Emanuel Pablo VEGA , doctorant au sein du PTR4 « Systèmes énergétiques et Procédés thermique » soutiendra sa thèse de Doctorat intitulée :
« Task-Design and Optimization of Reconfigurable Propulsion Systems for Autonomous Underwater Vehicles »
le jeudi 20 octobre à 10h00 à l’ENIB (PLOUZANÉ)
Abstract :
In this PhD thesis, the optimization of the propulsion and control of AUVs is developed. The hydrodynamic model of the AUVs is examined. Additionally, AUV propulsion topologies are studied and models for fixed and vectorial technology are developed. The fixed technology model is based on an off the shelf device, while the modeled vectorial propulsive system is based on a magnetic coupling thruster prototype developed in IRDL (Institut de Recherche Dupuy de Lôme) at ENI Brest. A control method using the hydrodynamic model is studied, its adaptation to two AUV topologies is presented and considerations about its applicability will be discussed. The optimization is used to find suitable propulsive topologies and control parameters in order to execute given robotic tasks, speeding up the convergence and minimizing the energy consumption. This is done using a genetic algorithm, which is a stochastic optimization method used for task-based design. The results of the optimization can be used as a preliminary stage in the design process of an AUV, giving ideas for enhanced propulsive configurations. The optimization technique is also applied to an IRDL existing robot, modifying only some of the propulsive topology parameters in order to readily adapt it to different tasks, making the AUV dynamically reconfigurable.
Jury de thèse :
- Philippe BIDAUD, Professeur, Université Pierre et Marie Curie / rapporteur
- Frédéric BOYER, Professeur, Ecole des Mines de Nantes / rapporteur
- Frédéric CHAPELLE, Maître de Conférences, SIGMA Clermont / examinateur
- Vincent HUGEL, Professeur, Université de Toulon / examinateur
- Luc JAULIN, Professeur, ENSTA Bretagne / examinateur
- Janito VAQUEIRO FERREIRA, Professor, University of Campinas, Brazil / examinateur
- Olivier CHOCRON, Maître de Conférence, ENI Brest / co-encadrant
- Mohamed BENBOUZID, Professeur, Université de Bretagne Occidentale / directeur de thèse
Keywords :
Marine robotics, underactuated robots, underwater vehicle dynamics, propulsion, robot control, design optimization, genetic algorithms, magnetic coupling.Une partie du travail présenté dans ce mémoire a fait l’objet d’un certains nombre de publications listées ci-dessous :
Revues Internationales :
[1] E.P.&Vega, O. Chocron and M.E.H. Benbouzid, “A flat design and validated model for AUV reconfigurable magnetic coupling thruster,” IEEE/ASME3Transactions3on3Mechatronics, vol. PP, n°99, pp. 1–9, 2016.[2] E.P.&Vega, O. Chocron and M.E.H. Benbouzid, “AUV propulsion systems modeling analysis,” International3 Review3on3Modelling3and3Simulations, vol. 7, n°5, pp. 827-837, October 2014.
Conférences Internationales :
[1] E.P.&Vega, O. Chocron, J.V. Ferreira, M.E.H. Benbouzid and P.S. Meirelles, “Evaluation of AUV fixed and vectorial propulsion systems with dynamic simulation and non-linear control,” in Proceedings of the 20153 IEEE3 IECON, Yokohama (Japan), pp. 944-949, November 2015.