A contribuição e objetivo desta tese é desenvolver um modelo de redes neurais artificiais, baseado em princípios de memória associativa, capaz de resolver o problema de planejamento e controle ponto a ponto de trajetória de um braço mecânico imerso em um ambiente parcialmente conhecido e/ou sujeito a ruídos. O modelo proposto é formado por dois planos: plano seqüência temporal e plano ângulo. Para o plano seqüência temporal, o novo modelo proposto chamado de Memória Associativa Multidirecional Temporal (TMAM) é capaz de armazenar e recuperar n-tuplas de informações, lidar com informações ruidosas e/ou incompletas e aprender seqüências temporais. TMAM utiliza representação contínua e realimentação autoassociativa. O plano ângulo é formado pelo modelo RBF que é responsável por produzir as informações de ângulos das juntas do braço mecânico. A composição dos dois planos forma o sistema completo que é responsável pelo planejamento e controle ponto a ponto de trajetória. Em resumo, o sistema recebe informações do ponto origem e do ponto alvo, estabelece uma trajetória para atingir o ponto alvo a partir do ponto de origem e transforma os pontos espaciais da trajetória em valores de ângulos das juntas. Os resultados obtidos mostram que o modelo TMAM é capaz de recuperar, interpelar e extrapolar pontos nas seqüências, é capaz de gerar trajetórias, de memorizar seqüências de diferentes tamanhos e de lidar com duas trajetórias ao mesmo tempo. O modelo apresenta também rápido treinamento. O modelo RBF é capaz de recuperar as saídas desejadas apresentando um erro pequeno e é capaz de receber um padrão que apresenta um ponto final inatingível e gerar um conjunto de ângulos que representa um ponto final atingível. / The aim of this project is to develop an artificial neural networks model based on principles of associative memory. This neural network model must be able to solve the problem of trajectory planning and point to point control of a robot arm, which is located in a partially known and/or noisy environment. The proposed model is composed by two surfaces: the temporal sequence surface and the angle surface. For the temporal sequence surface the new propose model Temporal Multidirectional Associative Memmy (TMAM) is able to store and recall n-tuplas of information, to deal with noisy and/or incomplete information and to learn temporal sequences. TMAM uses a continuas representation and autoassociative feedback. A RBF model is used to implement the angle surface, which is liable for producing the angle information for the joint of the robot arm. The two surfaces compose the whole system which is liable for the trajectory planning and system control. Hence, the system receives information about the initial point and the target point, constructs the trajectory to reach the target point from the initial point and converts the spatial points which compose the trajectory, in values of joint angles. The obtained results show that TMAM model can recall, interpolate and extrapolate points in the sequences. The model has the ability of generating new trajectories and memorizing different size of sequences at the same time. This model also shows fast learning. The RBF model can recall the desired outputs with a small error and can receive a pattern which is formed by an unreachable final point and generate a set of angles which, in turn, represent a reachable final point.

L'élaboration de composites à matrice céramique denses et à fibres continues multidirectionnelles par de nouveaux procédés hybrides a été étudiée. Les procédés développés reposent sur le dépôt d'interphases autour des fibres par Infiltration Chimique en phase Vapeur (CVI) puis sur l'introduction de poudres céramiques au sein de préformes fibreuses par infusion de suspensions aqueuses colloïdales concentrées et stables, et enfin sur la consolidation des préformes soit par frittage flash, soit par imprégnation réactive de métaux liquides.La consolidation des composites par frittage flash est très rapide (palier de maintien en température inférieure à 5 minutes) et permet d'obtenir des composites denses. Durant le frittage, la dégradation des fibres de carbone a pu être évitée en adaptant le cycle de pression afin de limiter l'évolution des gaz au sein du système.La densification totale des composites par imprégnation de métaux liquides a été obtenue en contrôlant attentivement les paramètres d'imprégnation afin d'éviter de piéger des espèces gazeuses au sein des préformes fibreuses.Les composites à fibres de carbone consolidés par frittage flash ou par imprégnation réactive de métaux liquide possèdent un comportement mécanique de type élastique endommageable ainsi qu'une contrainte à rupture en flexion voisine de 300 MPa. Ces composites ont montré leur capacité à s'autocicatriser dans des conditions oxydantes. Comparés aux composites à matrice céramiques élaborés par CVI, les composites densifiés par imprégnation de métaux liquide sont eux parfaitement denses et ont un comportement mécanique en traction à température ambiante similaire avec notamment une contrainte à rupture en traction de 220 MPa. / The fabrication of multidirectional continuous carbon fibers reinforced dense self healing Ceramic Matrix Composites by new short time hybrid processes was studied. The processes developed are based, first, on the deposition of fiber interphase and coating by chemical vapor infiltration, next, on the introduction of ceramic powders into the fibrous preform by Slurry Impregnation and, finally, on the densification of the composite by liquid-phase Spark Plasma Sintering (SPS) or by Reactive Melt Infiltration of silicon (RMI).The homogeneous introduction of the ceramic particles into the multidirectional fiber preforms was realized by slurry impregnation from highly concentrated (> 32 %vol.) and well dispersed aqueous colloid suspensions. The densification of the composites by spark plasma sintering was possible with a short (< 5 minutes) dwelling period in temperature. The chemical degradation of the carbon fibers during the fabrication was prevented by adapting the sintering pressure cycle to inhibit gas evolution inside the system. The composites elaborated are dense. The fully densification of the composites by RMI was realised by carefully controlling the impregnation parameters to avoid to entrap some gaseous species inside the fiber preforms. Our carbon fiber reinforced ceramic matrix composites processed by Spark Plasma Sintering or Reactive Melt Infiltration have a damageable mechanical behaviour with a room temperature bending stress at failure around 300 MPa and have shown their ability to self-healing in oxidizing conditions. Compared to the CMC processed by CVI, the composites processed with a final consolidation step by RMI are fully dense and have a similar room temperature tensile test behaviour with an ultimate tensile stress around 220 MPa.