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École doctorale Systèmes (Toulouse)

Works: 296 works in 458 publications in 2 languages and 466 library holdings
Roles: Other, Degree grantor, 996
Publication Timeline
Most widely held works by École doctorale Systèmes (Toulouse)
L'impact des relations contractuelles entre donneurs d'ordres et sous-traitants sur la performance d'une chaîne logistique équitable by Omar Kallel( Book )

2 editions published in 2012 in French and held by 3 WorldCat member libraries worldwide

This thesis is concerned with the establishment of contractual relationships between retailers and subcontractors in a fair trade way. We define a fair contract as a long lasting partnership that specifies physical, financial and eventually informational exchanges to ensure fair repartition of benefits between contracting parties. Thus, we were interested to set up fair whole sale prices contracts.The first phase of our work was to propose an approach to distribute the benefits in order to establish afair contract. The second phase was to apply this approach on two types of supply chains: a dyadicsupply chain solved analytically for a stochastic demand and a convergent supply chain with a retailerand several subcontractors. For the convergent chain, the solving approach differs depending on the context of information sharing. An analytical resolution is proposed for a context of total sharing ofinformation. In the context of inexistent information sharing, we proposed a multi-agent model (M1)having a negotiation dynamic inspired from the iterated contract-net between a retailer agent and several subcontractor agents. In the context of partial information sharing, we proposed two multiagent models (M2) and (M3). In these models a fair agent is added to the bargaining agents. In (M2),the fair agent acts as an advisor. In (M3), it acts as a director. In order to experimentally validate our proposals, fairness evaluation criteria have been proposed. The implementation of these models was performed using the JADE platform. The different models have produced relatively fair results.However, models adopting partial information sharing have produced better results
Mesure de champs de températures vraies par thermo-réflectométrie proche infrarouge by Remi Gilblas( Book )

2 editions published in 2012 in French and held by 3 WorldCat member libraries worldwide

True temperature field measurement is a key parameter for the optimization and the control of industrial processes. Current systems present limitations, especially on heterogeneous surfaces and/or in dynamical conditions involving the surface's variation. These restrictions are due to the ignorance of the surface's emissivity, which is a complex function of many physical quantities (temperature, wavelength, roughness, direction of detection). This thesis presents the complete development of a new method of true temperature field measurement, called Thermoreflectometry, applicable on any kind of opaque material, in the range [300-1000]°C. It allows the on-line measurement of emissivity by mixing a step of classical THERMOGRAPHY with a step of laser REFLECTOMETRY. The approach of this work is, first, the critical analysis of the method and its influence quantities, and then the optimal dimensionment of the components by simulation studies. Thirdly, a prototype is built and its defaults are characterized, following a CAMERA-based point of view, and the possible corrections are implemented. Finally, the experimental performances are estimated on some complex heterogeneous thermal scenes which emphasize the prototype's precision for all the tested samples
Contribution to fault tolerant flight control under actuator failures by Lunlong Zhong( Book )

2 editions published in 2014 in English and held by 3 WorldCat member libraries worldwide

The objective of this thesis is to optimize the use of redundant actuators for a transportation aircraft once some actuators failure occurs during the flight. Here, the fault tolerant ability resulting from the redundant actuators is mainly considered. Different classical concepts and methods related to a fault tolerant flight control channel are first reviewed and new concepts useful for the required analysis are introduced. The problem which is tackled here is to develop a design methodology for fault tolerant flight control in the case of a partial actuator failure which will allow the aircraft to continue safely the intended maneuver. A two stages control approach is proposed and applied to both the remaining maneuverability evaluation and a fault tolerant control structure design. In the first case, an offline handling qualities assessment method based on Model Predictive Control is proposed. In the second case, a fault tolerant control structure based on Nonlinear Inverse Control and online actuator reassignment is developed. In both cases, a Linear Quadratic (LQ) programming problem is formulated and different failure cases are considered when an aircraft performs a classical maneuver. Three numerical solvers are studied and applied to the offline and online solutions of the resulting LQ problems
Vérification automatique des montages d'usinage par vision : application à la sécurisation de l'usinage by Bilal Karabagli( Book )

2 editions published in 2013 in French and held by 3 WorldCat member libraries worldwide

Le terme "usinage à porte fermée", fréquemment employé par les PME de l'aéronautique et de l'automobile, désigne l'automatisation sécurisée du processus d'usinage des pièces mécaniques. Dans le cadre de notre travail, nous nous focalisons sur la vérification du montage d'usinage, avant de lancer la phase d'usinage proprement dite. Nous proposons une solution sans contact, basée sur la vision monoculaire (une caméra), permettant de reconnaitre automatiquement les éléments du montage (brut à usiner, pions de positionnement, tiges de fixation,etc.), de vérifier que leur implantation réelle (réalisée par l'opérateur) est conforme au modèle 3D numérique de montage souhaité (modèle CAO), afin de prévenir tout risque de collision avec l'outil d'usinage
Mesure de formes par corrélation multi-images : application à l'inspection de pièces aéronautiques à l'aide d'un système multi-caméras by Jacques Harvent( Book )

2 editions published in 2010 in French and held by 3 WorldCat member libraries worldwide

In 2006 the Ecole des Mines d'Albi and the LAAS-CNRS initiated a collaboration with AIRBUS Toulouse and EADS-IW for the development of a computer-vision-based system for the inspection of aeronautic parts (fuselage parts, metallic or composite aeronautical panels, etc.) in order to detect shape defects (shape deviation with regard to the desired overall shape corresponding to the CAD model). The system is composed of several cameras (at least four) giving the capacity to inspect large parts. The cameras are fixed on a rigid structure and the parts to be inspected are positioned in front of the system. Several images are acquired synchronously and they are used to reconstruct the 3D model of the part. This thesis focuses on different strategies that can be developed to manage a multiple-camera system. The different steps of the digitization process are presented, namely: multiple-view digital image correlation (a multiple-image DIC criterion well suited to the multiple views context is addressed), 3D cloud stitching, calibration assistance unit. Using more than two cameras has brought multiple benefits. It allows digitizing large aeronautic parts (several m²), provides the whole shape of an object in a one-shot acquisition, improves the accuracy thanks to data redundancy, and permits to avoid specular reflections on non-lambertian surfaces. Our algorithms have been evaluated through synthetic images as well as through the comparison with measurements acquired by different commercial digitizing systems
Routage basé sur le contenu dans les réseaux ad-hoc aéronautiques by Mickaël Royer( Book )

2 editions published in 2016 in French and held by 3 WorldCat member libraries worldwide

In a context of growing needs of communication means to increase ight safety and meet the expectations of companies and passengers, the world of civil aviation seeks new communication systems that can meet these objectives. The Aeronautical Ad-Hoc Networks, AANETs represent an innovative approach to address this problem. It is self-configured networks, using no fixed infrastructure where the nodes are commercial aircraft. The AANETs can be seen as a subset of the VANET (Vehicular Ad-Hoc Networks) since they share many features as the constraints imposed on the trajectories. In order to use these mobile networks more eficiently while meeting the needs of new applications, such as the transmission of weather information in real time, requiring air to air communications. , we propose in this thesis to use the paradigm of content based routing above AANET. In this kind of routing, it is not a destination address that is used to identify the recipients, but the message content itself. In this paradigm, a transmitter sends a message having attributes and the message is then transmitted by the network to nodes interested by the content of the message. Applied to weather information update, this approach allows an aircraft detecting a dangerous phenomenon such as a thunderstorm to only prevent interested nodes, ie those whose the trajectorycome close to the storm during the lifetime of the event. In this thesis, we have chosen to rely on the popular Publish / Subscribe (P/S) paradigm to provide a content based routing service. In this approach, publishers publish events. On the other side, nodes send subscriptions to declare their interest and the system is then in charge of forward events to nodes that match their needs. After a state of the art about existing P / S systems, particularly those adapted to VANETs, we choose to test the solutions seemed interesting in a AANET context. To accomplish this, we have developed as a Omnet ++ mobility model using real position reports to replay a full day of trafic of aircraft and several aeronautical applications based on a P / S system to generate realistic data. The results show that these solutions are not completely suitable for AANET context. Therefore, in a second step, we proposed a new P / S system which is more eficient on a AANET. This solution is based on an overlay network built thanks to a new of 1-hopping clustering algorithm suitable for AANET. In order to increase the stability of the overlay architecture, this algorithm is based on the number of neighbors and the relative mobility between the nodes to define groups. The tests show that the P/S system based on this overlay provides better results than the previously tested solutions, whether in terms of network load or percentage of transmitted events
Assistance à l'élaboration d'offres du produit au service : proposition d'un modèle générique centré connaissances et d'une méthodologie de déploiement et d'exploitation by Delphine Guillon( )

2 editions published in 2019 in French and held by 2 WorldCat member libraries worldwide

The work presented in this thesis deals with assistance in bid elaboration, by adopting the point of view of the bidder during a tendering response process. These bids may concern products, services or product-service systems (PSS). As part of our work, we group this diversity under the term“PvSS”. We are therefore interested in the following problem: “How to master and assist in bid elaboration in response to calls for tenders?”. Our first contribution is a framework for modelling and exploiting knowledge. This framework is composed of a generic model of bid structure, as well as a knowledge exploitation model. The generic model of bid structure allows the modelling of both (1) the technical solution (what the company proposes to the customer) and (2) its realization process (how the company provides this solution to the customer). It also integrates the elaboration context, customer requirements, the evaluation indicators (cost, delivery time, confidence, etc.) and risks. This model is formalized and exploited using a taxonomy, a constraint satisfaction problem (CSP) and case-based reasoning (CBR). Our second contribution deals with the characterization of a methodology for deploying and exploiting the proposed framework. This methodology, called ISIEM, includes phases of adaptation and deployment of the framework in enterprise (Initialization, Specialization and Implementation phases), but also phases of use (Exploitation and Maintenance phases). The work presented in this thesis is part of the ANR OPERA project. Our two contributions are illustrated by a case study from one of the project's partner companies
Co-design hardware/software of real time vision system on FPGA for obstacle detection by Ali Alhamwi( Book )

2 editions published in 2016 in English and held by 2 WorldCat member libraries worldwide

Obstacle detection, localization and occupancy map reconstruction are essential abilities for a mobile robot to navigate in an environment. Solutions based on passive monocular vision such as simultaneous localization and mapping (SLAM) or optical flow (OF) require intensive computation. Systems based on these methods often rely on over-sized computation resources to meet real-time constraints. Inverse perspective mapping allows for obstacles detection at a low computational cost under the hypothesis of a flat ground observed during motion. It is thus possible to build an occupancy grid map by integrating obstacle detection over the course of the sensor. In this work we propose hardware/software system for obstacle detection, localization and 2D occupancy map reconstruction in real-time. The proposed system uses a FPGA-based design for vision and proprioceptive sensors for localization. Fusing this information allows for the construction of a simple environment model of the sensor surrounding. The resulting architecture is a low-cost, low-latency, high-throughput and low-power system
Diagnostic de panne et analyse des causes profondes du système dynamique inversible by Mei Zhang( Book )

2 editions published in 2017 in English and held by 2 WorldCat member libraries worldwide

Many of the vital services of everyday life depend on highly complex and interconnected engineering systems; these systems consist of large number of interconnected sensors, actuators and system components. The study of interconnected systems plays a significant role in the study of reliability theory of dynamic systems, as it allows one to investigate the properties of an interconnected system by analyzing its less complicated subcomponents. Fault diagnosis is crucial in achieving safe and reliable operations of interconnected control systems. In all situations, the global system and/or each subsystem can be analyzed at different levels in investigating the reliability of the overall system; where different levels mean from system level down to the subcomponent level. In some cases, it is important to determine the abnormal information of the internal variables of local subsystem, in order to isolate the causes that contribute to the anomalous operation of the overall process. For example, if a certain fault appears in an actuator, the origin of that malfunction can have different causes: zero deviation, leakage, clogging etc. These origins can be represented as root cause of an actuator fault. This thesis concerns with the challenges of applying system inverse theory and model based FDD techniques to handle the joint problem of fault diagnosis & root cause analysis (FD & RCA) locally and performance monitoring globally. By considering actuator as individual dynamic subsystem connected with process dynamic subsystem in cascade, we propose an interconnected nonlinear system structure. We then investigate the problem of left invertibility, fault observability and fault diagnosability of the interconnected system, forming a novel model based multilevel FD & RCA algorithm. This diagnostic algorithm enables individual component to monitor internal dynamics locally to improve plant efficiency and diagnose potential fault resources to locate malfunction when operation performance of global system degrades. Hence, a means of acombination of local intelligence with a more advanceddiagnostic capability (combining fault monitoring anddiagnosis at both local and global levels) to performFDDfunctions on different levels of the plantis provided. As a result, improved fault localization and better predictive maintenance aids can be expected. The new system structure, together with the fault diagnosis algorithm, is the first to emphasize the importance of fault RCA of field devices, as well as the influences of local internal dynamics on the global dynamics. The developed model based multi-level FD & RCA algorithm is then a first effort to combine the strength of the system level model based fault diagnosis with the component level model based fault diagnosis. The contributions of this thesis include the following: Firstly, we propose a left invertible interconnected nonlinear system structure which guarantees that fault occurred in field device subsystem will affect the measured output of the global system uniquely and distinguishably. A necessary and sufficient condition is developed to ensure invertibility of the interconnected system which requires invertibility of individual subsystems. Second, a two level interconnected observer is developed which consists of two state estimators, aims at providing accurately estimates of states of each subsystem, as well as the unknown interconnection. In addition, it will also provide initial condition for the input reconstructor and local fault filter once FD & RCA procedure is triggered by any fault. Two underlyingissues are worth to be highlighted: for one hand, the measurement used in the estimator of the former subsystem is assumed not accessible; the solution is to replace it by the estimate provided by the estimator of the latter subsystem. In fact, this unknown output is the unknown interconnection of the interconnected system, and also the input of the latter subsystem
Réseaux ad hoc aéronautiques by Frédéric Besse( Book )

2 editions published in 2013 in French and held by 2 WorldCat member libraries worldwide

Dans un contexte de besoins croissants de moyens de communication pour augmenter la sécurité des vols et répondre aux attentes des compagnies et des passagers, le monde de l'aviation civile cherche de nouveaux systèmes de communication pouvant répondre à ces objectifs. Les systèmes de communication sol-bord existants, que ce soit les solutions par satellites en bande L (SATCOM, ...) ou les solutions cellulaires par liaison directe avec le sol (HF, VHF, ...), présentent des limites en terme de capacité, de couverture et de coût.La proposition avancée dans le cadre de cette thèse est d'utiliser les avions comme relais afin de propager les données jusqu'à une station sol. Ce système peut être vu comme un réseau ad hoc mobile dont les nœuds sont les avions civils en vol. Grâce à plusieurs sauts successifs au travers d'avions relais, chaque avion doit pouvoir joindre le sol sans être à portée directe d'une station. Le réseau ad hoc ainsi formé peut ensuite être utilisé pour différentes classes de communications : contrôle aérien, services pour les compagnies aériennes ou pour les passagers. Une telle solution permettrait d'améliorer la couverture des solutions cellulaires classiques en zone continentale. Elle est également applicable en zone océanique où les seuls moyens disponibles sont actuellement le satellite et la HF. On peut imaginer que les coûts de déploiement et de maintenance seraient relativement bas puisque l'infrastructure sol est limitée.Dans cette thèse, nous avons étudié la faisabilité puis les performances qui peuvent être attendues pour ce système de communication aéronautique innovant
Analysis and generation of highly dynamic motions of anthropomorphic systems : application to parkour by Galo Xavier Maldonado Toro( Book )

2 editions published in 2017 in English and held by 2 WorldCat member libraries worldwide

Cette thèse propose une approche interdisciplinaire originale du traitement du mouvement humain corps-complet grâce à l'utilisation couplée d'approches issues de la biomécanique, du contrôle moteur et de la robotique. Les méthodes biomécaniques sont utilisées pour l'enregistrement, le traitement et l'analyse du mouvement humain. L'approche << Uncontrolled Manifold >> du contrôle moteur est étendue à l'étude des mouvements hautement dynamiques. Ceci permet de déterminer si d'éventuelles tâches dynamiques sont contrôlées et stabilisées par le cerveau, puis d'inférer une organisation hiérarchique des tâches motrices. Le formalisme de l'espace des tâches utilisé en robotique pour la génération de mouvement corps-complet ainsi que la hiérarchie des tâches extraites dans l'étude du contrôle moteur sont utilisés pour simuler des mouvements humains hautement dynamiques. Cette approche permet de mieux comprendre le mouvement humain et de générer des mouvements inspirés de l'humain pour d'autres systèmes anthropomorphes tel que des robots ou avatars. La discipline du Parkour, impliquant des actions hautement dynamiques tels que des sauts et des techniques d'atterisage, est choisie pour illustrer l'approche proposée
Modélisation, analyse et conception de protocoles MAC multi-canaux dans les réseaux sans fil by Abdelaziz El Fatni( Book )

2 editions published in 2013 in French and held by 2 WorldCat member libraries worldwide

L'utilisation des communications multi-canaux au niveau des protocoles MAC (MAC multi-canaux) dans les réseaux sans fil peut améliorer significativement le débit du réseau par rapport aux protocoles MAC mono-canal en permettant à plusieurs transmissions concurrentes d'avoir lieu simultanément sans interférence sur différents canaux non recouverts. Cependant, l'environnement multicanaux ajoute une nouvelle dimension aux protocoles MAC qui nécessite un nouveau mécanisme appelé "le mécanisme d'allocation des canaux" pour coordonner l'utilisation des canaux. Le rôle de ce mécanisme est de permettre aux nœuds de s'accorder sur le canal qui doit être utilisé et à quel moment pour la transmission de données dans un contexte distribué. L'absence de ce mécanisme ou une mauvaise coordination de l'utilisation des canaux peut produire l'effet inverse de celui recherché. Ainsi, l'efficacité d'un protocole MAC multi-canaux dépend strictement de l'efficacité du mécanisme d'allocation des canaux, qui par ailleurs, doit offrir les garanties nécessaires au fonctionnement de la communication multi-canaux. Dans cette thèse, nous nous intéressons à la modélisation, l'analyse et la conception de nouveaux protocoles MAC multi-canaux dans les réseaux sans fil. Dans un premier temps, nous nous focalisons sur la spécification formelle et la vérification des propriétés fondamentales inhérentes aux activités de l'allocation des canaux et son impact sur le transfert de données des principales approches MAC multi-canaux proposées dans la littérature. Dans un second temps, nous visons à proposer, modéliser et à analyser formellement deux nouveaux protocoles MAC multicanaux résultants de l'analyse qualitative réalisée. Enfin, une étude quantitative et comparative est menée afin d'analyser les performances des protocoles proposés en terme de débit et d'impact du temps de commutation entre les canaux
Hybridation GPS/Vision monoculaire pour la navigation autonome d'un robot en milieu extérieur by Jean-Marie Codol( Book )

2 editions published in 2012 in French and held by 2 WorldCat member libraries worldwide

We are witnessing nowadays the importation of ICT (Information and Communications Technology) in robotics. These technologies will give birth, in upcoming years, to the general public service robotics. This future, if realised, shall be the result of many research conducted in several domains: mechatronics, telecommunications, automatics, signal and image processing, artificial intelligence ... One particularly interesting aspect in mobile robotics is hence the simultaneous localisation and mapping problem. Consequently, to access certain informations, a mobile robot has, in many cases, to map/localise itself inside its environment. The following question is then posed: What precision can we aim for in terms of localisation? And at what cost?In this context, one of the objectives of many laboratories indulged in robotics research, and where results impact directly the industry, is the positioning and mapping of the environment. These latter tasks should be precise, adapted everywhere, integrated, low-cost and real-time. The prediction sensors are inexpensive ones, such as a standard GPS (of metric precision), and a set of embeddable payload sensors (e.g. video cameras). These type of sensors constitute the main support in our work.In this thesis, we shed light on the localisation problem of a mobile robot, which we choose to handle with a probabilistic approach. The procedure is as follows: we first define our "variables of interest" which are a set of random variables, and then we describe their distribution laws and their evolution models. Afterwards, we determine a cost function in such a manner to build up an observer (an algorithmic class where the objective is to minimize the cost function).Our contribution consists of using brute GPS measures (brute measures or raw datas are measures issued from code and phase correlation loops, called pseudo-distance measures of code and phase, respectively) for a low-cost navigation, which is precise in an external suburban environment. By implementing the so-called "whole" property of GPS phase ambiguities, we expand the navigation to achieve a GPS-RTK (Real-Time Kinematic) system in a precise and low-cost local differential mode.Our propositions has been validated through experimentations realized on our robotic demonstrator
Proposition d'un cadre méthodologique pour le management de la continuité d'activité : application à la prise en charge à domicile by Olfa Rejeb( Book )

2 editions published in 2013 in French and held by 2 WorldCat member libraries worldwide

In the present context, Information and Communication technologies are recognized as an inevitable element to improve business practices. Particularly in the home-care field in order to meet challenges of coordination and care continuity. However, these organizations operate in a highly dynamic and uncertain environment. In view of these endogenous and exogenous disruptions, they have to react in an agile way to face risks and to ensure their resilience. The Business Continuity Management (BCM) meets these expectations. Our motivation in this research work is to define a methodological framework to implement the business continuity management within a socio -technical system as an integral part of a new approach to model driven enterprise engineering. After delivering a synthesis of related work to Business Continuity Management, a research question concerning the structuring of this knowledge has been addressed. A methodological framework for business continuity management is then suggested. It is based on (i) the definition and the design of a meta-model integrating BCM and enterprise engineering, (ii) the development of a set criticality assessment matrix to support the business impact analysis, and finally on (iii) the definition of a modeling language adapted to concepts of BCM. A case study from the home-care sector illustrates the foundation of the methodological framework
Comprehensive méthodology for the complex systems' requirements engineering & decision making by Vikas Shukla( Book )

2 editions published in 2014 in English and held by 2 WorldCat member libraries worldwide

The primary goal of the systems engineering is the creation of a setof high quality products and services that enable the accomplishment of desiredtasks and needs of the clients or user groups. A typical systems engineering projectcan be divided in to three phases: definition, development, and deployment. Thedefinition phase involves the activities of requirement elicitation and refinement.By the end of system definition phase, we have all the system functional and nonfunctionalrequirements. One of the results of development phase is initial workingmodel of the system. The deployment phase consists of activities of operationalimplementation, operational testing and evaluation, and operational functioning andmaintenance. In a project life cycle there are numerous issues to be sorted out duringthe various phases to finally deliver a successful product. We proposed solution tothe problems of requirements engineering & management, design conflict detection,and stakeholders conflict resolution. This thesis is based on the recent advances inindustrial practices and research in the field of system design engineering.The objective of this thesis work is to propose an innovative and holistic conceptionmethodology taking into account the multidisciplinary environment and multiplestakeholders. We have proposed a requirements modeling language based on theGORE techniques. We have proposed a few of tools for reducing the ambiguity ofrequirements such as: using negation and test cases using negation for contractingdifficult requirements. Requirement management techniques are proposed to providebetter requirements traceability and aid for other systems engineering activities.Few guidelines have been designed to guide the design of traceability policies. Criteriaweighting technique has been designed to better carry out the conflict resolutions,during the various life cycle stages. Using the same criteria weighting technique aflexible multi criteria multi participant decision methodology is proposed for variousdecision problems arising during the life cycle of systems engineering project.Finally, a comprehensive prescriptive systems engineering approach is proposedusing all the previously made contributions and an illustrative case study of a realongoing project is presented developed using the supporting tool SysEngLab, whichimplements majority of the methods and techniques proposed during thesis
Méthodes de localisation par le signal de communication dans les réseaux de capteurs sans fil en intérieur by Rejane Dalce( Book )

2 editions published in 2013 in French and held by 2 WorldCat member libraries worldwide

The development of Wireless Sensor Networks has given a new life to research in thefield of localization. Many proposals have been made which can be classified as either rangefreeor range-based solutions. The range-free category relies on a priori knowledge of thenetwork while the latter uses the available hardware to measure signal characteristics fromwhich distance information can be derived. Although the information origin can vary, allproposals either introduce a new protocol, a novel algorithm or a new and improved physicallayer.Our work led to the definition of a new protocol and an efficient algorithm. Aside fromallowing the nodes to collect Time Of Flight related data, the Parallel Symmetric Double-Sided Two-Way Ranging protocol (PSDS-TWR) reduces overhead and energy consumption,making the localization service affordable for the network. The performance of this protocol,in terms of duration, has been studied using a homemade simulator named DokoSim. We alsointroduce an algorithm based on rings and linear search. This inter-Ring LocalizationAlgorithm (iRingLA) achieves a localization error of less than 2m in 70% of the cases whilebeing tested on our Chirp Spread Sprectrum based prototype
Ingénierie des réseaux optiques SDH et WDM et étude multicouche IP/MPLS sur OTN sur DWDM by Sami Baraketi( Book )

2 editions published in 2015 in French and held by 2 WorldCat member libraries worldwide

Optical transport networks currently constitute base infrastructures for modern day telecommunications systems. Given the huge investments required for deploying these networks, and in particular concerning equipment costs (fiber optics, cards, transponders, etc.), routing optimization and resource allocation are indispensable issues for mastering the operational expenditures (OPEX). In this context, the work conducted in this thesis handle a set of resource allocation problems which arise while planning not only optical SDH (Synchronous Digital Hierarchy) and WDM (Wavelength Division Multiplexing) networks, but also multilayer ones based on an optical transport layer. First, the circuit routing problem in SDH networks is tackled with the main objective of minimizing the bandwidth fragmentation. This problem is formulated as an Integer Linear Program (ILP) integrating a set of realistic routing, transmission and cross-connect constraints and using granular resource costs. An exact algorithm and two heuristics are proposed to solve this problem. The rerouting problem of SDH circuits, which faces operators when it becomes absolutely necessary to reduce the bandwidth fragmentation in the network, is also addressed. For real instances of the studied problems, it is shown that the proposed methods provide considerable economic gains. Second, two planning problems for WDM network optimization is tackled. The first problem is that of the logical network design, or in other words that concerned with the definition of lightpaths to route a set of traffic demands with a minimum transponder cost. The second problem is related to the routing and the wavelength assignment: how to route the previously defined lightpaths so as to minimize the total number of assigned wavelengths while respecting a set of technological constraints? These two problems are formulated as Integer Linear Programs (ILPs) and are solved using efficient heuristics, based on a successive approximation for the first problem and a decomposition approach for the second one. Here again, experimental results show that the proposed methods allow obtaining good quality approximations for large scale instances. Finally, resource allocation in new generation multilayer networks, that is IP/MPLS over OTN (Optical Transport Network) over DWDM (Dense WDM), is addressed. In this case, the question that most of the operators seek to answer is how to route layer 3 traffic demands while optimizing resource allocation, not only in the IP/MPLS layer, but also in the underlying OTN and DWDM layers. For this purpose, a new multilayer optimization model is proposed. It takes into account a hierarchy of material constraints and defines a tradeoff between the resource costs in the three network layers. The set of proposed optimization algorithms have been integrated into the network planning and optimization environment NEST of QoS Design, which is used by major operators to plan their network
Contributions to the use of 3D lidars for autonomous navigation : calibration and qualitative localization by Naveed Muhammad( Book )

2 editions published in 2012 in English and held by 2 WorldCat member libraries worldwide

In order to autonomously navigate in an environment, a robot has to perceive its environment correctly. Rich perception information from the environment enables the robot to perform tasks like avoiding obstacles, building terrain maps, and localizing itself. Classically, outdoor robots have perceived their environment using vision or 2D lidar sensors. The introduction of novel 3D lidar sensors such as the Velodyne device has enabled the robots to rapidly acquire rich 3D data about their surroundings. These novel sensors call for the development of techniques that efficiently exploit their capabilities for autonomous navigation.The first part of this thesis presents a technique for the calibration of 3D lidar devices. The calibration technique is based on the comparison of acquired 3D lidar data to a ground truth model in order to estimate the optimal values of the calibration parameters. The second part of the thesis presents a technique for qualitative localization and loop closure detection for autonomous mobile robots, by extracting and indexing small-sized signatures from 3D lidar data. The signatures are based on histograms of local surface normal information that is efficiently extracted from the lidar data. Experimental results illustrate the developments throughout the manuscript
Towards Socially Intelligent Robots in Human Centered Environment by Amit kumar Pandey( Book )

2 editions published in 2012 in English and held by 2 WorldCat member libraries worldwide

Robots will no longer be working isolated from us. They are entering into our day-to-day life to cooperate, assist, help, serve, learn, teach and play with us. In this context, it is important that because of the presence of robots, the human should not be on compromising side. To achieve this, beyond the basic safety requirements, robots should take into account various factors ranging from human's effort, comfort, preferences, desire, to social norms, in their various planning and decision making strategies. They should behave, navigate, manipulate, interact and learn in a way, which is expected, accepted, and understandable by us, the human. This thesis begins by exploring and identifying the basic yet key ingredients of such socio-cognitive intelligence. Then we develop generic frameworks and concepts from HRI perspective to address these additional challenges, and to elevate the robots capabilities towards being socially intelligent
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Alternative Names
École doctorale 309

École doctorale SYS (Toulouse)

ED 309

ED SYS (Toulouse)

ED Système

ED Systèmes



Edsys (Toulouse)

SYS (Toulouse)

Système (Toulouse)

Systèmes (Toulouse)

French (24)

English (16)