Download or read book Sur la conception la g n ration de trajectoires et la commande d un avion autonome de faible dimension written by Djaber Boukraa and published by . This book was released on 2006 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mes travaux de thèse s'inscrivent dans le cadre des activités de recherche sur les drones; ils portent sur la conception , la planification de trajectoires et la commande d'un drone type avion pour des applications civiles. Ce manuscrit est organisé en trois parties principales dont la première est consacrée au procesus de conception et à la modélisation du drone. La deuxième partie concerne la génération de trajectoires et présente deux algorithmes. Le premier permet de déterminer les conditions d'une trajectoire d'équilibre. Cet algorithme tient compte de la dynamique du véhicule et des différentes contraintes et limitations auxquelles il est soumis. Le deuxième algorithme est générateur de trajectoires basé sur la notion de trajectoires d'équilibre. Ce type de trajectoires a l'avantage de simplifier le modèle mathématique. Dans la génération des trajectoires, l'algorithme utilise une stratégie tout ou rien (Bang-Bang). Dans la dernière partie nous synthétisons une loi de commande non linéaire pour le suivi de trajectoire de référence. Cette technique est basée sur le bouclage de sortie linéarisant.
Download or read book Contribution la g n ration des trajectoires utilis es en commande num rique et en robotique written by Antanios Nader and published by . This book was released on 1983 with total page 159 pages. Available in PDF, EPUB and Kindle. Book excerpt: ETUDE DE LA CONCEPTION D'UNE MACHINE DESTINEE AU CONTOURNAGE. DANS UNE PREMIERE PARTIE ON ETUDIE DES METHODES GENERALES ET MOYENS INFORMATIQUES POUR LA GENERATION DE COURBES. DANS UNE DEUXIEME PARTIE ON ETUDIE LES COURBES FONDAMENTALES DU PLAN ET LES ALGORITHMES CORRESPONDANTS. LA TROISIEME PARTIE ETUDIE LES HELICES ET LES ALGORITHMES DE GENERATION DE TRAJECTOIRES A TROIS DIMENSIONS SUR DES SURFACES DE REVOLUTION. ON ETUDIE LA MISE EN OEUVRE PRATIQUE DANS LA DERNIERE PARTIE
Download or read book Contribution la g n ration de trajectoires optimales pour les syst mes differentiellement plats application au cas d un Quadri rotor written by Amine Abadi and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dans cette thèse nous nous sommes intéressés à la navigation autonome des systèmes robotiques et particulièrement pour les systèmes UAV, cas d'un quadri-rotor. Nous nous sommes focalisés sur les problèmes liés à la génération des trajectoires optimales et la conception des commandes robustes assurant la poursuite.Dans une première partie de la thèse, une nouvelle méthode de génération de trajectoires a été proposée. Cette méthode est basée sur la technique de collocation directe, la platitude différentielle et les courbes de Bézier. La platitude différentielle a été utilisée pour réduire le nombre de paramètres du problème d'optimisation. Les courbes de Bézier sont utilisées pour approximer les sorties plates. La méthode de collocation directe permet de transformer le problème d'optimisation infinie en un problème de programmation non linéaire de dimension finie. La méthodologie proposée permet de résoudre des problèmes complexes de calcul des trajectoires optimales d'une manière rapide, simple et efficace, puisque le nombre de paramètres sera réduit d'une façon considérable qui dépasse un taux de réduction de 60 %. Dans la seconde partie de la thèse, nous avons proposé une commande robuste par platitude qui assure le suivi de la trajectoire proposée en présence d'incertitude paramétrique et de perturbation externe. En utilisant la platitude, le système non linéaire est transformé en un système linéaire commandable sous la forme de Brunovsky, pour lequel il est plus facile de trouver un bouclage de rétroaction. Pour tenir compte des incertitudes paramétriques et des perturbations externes affectant le système, nous avons proposé un algorithme qui utilise le mode glissant et le contrôle actif par rejet des perturbations. Les résultats de simulation ont prouvé que l'approche considérée permet d'éliminer l'effet des perturbations et de réduire l'effet de broutement tout en assurant le degré de robustesse demandé.Pour le cas des perturbations inconnues à variations significatives affectant aussi bien le système que les mesures, nous nous sommes intéressés dans la dernière partie de la thèse à développer une nouvelle commande par platitude basée sur l'observateur par intervalle.
Download or read book Techniques Pour Les Op rations Air sol Dans Les Situations de Conflits Localis s Et de R actions Rapides written by North Atlantic Treaty Organization. Advisory Group for Aerospace Research and Development. Mission Systems Panel. Symposium and published by . This book was released on 1996 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Zonotopes written by Vu Tuan Hieu Le and published by John Wiley & Sons. This book was released on 2013-12-04 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: This title focuses on two significant problems in the field of automatic control, in particular state estimation and robust Model Predictive Control under input and state constraints, bounded disturbances and measurement noises. The authors build upon previous results concerning zonotopic set-membership state estimation and output feedback tube-based Model Predictive Control. Various existing zonotopic set-membership estimation methods are investigated and their advantages and drawbacks are discussed, making this book suitable both for researchers working in automatic control and industrial partners interested in applying the proposed techniques to real systems. The authors proceed to focus on a new method based on the minimization of the P-radius of a zonotope, in order to obtain a good trade-off between the complexity and the accuracy of the estimation. They propose a P-radius based set-membership estimation method to compute a zonotope containing the real states of a system, which are consistent with the disturbances and measurement noise. The problem of output feedback control using a zonotopic set-membership estimation is also explored. Among the approaches from existing literature on the subject, the implementation of robust predictive techniques based on tubes of trajectories is developed. Contents 1. Uncertainty Representation Based on Set Theory. 2. Several Approaches on Zonotopic Guaranteed Set-Membership Estimation. 3. Zonotopic Guaranteed State Estimation Based on P-Radius Minimization. 4. Tube Model Predictive Control Based on Zonotopic Set-Membership Estimation. About the Authors Vu Tuan Hieu Le is a Research Engineer at the IRSEEM/ESIGELEC Technopôle du Madrillet, Saint Etienne du Rouvray, France. Cristina Stoica is Assistant Professor in the Automatic Control Department at SUPELEC Systems Sciences (E3S), France. Teodoro Alamo is Professor in the Department of Systems Engineering and Automatic Control at the University of Seville, Spain. Eduardo F. Camacho is Professor in the Department of Systems Engineering and Automatic Control at the University of Seville, Spain. Didier Dumur is Professor in the Automatic Control Department, SUPELEC Systems Sciences (E3S), France.
Download or read book Your Mindful Compass written by Andrea Maloney Schara and published by . This book was released on 2013-12-01 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Your Mindful Compass" takes us behind the emotional curtain to see the mechanisms regulating individuals in social systems. There is great comfort and wisdom in knowing we can increase our awareness to manage the swift and ancient mechanisms of social control. We can gain greater flexibility by seeing how social controls work in systems from ants to humans. To be less controlled by others, we learn how emotional systems influence our relationship-oriented brain. People want to know what goes on in families that give rise to amazing leaders and/or terrorists. For the first time in history we can understand the systems in which we live. The social sciences have been accumulating knowledge since the early fifties as to how we are regulated by others. S. Milgram, S. Ashe, P. Zimbardo and J. Calhoun, detail the vulnerability to being duped and deceived and the difficulty of cooperating when values differ. Murray Bowen, M.D., the first researcher to observe several live-in families, for up to three years, at the National Institute of Mental Health. Describing how family members overly influence one another and distribute stress unevenly, Bowen described both how symptoms and family leaders emerge in highly stressed families. Our brain is not organized to automatically perceive that each family has an emotional system, fine-tuned by evolution and "valuing" its survival as a whole, as much as the survival of any individual. It is easier to see this emotional system function in ants or mice but not in humans. The emotional system is organized to snooker us humans: encouraging us to take sides, run away from others, to pressure others, to get sick, to blame others, and to have great difficulty in seeing our part in problems. It is hard to see that we become anxious, stressed out and even that we are difficult to deal with. But "thinking systems" can open the doors of perception, allowing us to experience the world in a different way. This book offers both coaching ideas and stories from leaders as to strategies to break out from social control by de-triangling, using paradoxes, reversals and other types of interruptions of highly linked emotional processes. Time is needed to think clearly about the automatic nature of the two against one triangle. Time and experience is required as we learn strategies to put two people together and get self outside the control of the system. In addition, it takes time to clarify and define one's principles, to know what "I" will or will not do and to be able to take a stand with others with whom we are very involved. The good news is that systems' thinking is possible for anyone. It is always possible for an individual to understand feelings and to integrate them with their more rational brains. In so doing, an individual increases his or her ability to communicate despite misunderstandings or even rejection from important others. The effort involved in creating your Mindful Compass enables us to perceive the relationship system without experiencing it's threats. The four points on the Mindful Compass are: 1) Action for Self, 2) Resistance to Forward Progress, 3) Knowledge of Social Systems and the 4) The Ability to Stand Alone. Each gives us a view of the process one enters when making an effort to define a self and build an emotional backbone. It is not easy to find our way through the social jungle. The ability to know emotional systems well enough to take a position for self and to become more differentiated is part of the natural way humans cope with pressure. Now people can use available knowledge to build an emotional backbone, by thoughtfully altering their part in the relationship system. No one knows how far one can go by making an effort to be more of a self-defined individual in relationships to others. Through increasing emotional maturity, we can find greater individual freedom at the same time that we increase our ability to cooperate and to be close to others.
Download or read book Innovate Bristol written by Sven Boermeester and published by . This book was released on 2019-12 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Innovate Bristol highlights and celebrates those companies and individuals that are actively working at building a better tomorrow for all. Innovation Ecosystems thrive through the involvement and support of companies and individuals from all industries, which is why the Innovate series not only focuses on the innovators but also those people whom the Innovation Ecosystem, would not be able to thrive without.
Download or read book Dynamique Non lin aire Et Le Chaos written by and published by . This book was released on 1993 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Rise and Fall of State Owned Enterprise in the Western World written by Pierangelo Maria Toninelli and published by Cambridge University Press. This book was released on 2000-10-02 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book examines the twentieth-century rise and fall of state-owned enterprises in Western political economy.
Download or read book The Situationist International written by Alastair Hemmens and published by Pluto Press (UK). This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Up-to-date collection on the Situationist International, rethinking their relevance for today
Download or read book Usable Knowledge written by Sterling Professor of Economics and Political Science Charles E Lindblom and published by Yale University Press. This book was released on 1979-01-01 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem that gives rise to this book is dissatisfaction with social science and social research as instruments of social problem solving. Policy makers and other practical problem solvers frequently voice disappointment with what they are offered. And many social scientists and social researchers think they should be more drawn upon, more useful, and more influential. Out of the discontent have come numerous diagnoses and prescriptions. This thoughtful contribution to the discussion provides an agenda of basic questions that should be asked and answered by those who are concerned about the impact of social science and research on real life problems. In general, Cohen and Lindblom believe that social scientists are crippled by a misunderstanding of their own trade, and they suggest that the tools of their trade be applied to the trade itself. Social scientists do not always fully appreciate that professional social inquiry is only one of several ways of solving a problem. They are also often engaged in a mistaken pursuit of authoritativeness, not recognizing that their contribution can never be more than a partial one. Cohen and Lindblom suggest that they reexamine their criteria for selecting subjects for research, study their tactics as compared to those of policy makers, and consider more carefully their role in relation to other routes to problem solving. To stimulate further inquiry into these fundamental issues, they also provide a comprehensive bibliography.
Download or read book Contemporary Criminological Issues written by Carolyn Côté-Lussier and published by University of Ottawa Press. This book was released on 2020-05-05 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contemporary Criminological Issues tackles some of today’s most pressing social issues, from the criminalization of Indigenous peoples to interpersonal violence, border control, and armed conflicts. This book advances cutting-edge theories and methods, with the aim of moving beyond the scholarship that reproduces insecurity and exclusion. The breadth of approaches encompasses much of the current critical criminological scholarship, serving as a counterpoint to the growth of managerial and administrative criminologies and the rise of explicitly exclusionary and punitive state policies and practices with respect to ‘crime’ and ‘security.’ This edited collection featuring two books, one in English and one in French, includes important contributions to knowledge and public policy by eminent experts and emerging scholars. This book is published in English.
Download or read book The First Garden written by Anne Hebert and published by House of Anansi. This book was released on 1990-01-01 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: "When her long-estranged daughter disappears in Quebec, famous actress Flora Fontanges returns home from Paris and experiences a devastating confrontation with the past."
Download or read book Livestock Policy Analysis written by International Livestock Research Institute and published by ILRI (aka ILCA and ILRAD). This book was released on 1995-01-01 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt: Policy concepts; Identification of policy issues; Production systems, supply and demand; Market, price and trade policies; Marketing and distribution systems; Budget and manpower planning; Land tenure police for the livestock sector; Policy analysis report writing and communication; Livestock production and marketing in alphabeta - a case study.
Download or read book L imaginaire Du D moniaque Dans la Septante written by Anna Angelini and published by Supplements to the Journal for. This book was released on 2021 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a thorough analysis of demons in the Hebrew Bible and Septuagint in the wider context of the ancient Near East and the Greek world. Taking a fresh and innovative angle of enquiry, Anna Angelini investigates continuities and changes in the representation of divine powers in Hellenistic Judaism, thereby revealing the role of the Greek translation of the Bible in shaping ancient demonology, angelology, and pneumatology. Combining philological and semantic analyses with a historical approach and anthropological insights, the author both develops a new method for analyzing religious categories within biblical traditions and sheds new light on the importance of the Septuagint for the history of ancient Judaism. Le livre propose une analyse approfondie des démons dans la Bible Hébraïque et la Septante, à la lumière du Proche Orient Ancient et du contexte grec. Par un nouvel angle d'approche, Anna Angelini met en lumière dynamiques de continuité et de changement dans les représentations des puissances divines à l'époque hellénistique, en soulignant l'importance de la traduction grecque de la Bible pour la compréhension de la démonologie, de l'angélologie et de la pneumatologie antiques. En intégrant l'analyse philologique et sémantique avec une approche historique et des méthodes anthropologiques, l'autrice développe une nouvelle méthodologie pour analyser des catégories religieuses à l'intérieur des traditions bibliques et affirme la valeur de la Septante pour l'histoire du judaïsme antique.
Download or read book The External Action of the European Union written by Sieglinde Gstöhl and published by Bloomsbury Publishing. This book was released on 2021-03-26 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: This groundbreaking new textbook offers extensive coverage of EU External Action studies, from its major concepts to the key theories in the field. Over the past decades, the European Union has progressively developed into a significant global actor in an increasing number of policy fields. This long-awaited volume looks into different ways of conceptualizing the EU as a global actor, the processes and impact of EU external action, explanations offered by IR and integration theories, the discursive, normative, practice and gender 'turns', and the 'decentring agenda' for EU external action. The book offers a reader-friendly guidance on these various ways in which to study the EU as a global actor: each chapter introduces one concept, approach or theory and illustrates its application by a case study of EU external action. In drawing the different perspectives together, the book underscores that 'EU External Action Studies' is becoming an academic speciality in its own right. Written by leading experts, the volume will make essential reading for students, scholars and practitioners of EU external action. EU External Action Studies nowadays attract attention from scholars and students in International Relations (IR), Foreign Policy Analysis and (interdisciplinary) EU Studies, as well as from practitioners.
Download or read book Wind tunnel Investigation of a Number of Total pressure Tubes at High Angles of Attack written by A. Gerald Rainey and published by . This book was released on 1957 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt:
