus include a temperature rise test and in some cases, the sparking potential of the circuit is tested using the spark test apparatus (STA). Testing the sparking potential of active power supplies to establish compliance adds significantly to the time and costs involved in establishing compliance. A new alternative assessment method is proposed in this report to augment or replace the testing phase of the compliance certification process for active power supplies. The proposed alternative assessment method (PAAM) is derived from a determination of the steady-state and transient output characteristics of the active power supply under consideration. Parameters such as peak output current, time constant of peak current decay, and the output voltages at these times are measured from the circuit's output characteristics. These measurements can subsequently be used to derive the topology and component values of an equivalent circuit. The resulting equivalent circuit is then considered like a linear power supply and the sparking potential can be determined using existing assessment methods. This thesis investigates in detail the equivalent circuit of a number of direct current (DC) active power supplies whose transient output characteristics exhibit predominantly capacitive behaviour. The results of the PAAM using the equivalent circuit are then compared with results achieved using the current testing procedure with a STA. A small sample of active power supplies is used to generate data from which a relationship between the current testing procedure and the PAAM can be established. The PAAM developed in this research project can be used as a pre-compliance check by designers, manufacturers, or IS testing stations. A failure of this test would indicate that the active power supply's sparking energy is not low enough to be regarded as intrinsically safe. The PAAM requires fewer resources to establish a result than the STA. The benefits of a simplified spark ignition test would flow on from designers and manufacturers to end users.

En radiologie interventionnelle, l’assistance robotisée permet de limiter l’exposition du praticien aux rayons X et d’apporter plus de précision pour effectuer des opérations complexes. La présence de robots dans un environnement humain pose alors la question de la sécurité du patient et de l’équipe médicale, que ce soit lors d’interactions ou de manipulations. Dans cette thèse, nous nous intéressons dans un premier temps aux problématiques de sûreté. Une structure d’actionnement intrinsèquement sûre est proposée. Le prototype réalisé permet d’effectuer des tâches de positionnement en mode automatique. Parallèlement, une stratégie de guidage basée sur une approche passive est proposée. Un système à raideur variable permet d’imposer un effort résistif variable à l’utilisateur en vue de contraindre son geste. Dans une deuxième partie, nous étudions la possibilité d’intégrer de tels systèmes sur un dispositif à plusieurs degrés de liberté, répondant au problème de placement d’aiguille. / In the context of interventional radiology, robotic-assisted surgery limits practitioners’ exposure to radiations and brings more accuracy to perform complex interventions. However, the presence of robot in the environment is a potential danger for the patient and the medical staff in case of unexpected interactions and manipulations.In this PhD thesis, we first focus on safety problems. An intrinsically safe mechanism is proposed. The achieved prototype allows to follow both planned trajectories and moving environments.Secondly, a guidance mechanism based on a passive approach is suggested. With a variable stiffness system, using a compliant mechanism, a resistive force is applied to the user which allows him to be guided in his gesture.Based on medical needs, we then study the possibility to integrate and generalize such systems to multiple degrees of freedom.