Conception, modélisation et commande d’une surface de manipulation sans contact à flux d’air induit

This thesis presents the design, the modeling and the control of a pneumatic manipulatorbased on an original aerodynamic traction principle. An horizontal air flow is induced by strongvertical air jets in order to manipulate objects without contact. The objects are maintained inconstant levitation on an air cushion. Three degrees of freedom positioning of the objects canbe realized thanks to the right combination of distributed air jets. The design of an originalmanipulator using this aerodynamic principle is detailed. The device has been integrated in anexperimental setup in order to validate the manipulation principle : objects can reach velocityof 180 mm/s. Several models of the system have been established. A first model, based on experimentaldata, gives the evolution of the 1 DOF-position of an object on the device. Twoother models, based on a fundamental aerodynamic study, respectively give the evolution of the2- and 3-DOF position of the objet. The three models have been validated experimentally. Inorder to control the position of the object, different controllers have been designed : a PID oneand a robust H1 one. The control of one and two degrees of freedom of the device gives goodperformances : settling time of around 2 s and overshoot less than 5% in most of the cases. Wehave also studied a micro-manipulator that is able to position millimetric sized objects, in twodirections, thanks to inclined air jets. Objects can reach velocity of 123 mm/s, and the resolutionof the positioning is less than 0.4 μm.Ce mémoire décrit la conception, la modélisation et la commande d’un manipulateur pneumatique,fondé sur un principe de traction aérodynamique original. De puissants jets d’air verticauxpermettent de créer un flux d’air horizontal pour manipuler des objets sans contact. Les objetssont maintenus en constante lévitation sur la surface grâce à un coussin d’air, et peuvent positionnés selon trois degrés de libert´ du plan, grâce à la combinaison adéquate et distribuéede jets d’air verticaux. Nous détaillons la conception d’un prototype original de manipulateurexploitant ce principe fluidique. Ce prototype a été intégré dans une plate-forme expérimentaleafin de valider le principe de manipulation : le système permet de déplacer des objets à unevitesse atteignant 180 mm/s. Nous avons modélisé le fonctionnement de la surface selon plusieursméthodes. Un premier modèle comportemental, fond´e sur des données expérimentales, aété établi. Il permet de simuler l’´evolution de la position d’un objet sur la surface, selon un degréde liberté . Deux modèles de connaissance, fond´es sur une étude aérodynamique fondamentale,donnent l’´evolution de la position de l’objet selon respectivement deux et trois degrés de libertédu plan. Chacun des modèles a été validé expérimentalement. Nous avons synthétisé différentscontrˆoleurs afin d’asservir la position de l’objet : un premier, de type PID, et un second, de typerobuste (méthode H1). La commande de un, puis deux degrés de liberté du système, a permisd’atteindre de bonnes performances : temps de réponse d’environ 2 s et dépassement souventinférieur à 5%. Nous avons également étudié un micro-manipulateur pneumatique permettant ded´eplacer des objets de taille millimétrique selon deux directions, grâce à des jets d’air inclinés.Ces objets peuvent atteindre des vitesses de 123 mm/s. La résolution du positionnement estinférieure à 0.4 μm

2-DOF Contactless Distributed Manipulation Using Superposition of Induced Air Flows.

International audienceMany industries require contactless transport and positioning of delicate or clean objects such as silicon wafers, glass sheets, solar cell or flat foodstuffs. The authors have presented a new form of contactless distributed manipulation using induced air flow. Previous works concerned the evaluation of the maximal velocity of transported objects and one degreeof- freedom position control of objects. This paper introduces an analytic model of the velocity field of the induced air flow according to the spatial configuration of vertical air jets. Then two degrees-of-freedom position control is investigated by exploiting the linearity property of the model. Finally the model is validated under closed-loop control and the performances of the position control are evaluated

A new contactless conveyor system for handling clean and delicate products using induced air flows.

International audienceIn this paper, a new contactless conveyor system based on an original aerodynamic traction principle is described and experimented. This device is able to convey without any contact flat objects like silicon wafer, glass sheets or foodstufff thanks to an air cushion and induced air flows. A model of the system is established and the identification of the parameters is carried out. A closed-loop control is proposed for one dimension position control and position tracking. The PID-controller gives good performances for different reference signals. Its robustness to object change and perturbation rejection are also tested

Robust control of a planar manipulator for flexible and contactless handling

International audienceMany industries require non-contact and flexible manipulation systems, such as magnetic or pneumatic devices. In this paper, we describe a one-degree-of-freedom position control of an induced-air-flow surface. This device allows to convey objects on an air cushion using an original aerodynamic traction principle. A model of the system is established and the parameters are identified experimentally. A H1 robust controller is designed and implemented on the device in order to control the object position. Experiments with objects of various dimensions and materials are conducted and showed the robustness capabilities of the controller

3-DOF potential air flow manipulation by inverse modeling control.

International audiencePotential air flows can be used to perform nonprehensile contactless manipulations of objects gliding on airhockey table. In this paper, we introduce a general method able to perform 3-DOF position control of an object with potential air flow manipulators. This approach is based on an inverse modeling control scheme to perform closed-loop position servoing. We propose to use a linear programming algorithm to determine which sinks have to be activated in order to produce the suitable potential air flow to obtain the desired object motion. This approach is then validated on an experimental manipulator

Micropositioning and Fast Transport Using a Contactless Micro-Conveyor

International audienceThe micro-conveyor is a 9 x 9 mm2 manipulation surface able to move millimeter-sized planar objects in the four cardinal directions using air flows. Thanks to a specific design, the air flow comes through a network of micro-channels connected to an array of micro-nozzles. Thus, the micro-conveyor generates an array of tilted air jets that lifts and moves the object in the required direction. In this paper, we characterize the device for transport and positioning tasks and evaluate its performances in terms of speed, resolution and repeatability. We show that the micro-conveyor is able to move the object with a speed up to 137 mm* s-1 in less than 100 ms whereas the positioning repeatability is around 17.7 µm with feedback control. The smallest step the object can do is 0.3 µm (positioning resolution). Moreover, we estimated thanks to a dynamic model that the speed could reach 456 mm* s-1 if several micro-conveyors were used to form a conveying line

Structural basis of envelope and phase intrinsic coupling modes in the cerebral cortex

Intrinsic coupling modes (ICMs) can be observed in ongoing brain activity at multiple spatial and temporal scales. Two families of ICMs can be distinguished: phase and envelope ICMs. The principles that shape these ICMs remain partly elusive, in particular their relation to the underlying brain structure. Here we explored structure-function relationships in the ferret brain between ICMs quantified from ongoing brain activity recorded with chronically implanted micro-ECoG arrays and structural connectivity (SC) obtained from high-resolution diffusion MRI tractography. Large-scale computational models were used to explore the ability to predict both types of ICMs. Importantly, all investigations were conducted with ICM measures that are sensitive or insensitive to volume conduction effects. The results show that both types of ICMs are significantly related to SC, except for phase ICMs when using measures removing zero-lag coupling. The correlation between SC and ICMs increases with increasing frequency which is accompanied by reduced delays. Computational models produced results that were highly dependent on the specific parameter settings. The most consistent predictions were derived from measures solely based on SC. Overall, the results demonstrate that patterns of cortical functional coupling as reflected in both phase and envelope ICMs are both related, albeit to different degrees, to the underlying structural connectivity in the cerebral cortex.This work was supported by funding from the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) - SFB 936 - 178316478 - A1 (C.C.H.), A2 (A.K.E.), and Z3 (C.C.H. and A.M.), SPP1665 - 220176618 - EN533/13-1 (A.K.E.), SPP2041 - 313856816 - HI1286/6-1 (C.C.H.) and EN533/15-1 (A.K.E.), from the European Unions Horizon 2020 Framework Programme for Research and Innovation under Specific Grant Agreements 785907 and 945539 (Human Brain Project SGA2 and SGA3, C.C.H.), and from the 2015 FLAG-ERA Joint Transnational Call for project FIIND - ANR-15-HBPR-0005 (R.T.).Peer reviewe

Conception, modeling and control of a contactless induced air flow surface

Ce mémoire décrit la conception, la modélisation et la commande d’un manipulateur pneumatique,fondé sur un principe de traction aérodynamique original. De puissants jets d’air verticauxpermettent de créer un flux d’air horizontal pour manipuler des objets sans contact. Les objetssont maintenus en constante lévitation sur la surface grâce à un coussin d’air, et peuvent positionnés selon trois degrés de libert´ du plan, grâce à la combinaison adéquate et distribuéede jets d’air verticaux. Nous détaillons la conception d’un prototype original de manipulateurexploitant ce principe fluidique. Ce prototype a été intégré dans une plate-forme expérimentaleafin de valider le principe de manipulation : le système permet de déplacer des objets à unevitesse atteignant 180 mm/s. Nous avons modélisé le fonctionnement de la surface selon plusieursméthodes. Un premier modèle comportemental, fond´e sur des données expérimentales, aété établi. Il permet de simuler l’´evolution de la position d’un objet sur la surface, selon un degréde liberté . Deux modèles de connaissance, fond´es sur une étude aérodynamique fondamentale,donnent l’´evolution de la position de l’objet selon respectivement deux et trois degrés de libertédu plan. Chacun des modèles a été validé expérimentalement. Nous avons synthétisé différentscontrˆoleurs afin d’asservir la position de l’objet : un premier, de type PID, et un second, de typerobuste (méthode H1). La commande de un, puis deux degrés de liberté du système, a permisd’atteindre de bonnes performances : temps de réponse d’environ 2 s et dépassement souventinférieur à 5%. Nous avons également étudié un micro-manipulateur pneumatique permettant ded´eplacer des objets de taille millimétrique selon deux directions, grâce à des jets d’air inclinés.Ces objets peuvent atteindre des vitesses de 123 mm/s. La résolution du positionnement estinférieure à 0.4 μm.This thesis presents the design, the modeling and the control of a pneumatic manipulatorbased on an original aerodynamic traction principle. An horizontal air flow is induced by strongvertical air jets in order to manipulate objects without contact. The objects are maintained inconstant levitation on an air cushion. Three degrees of freedom positioning of the objects canbe realized thanks to the right combination of distributed air jets. The design of an originalmanipulator using this aerodynamic principle is detailed. The device has been integrated in anexperimental setup in order to validate the manipulation principle : objects can reach velocityof 180 mm/s. Several models of the system have been established. A first model, based on experimentaldata, gives the evolution of the 1 DOF-position of an object on the device. Twoother models, based on a fundamental aerodynamic study, respectively give the evolution of the2- and 3-DOF position of the objet. The three models have been validated experimentally. Inorder to control the position of the object, different controllers have been designed : a PID oneand a robust H1 one. The control of one and two degrees of freedom of the device gives goodperformances : settling time of around 2 s and overshoot less than 5% in most of the cases. Wehave also studied a micro-manipulator that is able to position millimetric sized objects, in twodirections, thanks to inclined air jets. Objects can reach velocity of 123 mm/s, and the resolutionof the positioning is less than 0.4 μm