Pour des applications depositionnement, les moteurs piézoélectriquesprésentent aujourd’hui une alternativeintéressante aux moteurs électromagnétiquesclassiques en raison de leur forte précision del’ordre de quelques nanomètres ainsi que de leurfaible niveau de bruit électromagnétique. Dansce contexte, les travaux de cette thèse portent surla modélisation, la conception, et l’implantationen temps réel de contrôleurs en position pour desmoteurs piézoélectriques. L’objectif est deproposer un système de contrôle en positionrobuste pour des applications robotiques avecun cahier des charges prédéfini. Trois moteurspiézoélectriques avec des principes defonctionnement différents (USR60, PAD7220,N-310.13) ont été choisis. Leurs modèlesélectromécaniques ont été développés afin devalider leurs principes de fonctionnement etd’analyser leurs comportements dynamiquesface à des perturbations (variation de couple decharge, de température, etc…). Ensuite, cesmodèles sont utilisés pour simuler et valider lesperformances des algorithmes de contrôle enboucle fermée notamment en termes deprécision, de robustesse et de stabilité. Desbancs de test expérimentaux ont été mis enœuvre pour les trois moteurs, et des modèlesréduits reliant les positions des moteurs auxsignaux de commande correspondants ont étéidentifiés expérimentalement. Deux contrôleursde position de type H-infini (H∞) et RST sontensuite synthétisés et simulés. Ces contrôleurssont implantés en temps réel sur les bancs detests expérimentaux via un système dSPACE.Les performances de chaque moteur associé à sacommande sont évaluées. Une étudecomparative entre les résultats expérimentauxde ces deux contrôleurs et ceux d’un contrôleurPID classique est aussi présentée. / The Piezoelectric motors present aninteresting alternative to electromagneticsmotors for precise positioning systems. This ismainly due to their high accuracy in thenanometer scale, and to their very lowelectromagnetic noise levels. In this context, thework presented in this thesis deals with themodeling, design, and real time implementationof position controllers for piezoelectric motors.The objective is to propose robust closed loopposition controller of piezoelectric motors forrobotic applications. Based on the applicationspecification requirements, three motors withdifferent topologies (USR60, PAD7220, N-310.10) are selected. Their electro mechanicmodels are developed in order to validate theiroperating principle and to analyze theirdynamics.These models are also used to simulate thecontroller algorithms in closed loop.Experimental platforms based on the threemotors are designed, and the reduced modelslinking the motor positions to the correspondingcontrol signals are experimentally identified.Afterwards, two position controllers of type Hinfinity(H∞) and RST are synthesized andsimulated. These controllers are implemented inreal time via the experimental platformsequipped by dSPACE boards. The performancesof each motor in closed loop associated to theposition controllers are evaluated using theexperimental results. Comparative studybetween the experimental results of twoproposed controllers and conventional PIDcontroller is also presented.Université Paris-

Nous visons à garantir la résolution d’un DisCSP en présence d’un ou plusieurs agents défaillants. Les méthodes traitant la tolérance aux fautes au sein des SMAs visent la continuité du fonctionnement du système. Mais, aucune de ces méthodes n’est appliquée pour résoudre un DisCSP. La défaillance d’un agent au cours de la résolution d’un DisCSP engendre la perte d’une partie du DisCSP global, d’où l’obtention d’un résultat erroné. Donc pour obtenir les résultats attendus, il faut garantir la résolution du CSP local de l’agent défaillant. Nous proposons de répliquer les CSPs locaux des agents défaillants au sein des agents non défaillants. Cette réplication permet la résolution du CSP local de l’agent défaillant par un autre agent. Cette résolution est effectuée en fusionnant les réplicats de CSPs des agents défaillants avec les CSPs des autres agents. Cette fusion permet la conservation de la modélisation initiale du DisCSP. L’algorithme de distribution des réplicats proposé garantit que les CSPs des agents défaillants ne soient pas répliqués au sein du même agent. De cette façon, le problème conserve son aspect distribué. / We aim to ensure a DisCSP resolution in presence of failed agents. Methods handling fault tolerance in MASs aim to ensure the continuity of the system operation. But, none of these methods are applied to solve a DisCSP. The failure of an agent generates the loss of a part of the DisCSP providing wrong results. Therefore, to obtain expected results, it is necessary to ensure the resolution of the failed agent local CSP.We propose to replicate the local CSPs of the failed agents within active agents. This replication allows local CSP resolution of the failed agent by another agent. The resolution is done by merging the replicates of failed agents CSPs with the CSPs of other agents. This technique conserve the initial DisCSP modeling. The proposed replicates distribution algorithm ensures that the CSPs of failed agents are not replicated within the same agent. In this way, the problem keeps its distributed aspect.

Companies within the manufacturing industry are often aiming to increase productivity and simultaneously maintain the quality of their products. To achieve higher productivity and quality it is imperative to have tools with a high speed and accuracy. Atlas Copco BLM's STbench is a measurement system which enables manufacturers to validate their tools during different situations. The purpose of this case study was to improve the robustness of the STbench so it would operate well during situations with both low and high tool speed. To define and investigate how to improve the STbench, a modified DMAIC-approach was used. During the investigation it was found that the area with the largest improvement possibilities was the STbench's PID-controllers. Design of Experiments was used as the method to optimize the P- and I-element of the PID-controllers; hence, increase the robustness. The optimal settings could improve the robustness of the STbench with approximately 50%, but the result has not been verified. This case study presents results that can increase the robustness of the STbench; thus answering the purpose. Furthermore, this master thesis presents several revelations regarding using experimental plans while optimizing control systems, an area that has not been extensively investigated in previous literature.

Le défi de la transition vers une énergie sans carbone passe, aujourd’hui, par un recours systématique à l’énergie électrique avec au centre des échanges l’électronique de puissance. Pour être à la hauteur des enjeux, l'électronique de puissance nécessite des composants de plusen plus performants pour permettre un haut niveau d'intégration, une haute efficacité énergétique et un haut niveau de fiabilité. Aujourd’hui, le transistor de puissance, du type MOSFET, en carbure de silicium (SiC) est une technologie de rupture permettant de répondre aux enjeux d’intégration et d’efficacité par un faible niveau de perte et une vitesse de commutation élevée. Cependant, leur fiabilité non maitrisée et leur faible robustesse aux régimes extrêmes du type court-circuit répétitifs freinent aujourd’hui leur pénétration dans les applications industrielles. Dans cette thèse, une étude poussée du comportement en court-circuit d'un ensemble exhaustif de composants commerciaux, décrivant toutes les variantes structurelles et technologiques en jeu, a été menée sur un banc de test spécifique développé durant la thèse, afin de quantifier leur tenue au courtcircuit. Cette étude a mis en lumière des propriétés à la fois génériques et singulières aux semiconducteurs en SiC déclinés en version MOSFET tel qu’un courant de fuite dynamique de grille et un mode de défaillance par un court-circuit grille-source amenant, dans certaines conditions d'usage et pour certaines structures de MOSFET, à un auto-blocage drain-source. Une recherchesystématique de la compréhension physique des phénomènes observés a été menée par une approche mêlant analyse technologique interne des composants défaillants et modélisation électrothermique fine. Une modélisation électrothermique compacte étendue à la prise en compte des modes de défaillance a été établie et implémentée dans un logiciel de type circuit. Ce modèle a été confronté à de très nombreux résultats expérimentaux sur toutes les séquences temporelles décrivant un cycle de court-circuit jusqu'à la défaillance. Ce modèle offre un support d'analyse intéressant et aussi une aide à la conception des circuits de protection. Ainsi, à titre d'application, un driver doté d'une partie de traitement numérique a été conçu et validé en mode de détection de plusieurs scénarii de court-circuit mais aussi potentiellement pour la détection de la dégradation de la grille du composant de puissance. D’autres travaux plus exploratoires ont aussi été menés en partenariat avec l’Université de Nottingham afin d’étudier l'impact de régimes de court-circuit impulsionnels répétés sur le vieillissement de puces en parallèle présentant des dispersions. La propagation d'un premier mode de défaillance issu d'un composant "faible" a aussi été étudiée. Ce travail ouvre la voie à la conception de convertisseurs intrinsèquement sûrs et disponibles en tirant parti des propriétés atypiques et originales des semi-conducteurs en SiC et du MOSFET en particulier / Nowaday, the challenge of the transition to carbon-free energy involves a systematic use of electrical energy with power electronics at the heart of the exchanges. To meet the challenges, power electronics requires increasingly high-performance devices to provide a high level of integration, high efficiency and a high level of reliability. Today, the power transistor, of the MOSFET type, made of silicon carbide (SiC) is a breakthrough technology that allows us to meet the challenges of integration and efficiency through their low level of loss and high switching speed. However, their limited reliability and low robustness at extreme operating conditions such as repetitive short-circuits are now hindering their expansion in industrial applications. In this thesis, an in-depth study of the short-circuit behaviour of an exhaustive set of commercial devices, describing all the structural and technological variants involved, was carried out on a specific test bench developed during the thesis, in order to quantify their short-circuit resistance. This study highlighted both generic and singular properties of SiC semiconductors for every Mosfet version such as a dynamic gate leakage current and a failure mode by a short-circuit grid-source leading, under certain conditions of use and for certain Mosfet structures, to a self-blocking drain-source. A systematic research of the physical understanding of the observed mechanisms was carried out by an approach combining an internal technological analysis of the failed devices and a fine electrothermal modelling. A compact electrothermal modeling extended to failure mode consideration has been established and implemented in circuit software. This model was confronted with numerous experimental results describing a short-circuit cycle up to failure. This model offers an interesting analytical support and also helps the design of protection circuits. Thus, as an application, a driver equipped with a digital processing part has been designed and validated in detection mode for several short-circuit scenarios but also potentially for the detection of the degradation of the power component grid. Other more exploratory work has also been carried out in partnership with the University of Nottingham to study the impact of repeated pulse short-circuit regimes on the aging of parallel chips with dispersions. The propagation of a first failure mode from a "weak" device was also studied. This work paves the way for the design of intrinsically safe and available converters by taking advantage of the atypical and original properties of SiC semiconductors and Mosfet in particular

The classification of observations based on repeated measurements performed on the same subject over a given period of time or under different conditions is a common procedure in many disciplines such as medicine, psychology and environmental studies. In this thesis repeated measurements follow the Growth Curve model and are classified using linear discriminant analysis. The aim of this thesis is both to examine the effect of missing data on classification accuracy and to examine the effect of additional data on classification robustness. The results indicate that an increasing amount of missing data leads to a progressive decline in classification accuracy. With regard to the effect of additional data on classification robustness the results show a less predictable effect which can only be characterised as a general tendency towards improved robustness.

Die Konstruktion von Systemen oder Modellen, welche unter Unsicherheit und Umweltschwankungen robust arbeiten, ist eine zentrale Herausforderung sowohl im Ingenieurwesen als auch in den Naturwissenschaften. Dies ist im Design-Zentrierungsproblem formalisiert als das Finden eines Designs, welches vorgegebene Spezifikationen erfüllt und dies mit einer hohen Wahrscheinlichkeit auch noch tut, wenn die Systemparameter oder die Spezifikationen zufällig schwanken. Das Finden des Zentrums wird oft durch das Problem der Quantifizierung der Robustheit eines Systems begleitet. Hier stellen wir eine neue adaptive statistische Methode vor, um beide Probleme gleichzeitig zu lösen. Unsere Methode, Lp-Adaptation, ist durch Robustheit in biologischen Systemen und durch randomisierte Lösungen für konvexe Volumenberechnung inspiriert. Lp-Adaptation ist in der Lage, beide Probleme im allgemeinen, nicht-konvexen Fall und bei niedrigen Rechenkosten zu lösen. In dieser Arbeit beschreiben wir die Konzepte des Algorithmus und seine einzelnen Schritte. Wir testen ihn dann anhand bekannter Vergleichsfälle und zeigen seine Anwendbarkeit in elektronischen und biologischen Systemen. In allen Fällen übertrifft das vorliegende Verfahren den bisherigen Stand der Technik. Dies ermöglicht die Umformulierung von Optimierungsproblemen im Ingenieurwesen und in der Biologie als Design-Zentrierungsprobleme unter Berücksichtigung der globalen Robustheit des Systems. / The design of systems or models that work robustly under uncertainty and environmental fluctuations is a key challenge in both engineering and science. This is formalized in the design centering problem, defined as finding a design that fulfills given specifications and has a high probability of still doing so if the system parameters or the specifications randomly fluctuate. Design centering is often accompanied by the problem of quantifying the robustness of a system. Here we present a novel adaptive statistical method to simultaneously address both problems. Our method, Lp-Adaptation, is inspired by how robustness evolves in biological systems and by randomized schemes for convex volume computation. It is able to address both problems in the general, non-convex case and at low computational cost. In this thesis, we describe the concepts of the algorithm and detail its steps. We then test it on known benchmarks, and demonstrate its real-world applicability in electronic and biological systems. In all cases, the present method outperforms the previous state of the art. This enables re-formulating optimization problems in engineering and biology as design centering problems, taking global system robustness into account.

Parmi les différents procédés d’élaboration de minigranules, le procédé d’extrusion-sphéronisation présente de nombreux avantages, puisqu’il permet notamment d’élaborer des minigranules fortement chargées en principe actif et d’éviter l’emploi de solvants organiques. Ce travail a pour objectif de comparer les performances de plusieurs systèmes d’extrusion à vis, de l’échelle du laboratoire jusqu’à la transposition à l’échelle industrielle. Pour cela, des plans d’expériences ont été construits afin d’identifier les variables critiques et de sélectionner l’extrudeur le plus favorable selon différentes approches spécifiques à cette étude. En effet, le système d’extrusion idéal est défini dans ce travail comme celui donnant les meilleurs résultats en termes de productivité et de caractéristiques des minigranules (« qualité »), entraînant le moins d’impact sur le produit après transposition d’échelle (« transposabilité »), montrant le moins d’influence sur le produit lorsque la formule utilisée change (« robustesse »), et permettant d’ajuster ou d’améliorer la qualité des minigranules lorsque les conditions opératoires varient (« flexibilité »). Quelle que soit l’approche étudiée, les résultats ont permis de mettre en évidence l’influence de paramètres critiques et de leurs interactions sur les différentes réponses et ont montré des différences entre les différents systèmes d’extrusion. L’étude à l’échelle du laboratoire a permis de comparer les extrudeurs radial, dôme et frontal et a mis en évidence l’intérêt des systèmes frontal et dôme en termes de qualité des minigranules, et du système radial en termes de robustesse et de flexibilité du procédé. L’étude à l’échelle industrielle a permis de comparer les extrudeurs radial et frontal, et a permis d’identifier l’extrudeur frontal comme étant le plus favorable en termes de qualité des minigranules, de robustesse, de flexibilité et de transposabilité. Les conclusions observées à l’échelle industrielle sont donc différentes de celles considérées à l’échelle du laboratoire, pour l’étude comparative des différents systèmes. Cela confirme l’importance de tester les systèmes à échelle industrielle avant l’acquisition d’un équipement. / Among the various methods of developing minigranules, extrusion-spheronization has many advantages, particularly since it allows to develop minigranules highly charged with active pharmaceutical ingredient and to avoid the use of organic solvents. This work aims to compare the performance of several extrusion screws systems, from the lab to the scale-up at industrial scale. Designs of experiments were built to identify critical variables and compare the extruder in terms of different approaches specific to this study. As a matter of fact, the ideal extrusion system is defined in this work as the one which gives the best results in terms of productivity and pellets characteristics (“quality”), the one which shows less impact on the product after scaling-up (“scalability”), the one which shows the less influence on these same properties when the formula used changes (“robustness”), and the one which allows the possibility to adjust or improve pellets properties with operating variables (“flexibility”). Whatever the approach studied, the results allowed to highlight the influence of critical parameters and their interactions on the different responses and showed differences between the different extrusion systems. The study at lab scale compared radial, dome and axial extruders and underlined the interest of axial and dome systems in terms of pellets quality, and radial system in terms of process robustness and flexibility. The study at industrial scale compared radial and axial systems, and identified the axial system as the most favorable in terms of pellets quality , robustness, flexibility and scalability. The conclusions observed at industrial scale are different from those observed at lab scale for the different systems comparative study. This confirms the importance to test systems at industrial scale before investing in one equipment.

Robustness is a ubiquitous property of biological systems, however, underlying mechanisms that help reinforce the optimal phenotypes despite environmental or physiological perturbations are poorly understood. C. elegans development consists of four larval stages (L1-L4) and well-characterized invariant cell lineages, within which the heterochronic pathway controls the order and timing of cell-fates. Environmental or physiological stress signals can slow or temporarily halt larval stage progression; remarkably, however, temporal cell-fate progression remains unaffected. We show that two widely conserved signaling pathways, insulin and TGF- β, that regulate C. elegans larval stage progression in response to starvation and crowding, respectively, also regulate a rewiring of the heterochronic pathway so that cell-fates remain temporally anchored to appropriate larval stages. This rewiring is mediated by the nuclear hormone receptor DAF-12, and it involves a shift from the reliance on let-7-family microRNAs to the reliance on LIN-46 for proper downregulation of the transcription factor, Hunchback-like-1 (HBL-1), which promotes L2 cell-fates and opposes L3 cell-fates. LIN-46 (which is a homolog of bacterial molybdopterin molybdenum transferase (moeA) and human gephyrin) post-translationally inhibits HBL-1 activity. LIN-46 expression is repressed by the RNA-binding protein LIN-28 at the early stages to permit HBL-1 activity and hence the proper execution of L2 cell-fates. Our results indicate that robustness mechanisms of temporal cell-fate progression in C. elegans involves 1) coordinated regulation of temporal cell-fates and larval stage progression and 2) collaboration between translational regulation exerted by microRNAs and post-translational regulation exerted by LIN-46 to coordinate HBL-1 downregulation with stage progression.

The complexity of safety-related embedded computer systems is steadilyincreasing. Besides verifying that such systems implement the correct functionality, it is essential to verify that they also present an acceptable level of robustness. Robustness is in this thesis defined as the resilience of hardware, software or systems against errors that occur during runtime. One way of performing robustness assessment is to carry out fault injection, also known as fault insertion testing from certain safety standards. The idea behind fault injection is to accelerate the occurrence of faults in the system to evaluate its behavior under the influence of anticipated faults, and to evaluate error handling mechanisms. Model-based development is becoming more and more common for the development of safety-related software. Thus, in this thesis we investigate how we can benefit from conducting fault injection experiments on behavior models of software. This is defined as model-implemented fault injection in this thesis, since additional model artifacts are added to support the injection of faults that are activated during simulation. In particular, this thesis addresses injection of hardware fault effects (e.g. bit-level errors in microcontrollers) into Simulink® models. To evaluate the method, a fault injection tool has been developed (called MODIFI), that is able to perform fault injection into Simulink behavior models. MODIFI imports tailored fault libraries that define the effects of faults according to an XML-schema. The fault libraries are converted into executable model blocks that are added to behavior models and activated during runtime to emulate the effect of faults. Further, we use a method called minimal cut sets generation to increase the usefulness of the tool. During the work within MOGENTES, an EU 7th framework programme project that focused on model-based generation of test cases for dependable embedded systems, fault injection experiments have been performed on safety related models with the MODIFI tool. Experiments were also performed using traditional fault injection methods, and in particular hardware-implemented fault injection, to evaluate the correlation between the methods. The results reveal that fault injection on software models is efficient and useful for robustness assessment and that results produced with MODIFI appear to be representative for the results obtained with other fault injection methods. However, a software model suppresses implementation details, thus leading to fewer locations where faults can be injected. Therefore it cannot entirely replace traditional fault injection methods, but by performing model-implemented fault injection in early design phases an overview of the robustness of a model can be obtained, given these limitations. It can also be useful for testing of error handling mechanisms that are implemented in the behavior model. / QC 20111205

Living organisms throughout evolution have developed desired properties, such as the ability of maintaining functionality despite changes in the environment or their inner structure, the formation of functional modules, from metabolic pathways to organs, and most essentially the capacity to adapt and evolve in a process called natural selection. It can be observed in the metabolic networks of modern organisms that many key pathways such as the citric acid cycle, glycolysis, or the biosynthesis of most amino acids are common to all of them. Understanding the evolutionary mechanisms behind this development of complex biological systems is an intriguing and important task of current research in biology as well as artificial life. Several competing hypotheses for the formation of metabolic pathways and the mecha- nisms that shape metabolic networks have been discussed in the literature, each of which finds support from comparative analysis of extant genomes. However, while being powerful tools for the investigation of metabolic evolution, these traditional methods do not allow to look back in evolution far enough to the time when metabolism had to emerge and evolve to the form we can observe today. To this end, simulation studies have been introduced to discover the principles of metabolic evolution and the sources for the emergence of metabolism prop- erties. These approaches differ considerably in the realism and explicitness of the underlying models. A difficult trade-off between realism and computational feasibility has to be made and further modeling decisions on many scales have to be taken into account, requiring the combination of knowledge from different fields such as chemistry, physics, biology and last but not least also computer science. In this thesis, a novel computational model for the in silico evolution of early metabolism is introduced. It comprises all the components on different scales to resemble a situation of evolving metabolic protocells in an RNA-world. Therefore, the model contains a minimal RNA-based genetics and an evolving metabolism of catalytic ribozymes that manipulate a rich underlying chemistry. To allow the metabolic organization to escape from the confines of the chemical space set by the initial conditions of the simulation and in general an open- ended evolution, an evolvable sequence-to-function map is used. At the heart of the metabolic subsystem is a graph-based artificial chemistry equipped with a built-in thermodynamics. The generation of the metabolic reaction network is realized as a rule-based stochastic simulation. The necessary reaction rates are calculated from the chemical graphs of the reactants on the fly. The selection procedure among the population of protocells is based on the optimal metabolic yield of the protocells, which is computed using flux balance analysis. The introduced computational model allows for profound investigations of the evolution of early metabolism and the underlying evolutionary mechanisms. One application in this thesis is the study of the formation of metabolic pathways. Therefore, four established hypothe- ses, namely the backwards evolution, forward evolution, patchwork evolution and the shell hypothesis, are discussed within the realms of this in silico evolution study. The metabolic pathways of the networks, evolved in various simulation runs, are determined and analyzed in terms of their evolutionary direction. The simulation results suggest that the seemingly mutually exclusive hypotheses may well be compatible when considering that different pro- cesses dominate different phases in the evolution of a metabolic system. Further, it is found that forward evolution shapes the metabolic network in the very early steps of evolution. In later and more complex stages, enzyme recruitment supersedes forward evolution, keeping a core set of pathways from the early phase. Backward evolution can only be observed under conditions of steady environmental change. Additionally, evolutionary history of enzymes and metabolites were studied on the network level as well as for single instances, showing a great variety of evolutionary mechanisms at work. The second major focus of the in silico evolutionary study is the emergence of complex system properties, such as robustness and modularity. To this end several techniques to analyze the metabolic systems were used. The measures for complex properties stem from the fields of graph theory, steady state analysis and neutral network theory. Some are used in general network analysis and others were developed specifically for the purpose introduced in this work. To discover potential sources for the emergence of system properties, three different evolutionary scenarios were tested and compared. The first two scenarios are the same as for the first part of the investigation, one scenario of evolution under static conditions and one incorporating a steady change in the set of ”food” molecules. A third scenario was added that also simulates a static evolution but with an increased mutation rate and regular events of horizontal gene transfer between protocells of the population. The comparison of all three scenarios with real world metabolic networks shows a significant similarity in structure and properties. Among the three scenarios, the two static evolutions yield the most robust metabolic networks, however, the networks evolved under environmental change exhibit their own strategy to a robustness more suited to their conditions. As expected from theory, horizontal gene transfer and changes in the environment seem to produce higher degrees of modularity in metabolism. Both scenarios develop rather different kinds of modularity, while horizontal gene transfer provides for more isolated modules, the modules of the second scenario are far more interconnected.