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Renewable Energy Sources (RES) have emerged as a sustainable alternative to carbon-based energy sources as the world is struggling in limiting the greenhouse effect in the coming years. The use of RES, such as solar and wind, alone is non-reliable due to their intermittent nature. The surplus electricity generated during off-peak hours must be stored to tackle the problem of the unavailability of energy. Green Hydrogen (GH_2) generation using electrolyser running on RES has seen an increase in recent years for the storage of this surplus energy due to its advantages over conventional methods (such as batteries and ultra-capacitors) for long term storage and transport. Proton Exchange Membrane (PEM) based electrolysers are better suited for the coupling with RES as compared to the alkaline electrolysers due to their faster start-up times and fast dynamic load changing capability. The intermittent nature of RES affects the performance and operation dynamics of the PEM electrolyser and must be analysed and studied in order to make these systems more reliable and safer to use. Mathematical modelling is one of the possible solutions for studying their behavior and developing supervision algorithms.Under the framework of the E2C project of the European Interreg 2-Seas program, a generic dynamic multi-physics model of a PEM electrolyser has been proposed in this work based on Bond Graph (BG) approach. Various components of the PEM electrolyser have been modelled in the form of BG capsules. These capsules can be connected based on the piping and instrumentation diagram of the PEM electrolyser system to have a global model of the system. The developed model is capable of representing different configurations of PEM electrolysers ranging from laboratory scale to industrial scale. The model is also capable of facilitating efficiency tracking in real-time. The developed model in the BG form has been converted into MATLAB® Simulink block diagram from the implementation point of view.The model was then validated using a single cell PEM electrolyser powered by a Hybrid Multi-source Platform (HMP) running on solar and wind energy at the University of Lille. The proposed model was also extended for the modelling and performance study of Anion Exchange Membrane (AEM) electrolysis cell, in collaboration with the University of Exeter of England, which shares a similar configuration and architecture.The developed model for the PEM electrolysis system is also suitable for the development of control, diagnosis, and prognosis algorithms. Therefore, a model-based robust fault diagnosis for PEM water electrolyser has been proposed in this work. The proposed diagnosis algorithms and model have been then utilized for developing the graphical user interface for online supervision.; L’hydrogène vert est le vecteur d’énergie du futur le plus prometteur car il est d’une part capté par des sources renouvelables et inépuisables qui sont les énergies éolienne et/ou solaire et d’autre part permet de meilleurs transport et stockage de l’énergie sur le long terme en bouteilles haute pression par un électrolyseur pour produire ensuite de l’électricité par des piles à combustible sans émission d’aucun polluant. La nature intermittente des SER dégrade la performance et le fonctionnement dynamique des électrolyseurs PEM et leur couplage doit être étudié afin d’assurer la disponibilité opérationnelle et la pérennité du fonctionnement des équipements par une détection précoce des défauts et l’estimation de leurs durées de vie mais aussi le suivi en ligne des performances technico économiques. L’objectif de la thèse réalisé dans le cadre du projet Européen Interreg-2 Mers E2C est de développer un modèle dynamique multi-physique d’un électrolyseur PEM, basé sur une approche Bond-Graph pour une utilisation générique pour d’autres types d’électrolyseur non seulement pour l’analyse mais aussi pour la conception de systèmes de supervision en ligne pour la détection et localisation de défauts. La modélisation des divers composants de l’électrolyseur a été réalisée sous forme de capsules Bond-Graph. Ces capsules peuvent être connectées en tenant compte de la structure du diagramme d’instrumentation pour obtenir un modèle dynamique global. Ce modèle est capable de représenter différentes configurations, du pilote de laboratoire jusqu’à l’échelle industrielle, et également de suivre l’efficacité en temps réel. Le modèle a été converti en MATLAB® Simulink pour implémentation, puis validé expérimentalement sur une cellule alimentée par une Plateforme Multi-Source Hybride comprenant des sources d’énergie solaire et éolienne. Le modèle a été adapté pour représenter et étudier la performance d’un électrolyseur à Membrane Echangeuse d’Anions, dont la configuration et l’architecture sont similaires, en collaboration avec l’Université d’Exeter. Le modèle permet également de développer des algorithmes de commande, diagnostic et pronostic ; ainsi, un diagnostic robuste des défauts est présenté dans ce travail. Une Interface Utilisateur Graphique pour la supervision en ligne incorpore le modèle et les algorithmes de diagnostic.

The incremental negative impedance (INI) characteristic of constant power load (CPL) and component faults decrease the damping factor of DC Microgrid components. The decrease in the damping factor of DC-Microgrid components causes an undamped oscillation in the electrical parameters (voltage and current). This undamped oscillation gives stress and damage to semiconductor components. In this condition, the DC-MG stops operating, and energy availability will be lost in DC-MG. This thesis contributes to develop a robust reconfigurable control hierarchy consisting of primary and secondary control levels. This developed control hierarchy increases the DC-MG components' damping factor to avoid the instability problem due to the INI characteristic of CPL and component Faults. The robustness of the control hierarchy is provided by two Robust controllers: H∞ and structured H∞ based controllers. The H∞ based controller is integrated into the primary control level, and the structured H∞ based controller is integrated into the secondary control level. A process design consisting of the Golver Doyle (DG) and Nonsmooth optimization algorithms is proposed to perform H∞ and structured H∞ based controllers. These GD and Nonsmooth optimization algorithms require the augmented plants, including the weight functions, representing the optimization problem constraints. They help to derive robust controllers that can achieve the wanted performance. These augmented plants are derived from the models of the DC/DC converters integrated into DC-MG and parallel interconnection of DC-MG components, which incorporate the model of overall system uncertainties and disturbances.The robust control hierarchy is reconfigured by recalculating H∞ and structured H∞ based controllers when a severe fault occurs in the system. The reconfiguration of robust control hierarchy required a robust online diagnosis consisting of analytical redundancy relations (ARRs) whose numerical evaluations are the fault indicators, which must be comprised between the adaptive thresholds when the system is in its healthy state. These fault indicators go outside the adaptive thresholds when the fault occurs in the system. The ARRs and generators of adaptive thresholds are derived from the model of the DC-MG performed using a linear fractional transformation bond graph (LFT-BG) modeling approach, which is a powerful tool for modeling the hybrid multi-physical system such as DC-MG. Also. This approach modeling includes the uncertainties and disturbances as a part of the model, which is used to derive the generators of adaptive thresholds. Moreover, the robust online diagnosis can estimate the change of parameters that occurred due to the fault. This estimation will help to recalculate the H∞ and structured H∞ based controller. The developed approach is validated using the simulation carried out in PSIM, Matlab, and 20sim software and experiment performed using two platforms: platform developed in the University of M'sila and another platform developed in CRIStAl laboratory, available in Lille polytech school., La caractéristique d'impédance négative incrémentielle (INI) de la charge à puissance constante (CPL) et les défauts des composants diminuent le facteur d'amortissement des composants du micro-réseau DC (DC-MG). La diminution du facteur d'amortissement des composants du micro-réseau DC provoque une oscillation non amortie des paramètres électriques (tension et courant). Cette oscillation non amortie provoque du stress et des endommagements des composants semi-conducteurs. Dans cette condition, le DC-MG cesse de fonctionner, et la disponibilité de l'énergie sera perdue dans le DC-MG. Cette thèse contribue au développement d'une hiérarchie de contrôle reconfigurable robuste composée de niveaux de contrôle primaire et secondaire. Cette hiérarchie de contrôle développée augmente le facteur d'amortissement des composants du DC-MG pour éviter le problème d'instabilité dû à la caractéristique INI du CPL et aux défauts des composants. La robustesse de la hiérarchie de contrôle est assurée par deux contrôleurs robustes : le contrôleur H∞ et le contrôleur structuré basés sur H∞. Le contrôleur H∞ est intégré au niveau de contrôle primaire, et le contrôleur structuré basé sur H∞ est intégré au niveau de contrôle secondaire. Un processus de conception composée de deux algorithmes d'optimisation Glover Doyle (DG) et Nonsmooth est proposée pour développer les contrôleurs H∞ et le contrôleur structuré basé sur H∞. Ces algorithmes d'optimisation GD et Nonsmooth nécessitent les systèmes augmentés, incluant les fonctions de pondération, représentant les contraintes du problème d'optimisation. Ils aident à obtenir ces contrôleurs robustes qui peuvent atteindre les performances souhaitées. Ces systèmes augmentés sont dérivés des modèles des convertisseurs DC/DC intégrés dans le DC-MG et de l'interconnexion parallèle des composants DC-MG, qui incorporent le modèle des incertitudes et des perturbations du système.La hiérarchie de contrôle robuste est reconfigurée en recalculant le contrôleur H∞ et le contrôleur structuré basés sur H∞ lorsqu'un défaut grave se produit dans le système. La reconfiguration de la hiérarchie de contrôle robuste a nécessité un diagnostic en ligne robuste constitué de relations de redondance analytiques (ARR) dont les évaluations numériques sont les indicateurs de défaut, qui doivent être compris entre les seuils adaptatifs lorsque le système est dans son état sain. Ces indicateurs de défaut sortent des seuils adaptatifs lorsque le défaut se produit dans le système. Les ARR et les générateurs de seuils adaptatifs sont dérivés du modèle du DC-MG réalisé à l'aide d'une approche de modélisation par Bond graph à base d’une transformation fractionnaire linéaire (LFT-BG), qui est un outil puissant pour modéliser le système multi physique hybride tel que le DC-MG. De plus. Cette approche de modélisation inclut les incertitudes et les perturbations comme une partie du modèle, qui est utilisé pour dériver les générateurs de seuils adaptatifs. En outre, le diagnostic en ligne robuste peut estimer le changement des paramètres qui s'est produit en raison de défaut. Cette estimation aidera à recalculer le contrôleur H∞ et le contrôleur structuré à base H∞. L'approche développée est validée à l'aide de la simulation réalisée dans les logiciels PSIM, Matlab, et 20sim et de l'expérimentation réalisée à l'aide de deux plateformes : une plateforme développée à l'Université de M'sila et une autre plateforme développée au laboratoire CRIStAL, disponible à l'école polytechnique de Lille.

Green hydrogen is undoubtedly the most promising energy vector of the future because it is captured by renewable and inexhaustible sources, such as wind and/or solar energy, and can be stored over the long in high-pressure cylinders, which can be used to feed the fuel cells to produce the electricity without emitting any pollutants. The system incorporated renewable sources and process used to produce the green hydrogen is the hybrid multi-source system (HMS). The production of hydrogen needs a reliable HMS, which always requires online monitoring for real-time Fault Detection and Isolation (FDI) because the risk of accidents in HMS and safety issues increases due to the possibility of faults. However, online monitoring of FDI is challenging due to the multi-physics dynamics of HMS and the inclusion of uncertain parameters and several disturbances. This paper proposes an online robust fault detection algorithm to detect system faults based on the properties of the graphical linear fractional transformation bond graph (LFT-BG) modeling approach. Here, the analytical redundancy relations (ARRs) and their uncertain parts extracted from the LFT-BG model are used to develop an online robust FDI algorithm for HMS. Numerical evaluations of ARRs and their uncertain parts, respectively, generate the residual signals known as “faults indicators” and their uncertain bounds known as “adaptive thresholds.” These thresholds evolve with system variables in the presence of parameter uncertainties for ensuring robust FDI for HMS to minimize false alarms. The validation of this approach is carried out using 20sim software that is familiar with BG modeling.

International audience; Although linear electromagnetic energy harvester (LEH) is a promising technique for converting energy in a vehicle suspension, due to the large displacements, one of the main drawbacks of the solutions inside the vehicle is still their size and complexity. To address this issue, this paper focuses on the design and fabrication of a fully embedded LEH without any modification of the suspension initial structure. After a determination of the electrical, mechanical and electromechanical parameters using a Finite Element analysis, the dynamic efficiency is highlighted with a global Bond Graph model. This formalism is well adapted to simulate energy transfers inside multiphysic systems and to reduce the computational time, whereas the finite element model is not exploitable for a complete suspension simulation. In order to validate the Bond Graph simulation results, an embedded prototype has been built and tested in a laboratory environment. The embedded LEH system delivers around 10 W for a solicitation of linear velocity of 1 m/s which is sufficient to power a classical electronic circuit which is in good correlation with the measured ones and significant power has been obtained.

Prognosis and Health Management (PHM) is a very useful tool for improving the overall safety, reliability and cost of a system. Fault diagnosis and prognosis are two pillars of a successful PHM. Both have their own challenges and are mostly studied independent of each other. Therefore, performing both fault diagnosis and prognosis using a common metric can greatly ease the overall implementation of PHM process and hence make the system more safe and reliable. This work proposes an innovative integrated framework for performing fault diagnosis and prognosis using a common metric i.e. Energy Activity (EA). The underlying framework is in the first step validated using simulated spring-mass-damper system. The proposed framework is further improved to addresses a major challenge to PHM i.e. robustness of decision considering both system parameter uncertainties and measurement uncertainties. The improved framework is successfully applied to a real hydraulic two-tank system test bed system under uncertain conditions.; Les approches "Prognosis and Health Management" sont très utiles pour améliorer la sécurité globale, la fiabilité et le coût d'un système. Le diagnostic et le pronostic des pannes sont les deux piliers pour la conception d'un système sûr de fonctionnement. Chacun d'eux a ses propres défis et est pour la plupart du temps, étudié indépendamment l'un de l'autre. Par conséquent, effectuer à la fois le diagnostic et le pronostic des pannes à l'aide d'une métrique commune peut grandement faciliter le processus global d'implémentation des méthodes PHM et donc rendre le système plus sûr et plus fiable. Ce travail propose un nouveau formalisme intégrée pour effectuer le diagnostic et le pronostic des pannes en utilisant une métrique commune, à savoir l'activité énergétique (EA). La méthodologie développée est appliquée à un système ressort-masse-amortisseur. Les outils proposés sont enrichis pour relever un défi majeur pour le PHM, à savoir la robustesse de la décision en tenant compte à la fois des incertitudes paramétriques et de de mesure. La méthodologie complète est dans une deuxième phase appliquée avec succès à un système hydraulique de régulation de niveau dans des conditions incertaines.

International audience; Modelling trilayer conducting polymer is still challenging as it exhibits interrelated coupled multiscale and non-linear characteristics. Therefore, this work proposes to review the underlying electro-chemo-mechanical principles in ultrathin PEDOT trilayer ionic conducting polymers based upon internal ion charge transport, conduction phenomena, redox process and elastic deformation. Microscale governing equations are first analyzed and the choice of appropriate assumptions depending of the used material is discussed. Since exact analytical solutions can be so far given only for some limited conditions, numerical solutions are developed to solve the problem. Then simulations in both sensing and actuating are successfully compared with experiments.

International audience; This paper reports work performed to support the development of condition monitoring strategies through extensive use of simulation. The aim is to define and implement a methodology that makes the development of lumped-parameter models more efficient and straightforward. This is achieved by considering the model architecting and the approach adopted for fault injection early in the process. Various options are proposed and compared for both these activities. The Bond-Graph formalism is extensively used for its ability to focus on the model structure and interfaces, the nature of the phenomena considered, and potential causality issues. The interest of the proposed methodology is illustrated with the example of a pressure-compensated axial piston pump that supplies the flight control actuators in helicopters. The pump model architecting and the fault injection are presented, with special attention to jamming and erosion of the pump compensator valve. From these examples, it is shown that the proposed methodologies provide an efficient model-based means of identifying fault signatures and implementing low-cost condition monitoring features in an industrial context.

This work is an attempt to develop and validate a graphical dynamical model of an AEM electrolysis cell based on Bond Graphs, an energy based tool that allows to represent multiphysics systems. The model of the cell lays a foundation for developing a complete representation for AEM electrolysers which can be used for simulation as well as for developing control algorithms and fault diagnosis. Parameter identification and model validation is achieved using experimental data.

International audience; This paper considers a bond graph approach to model a solar photovoltaic-thermal panel (PV/T) system as an alternative to the method used in [3]. Based on the obtained 1d model representing the dynamics of the PV/T, we identify transfer functions connecting the air output temperature to the air input flow for different operating points. Further, a PI-type controller is proposed and proven to guarantee good performance. All the techniques presented are illustrated through simulation results.

A redundant robot can complete a given task even in a faulty situation using its alternative configurations. This paper presents a reconfiguration strategy for a redundant heavy mobile robot called Robutainer. It is a four wheeled mobile robot, which is used to transport 40 feet container in port terminals. Robutainer has redundant steering actuations for the front and rear sides, due to this redundancy, it shows four steering configurations namely, dual, front, rear, and skid. Thus, Robutainer can reconfigure between its four steering configurations when subjected to a fault in the steering system. But, it is necessary to detect and isolate a fault in the steering system; subsequently, the robot can be reconfigured according to the available steering configurations. The steering system of Robutainer is a complex multi-domain system with hybrid dynamics. In this work, a graphical modeling approach Bond Graph (BG) is used to develop the fault detection and isolation (FDI) model of the steering system considering its multi-domain components including electric motor, pump, accumulator, hydraulic motor, and transmission; moreover, discrete dynamics of distributor valves are included. Finally, a reconfiguration strategy is developed in order to reconfigure the system according to faults in the components of the steering system. The developed algorithm is verified through simulation in Matlab/Simulink with different components faults, and the experimental data of the robot tracking with four steering configurations is used to develop the reconfiguration strategy.

The use of automotive air conditioning leads to a fuel overconsumption. To reduce this overconsumption, we can either work upstream on the technical definitions of the cabin and the HVAC system or optimize control strategies. In both cases, it is essential to build a cabin thermal model that well balances accuracy and complexity. This is the topic of this PhD thesis driven by Renault Group. First, a model reduction methodology is used to build a 0D model starting from a 3D finite element cabin thermal model. This 0D model is based on mass and energy balances on the different cabin walls and air zones. It consists of a nonlinear differential algebraic equations system which can be reinterpreted as a Bond Graph. In addition, the 0D model is based on a weak coupling between the thermal equations and the fluid mechanics ones resulting from CFD calculations (internal airflow and external aerodynamics). Secondly, we apply a machine learning method to the data generated by the 0D model in order to build a reduced 0D model. A design of experiment is considered at this stage. Due to the nonlinearity of the heat exchanges, we have developed an approach which is inspired by the Gappy POD and EIM methods. We use a multiphysics reduced basis that takes several contributions into account (temperatures, enthalpies, heat fluxes and humidities). The resulting reduced model is a hybrid model that couples some of the original physical equations to an artificial neural network. The reduction methodology has been validated on Renault vehicles. The reduced order models have been integrated into a vehicle system-level energetic simulation platform (GREEN) which models different thermics (engine, transmission, cooling system, battery, HVAC, refrigerant circuit, underhood) in order to perform thermal management studies which are of particular importance for electric and hybrid vehicles. The reduced order models have been validated on several scenarios (temperature control for thermal comfort, driving cycles, HVAC coupling) and have achieved CPU gains of up to 99% with average errors of 0.5 °C on temperatures and 0.6% on relative humidities.; L’utilisation de la climatisation automobile engendre physiquement une surconsommation de carburant. Pour diminuer cette surconsommation, il existe deux leviers principaux. Le premier consiste à travailler en amont sur la définition technique de l’habitacle et du système de climatisation. Le second levier consiste à optimiser les stratégies de contrôle. Dans les deux cas, il s’avère incontournable de construire des modèles de thermique habitacle précis et rapides à évaluer. Ce qui fait l’objet de cette thèse CIFRE du Groupe Renault. Dans un premier temps, une méthodologie de réduction de modèles est exploitée pour passer d’un modèle éléments finis 3D à un modèle 0D. Ce modèle 0D est basé sur des bilans de masse et d’énergie sur les différentes parois et zones d’air de la cabine. Il prend la forme d’un système d’équations algébro-différentielles non-linéaire qui peut être transcrit en Bond Graph. De plus, le modèle 0D exploite un couplage faible entre la thermique et la mécanique des fluides issue des calculs CFD (aéraulique et aérodynamique externe). Dans un deuxième temps, on applique une méthode d’apprentissage automatique aux données générées par le modèle 0D en vue de construire un modèle 0D réduit. Un plan d’expériences est considéré à cette étape. Du fait de la non-linéarité des échanges thermiques, nous avons développé une approche qui s’inspire des méthodes Gappy POD et EIM. La base réduite utilisée est une base multiphysique qui tient compte de plusieurs contributions (températures, enthalpies, flux thermiques et humidités). Le modèle réduit obtenu est un modèle hybride qui couple quelques équations physiques d’origine à un réseau de neurones artificiel. La méthodologie de réduction a été déployée sur des véhicules Renault. Les modèles réduits ont été intégrés dans la plateforme GREEN de synthèse énergétique qui modélise différentes thermiques (moteur, transmission, circuit de refroidissement, batterie, HVAC, boucle froide, sous-capot) en vue de faire des études de gestion thermique qui revêtent une importance particulière pour les véhicules électriques et hybrides. Les modèles réduits ont été validés sur plusieurs scénarios (boucle de régulation pour le confort thermique, cycle d’homologation, couplage HVAC) et ont permis d’obtenir des gains CPU allant jusqu’à 99% avec des erreurs moyennes de 0,5°C sur les températures et 0,6% sur les humidités relatives.

The use of automotive air conditioning leads to a fuel overconsumption. To reduce this overconsumption, we can either work upstream on the technical definitions of the cabin and the HVAC system or optimize control strategies. In both cases, it is essential to build a cabin thermal model that well balances accuracy and complexity. This is the topic of this PhD thesis driven by Renault Group. First, a model reduction methodology is used to build a 0D model starting from a 3D finite element cabin thermal model. This 0D model is based on mass and energy balances on the different cabin walls and air zones. It consists of a nonlinear differential algebraic equations system which can be reinterpreted as a Bond Graph. In addition, the 0D model is based on a weak coupling between the thermal equations and the fluid mechanics ones resulting from CFD calculations (internal airflow and external aerodynamics). Secondly, we apply a machine learning method to the data generated by the 0D model in order to build a reduced 0D model. A design of experiment is considered at this stage. Due to the nonlinearity of the heat exchanges, we have developed an approach which is inspired by the Gappy POD and EIM methods. We use a multiphysics reduced basis that takes several contributions into account (temperatures, enthalpies, heat fluxes and humidities). The resulting reduced model is a hybrid model that couples some of the original physical equations to an artificial neural network. The reduction methodology has been validated on Renault vehicles. The reduced order models have been integrated into a vehicle system-level energetic simulation platform (GREEN) which models different thermics (engine, transmission, cooling system, battery, HVAC, refrigerant circuit, underhood) in order to perform thermal management studies which are of particular importance for electric and hybrid vehicles. The reduced order models have been validated on several scenarios (temperature control for thermal comfort, driving cycles, HVAC coupling) and have achieved CPU gains of up to 99% with average errors of 0.5 °C on temperatures and 0.6% on relative humidities.; L’utilisation de la climatisation automobile engendre physiquement une surconsommation de carburant. Pour diminuer cette surconsommation, il existe deux leviers principaux. Le premier consiste à travailler en amont sur la définition technique de l’habitacle et du système de climatisation. Le second levier consiste à optimiser les stratégies de contrôle. Dans les deux cas, il s’avère incontournable de construire des modèles de thermique habitacle précis et rapides à évaluer. Ce qui fait l’objet de cette thèse CIFRE du Groupe Renault. Dans un premier temps, une méthodologie de réduction de modèles est exploitée pour passer d’un modèle éléments finis 3D à un modèle 0D. Ce modèle 0D est basé sur des bilans de masse et d’énergie sur les différentes parois et zones d’air de la cabine. Il prend la forme d’un système d’équations algébro-différentielles non-linéaire qui peut être transcrit en Bond Graph. De plus, le modèle 0D exploite un couplage faible entre la thermique et la mécanique des fluides issue des calculs CFD (aéraulique et aérodynamique externe). Dans un deuxième temps, on applique une méthode d’apprentissage automatique aux données générées par le modèle 0D en vue de construire un modèle 0D réduit. Un plan d’expériences est considéré à cette étape. Du fait de la non-linéarité des échanges thermiques, nous avons développé une approche qui s’inspire des méthodes Gappy POD et EIM. La base réduite utilisée est une base multiphysique qui tient compte de plusieurs contributions (températures, enthalpies, flux thermiques et humidités). Le modèle réduit obtenu est un modèle hybride qui couple quelques équations physiques d’origine à un réseau de neurones artificiel. La méthodologie de réduction a été déployée sur des véhicules Renault. Les modèles réduits ont été intégrés dans la plateforme GREEN de synthèse énergétique qui modélise différentes thermiques (moteur, transmission, circuit de refroidissement, batterie, HVAC, boucle froide, sous-capot) en vue de faire des études de gestion thermique qui revêtent une importance particulière pour les véhicules électriques et hybrides. Les modèles réduits ont été validés sur plusieurs scénarios (boucle de régulation pour le confort thermique, cycle d’homologation, couplage HVAC) et ont permis d’obtenir des gains CPU allant jusqu’à 99% avec des erreurs moyennes de 0,5°C sur les températures et 0,6% sur les humidités relatives.

This paper deals with a model builder for Hybrid Dynamic Systems (HDS), where technological components including sensors in an iconic format can be automatically dragged from a database and interconnected to produce the overall HDS, following industrial technological schemes. Once the model has been created, its consistency can be checked, and a block diagram simulation can be performed. The theory behind the software is based on Hybrid Bond Graphs (HBG), whose structural and causal properties will be exploited for the automatic generation of the diagnosis algorithms, which will be implemented online. Compared with developed programs for automated modeling of HDS, the presented methodology is valid for continuous and hybrid systems, and the HBG is used not only for block diagram simulation builders but also for the generation of Fault Detection and Isolation algorithms. The theory is illustrated by an industrial application that consists of the pneumo-electrical control of metro rolling stock.

Nowadays, industrial processes must be efficient, particularly at the production level and/or energy consumption.This research work aims at improving the process efficiency by analysing the influences of disturbances on their behaviour, from the conception phase to the synthesis of controller/observer, in an integrated approach.The disturbance rejection problem is first introduced as well as different control laws allowing attenuate/reject these disturbances. A control law based on the concept of derivative state variable is presented and validated while applied as disturbance rejection.In order to reject the disturbance, different physical variables must be estimated, such as state variables, derivative state variables as disturbance variables. An unknown input observer based on the bond graph representation is recalled and extended in the multivariable case. It is the first theoretical contribution of this work.We thus compare the efficiency of different so-called «modern control laws» for the disturbance rejection problems by simulation with the Torsion-Bar system example. We analyse the efficiency of our approach. One extension to the Input-Output decoupling problem allows us to extend the disturbance rejection problem to other control law type in an integrated approach. At least, these techniques are applied on the real Torsion-Bar system and compared. We validate our approach.Since this work aims at analysing and developing efficient control laws for industrial processes, a simplified model of a hydroelectric plant is developed, in order to apply our results. A simplified bond graph model is validated with simulations.; De nos jours, les processus industriels se doivent d’être efficaces, en particulier au niveau de leur production et/ou consommation énergétique.Ce travail vise à améliorer l’efficacité des processus en analysant l’influence des perturbations sur leur comportement, de la phase de conception à la synthèse des contrôleurs/observateurs, ceci dans une approche intégrée.Le problème du Rejet de Perturbation est introduit ainsi que différents types de contrôles permettant d’atténuer et/ou rejeter ces perturbations. Le système de Barre de Torsion est présenté. Une loi de commande basée sur le concept d’état dérivé est présentée et ensuite validée avec comme application le rejet de perturbation. Il est nécessaire d’estimer les grandeurs physiques utilisées dans les différentes expressions de loi de commande. Un observateur à entrées inconnues basé sur la représentation bond graph est rappelé et ensuite étendu au cas multi-variable. C’est la première contribution théorique de ce travail de recherche.Nous comparons ensuite l’efficacité de différentes techniques de commandes pour le rejet de perturbation par simulation sur le système barre de torsion et analysons ainsi l’efficacité de la technique proposée. Une extension théorique au problème du découplage entrée-sortie nous permet de généraliser le problème du rejet de perturbation dans une même démarche intégrée d’analyse et de synthèse. Enfin, ces techniques sont exploitées et analysées sur le système réel. Nous validons ainsi expérimentalement nos résultats.Un modèle très simplifié de centrale hydroélectrique est développé afin d’appliquer les résultats de nos travaux. Un modèle bond graph simplifié est validé par simulation.

Bionic robots, imply the robots which are inspired by biological life forms. The manipulator robots inspired from elephant trunk are good example of bionic robots. These are continuous robots with bending backbones and high degrees of freedom. Ideally, the compliant nature of such manipulator delivers infinite degrees of freedom, which makes it difficult to control them at the space task. However, all these degrees of freedoms cannot be actuated, thus these robots are always underactuated, i.e., they provide vast configurations with few inputs. In this paper, a multi-section bionic manipulator, namely the compact bionic handling assistant (CBHA), is dynamically modeled using bond graph. Assuming planar robot that contains a single concentrated mass per section, dynamic equations for each bellow are derived by means of bond graph modeling. Simulation results using lumped model are shown to validate the model.

A comparison and case study of disturbance rejection control applied to a two-mass system is proposed in this paper. The first approach is the derivative state feedback control law with unknown input observer (DSF-UIO) while the second one is the active disturbance rejection control (ADRC). The first one requires the knowledge of a model, such as the state space representation and is based on a rather good knowledge of the physical phenomena while in the second approach a simpler model can be considered since the negative effects of modelling uncertainty are compensated.

This work contributes by developing an active fault tolerant control (AFTC) for Photovoltaic (PV) systems. The fault detection and diagnosis (FDD) methodology is based on the analysis of a model that compares real-time measurement. We use a high granularity PV array model in the FDD tool to allow faults to be detected in complex conditions. Firstly, the research focuses on fault detection in complex shadow conditions. A real-time approach is presented to emulate the electrical characteristics of PV modules under complex shadow conditions. Using a precise emulators approach is a real challenge to study the high non-linearity and the complexity of PV systems in partial shading. The real-time emulation was validated with simple experimental results under failure conditions to design specific fault-detection algorithms in a first sample. The second part of the research addresses the FDD method for DC/DC and DC/AC power converters that are connected to the grid. Primary results allowed us to validate the system's recovery for normal operating points after a fault with this complete AFTC approach. Emulations based on the simulation of distributed power converters, fault detection methodologies based on a model, and a hybrid diagnostician were then presented., Cette thèse de doctorat aborde la problématique de la réalisation d'un système de contrôle actif de détection de défaut et diagnosis (FDD) pour un système de conversion photovoltaïque. Ce type de système de production d'énergie électrique est composé de panneaux solaires, d'un dispositif MPPT, d'un convertisseur de courant DC-DC, d'un onduleur DC-AC et d'une charge. Le système de contrôle actif à tolérance de pannes qui a été développé dans cette thèse est composé de deux étages : * Un étage assurant la fonction de diagnostic et comprenant les fonctions de détection de défauts, la fonction d'isolement de défauts, l'identification de défauts et l'estimation de l'ampleur du/des défaut(s) * Une fonction de reconfiguration du système photovoltaïque. Ce manuscrit est divisé en quatre chapitres : * Introduction au problème et révision de l'état de la technique * Modélisation mathématique du système photovoltaïque avec une validation expérimental de ce dernier effectué sur la plateforme PV de caractérisation du bâtiment réel ADREAM (Laboratoire LAAS-CNRS) * Conception et mise en œuvre du système de diagnostic de pannes du système photovoltaïque comprenant un Système actif à tolérance de pannes * Un système de diagnostic expérimental en cours de développement à l'aide d'un dispositif FPGA.

In recent decades, the prospect of exploiting the exceptional flying capacities of insects has prompted much research on the elaboration of flapping-wing nano air vehicles (FWNAV). However, when designing such a prototype, designers have to wade through a vast array of design solutions that reflects the wide variety of flying insects to identify the correct combination of parameters to meet their requirements. To alleviate this burden, the purpose of this work is to develop a suitable tool to analyze the kinematic and power behavior of a resonant flexible-wing nano air vehicle. The key issue is evaluating its efficiency. However, this ultimate objective is extremely challenging as it is applied to the smallest flexible FWNAV. However, in this work, we worked first with a flapping-wing micro air vehicle (FWMAV) in order to have a tool for the simulation and experimentation of wing actuation, take-off and hovering. Some of the knowledge and experience acquired will then be transferred to better understand how our FWNAV works and identify the energy, power distribution. Although both of the vehicles employ the insect wing kinematics, their wings actuation mechanisms are not the same due to their sizes difference. Since the FWNAV is smaller, their wings flap at a higher frequency than the FWMAV as inspired by nature. As a consequence, from MAV to NAV, the wing actuation mechanism must be changed. Throughout this work, it can be seen clearly that this difference affects the whole vehicles development including the design, the manufacturing method, the modeling approach and the optimizing process. It has been demonstrated that the simulations are in good correlation with the experimental tests. The main result of this work is the proper wing kinematics of both FWMAV and FWNAV which leads to a lift to the weight ratio bigger and equal to one respectively. The FWMAV is even success to take-off and vertically stable hover. Moreover, taking advantage of the Bond Graph-based models, the evolution power according to the wing dynamic and the efficiency of the subsystem can be evaluated. In conclusion, this study shows the key parameters for designing and optimizing efficiency and the lift generated for two flapping wing vehicles in different size regimes.; Au cours des dernières décennies, la possibilité d’exploiter les capacités de vol exceptionnelles des insectes a été à l’origine de nombreuses recherches sur l’élaboration de nano-véhicules aériens (NAVs) à ailes battantes. Cependant, lors de la conception de tels prototypes, les chercheurs doivent analyser une vaste gamme de solutions liées à la grande diversité des insectes volants pour identifier les fonctionnalités et les paramètres adaptés à leurs besoins. Afin d’alléger cette tâche, le but de ce travail est de développer un outil permettant à la fois d’examiner le comportement cinématique et énergétique d’un nano-véhicule aérien à ailes flexibles résonantes, et donc d'évaluer son efficacité. Cet objectif reste néanmoins extrêmement difficile à atteindre car il concerne des objets de très petites tailles. Aussi, nous avons choisi tout d’abord de travailler sur un micro-véhicule aérien (MAV) à ailes battantes. Il s’agit avant tout de valider l’outil de modélisation à travers une comparaison systématique des simulations avec des résultats expérimentaux effectués lors de l’actionnement des ailes, puis au cours du décollage et du vol stationnaire du prototype. Une partie des connaissances et expériences acquises pourra ensuite être utilisée afin de mieux comprendre le fonctionnement et identifier la distribution d'énergie au sein du NAV. Bien que les deux véhicules s’inspirent directement de la cinématique des ailes d'insectes, les mécanismes d'actionnement des ailes artificielles des deux prototypes ne sont pas les mêmes en raison de la différence de taille. Comme le NAV est plus petit, ces ailes ont un mouvement de battement à une fréquence plus élevée que celles du MAV, à l’instar de ce qui existe dans la nature. En conséquence, lorsque l’on passe du MAV au NAV, le mécanisme d’actionnement des ailes doit être adapté et cette différence nécessite d’une part, de revoir la conception, l'approche de modélisation et le processus d'optimisation, et d’autre part, de modifier le procédé de fabrication. Une fois ces améliorations apportées, nous avons obtenu des résultats de simulations en accord avec les tests expérimentaux. Le principal résultat de ce travail concerne l’obtention pour les deux prototypes, le MAV et le NAV, d’une cinématique appropriée des ailes, qui conduit à une force de portance équivalente au poids. Nous avons d’ailleurs démontré que le MAV était capable de décoller et d’avoir un vol stationnaire stable selon l’axe vertical. En tirant parti des modèles basés sur le langage Bond Graph, il est également possible d'évaluer les performances énergétiques de ces prototypes en fonction de la dynamique de l'aile. En conclusion, cette étude contribue à la définition des paramètres essentiels à prendre en compte lors de la conception et l'optimisation énergétique de micro et nano-véhicules à ailes battantes.

In recent decades, the prospect of exploiting the exceptional flying capacities of insects has prompted much research on the elaboration of flapping-wing nano air vehicles (FWNAV). However, when designing such a prototype, designers have to wade through a vast array of design solutions that reflects the wide variety of flying insects to identify the correct combination of parameters to meet their requirements. To alleviate this burden, the purpose of this work is to develop a suitable tool to analyze the kinematic and power behavior of a resonant flexible-wing nano air vehicle. The key issue is evaluating its efficiency. However, this ultimate objective is extremely challenging as it is applied to the smallest flexible FWNAV. However, in this work, we worked first with a flapping-wing micro air vehicle (FWMAV) in order to have a tool for the simulation and experimentation of wing actuation, take-off and hovering. Some of the knowledge and experience acquired will then be transferred to better understand how our FWNAV works and identify the energy, power distribution. Although both of the vehicles employ the insect wing kinematics, their wings actuation mechanisms are not the same due to their sizes difference. Since the FWNAV is smaller, their wings flap at a higher frequency than the FWMAV as inspired by nature. As a consequence, from MAV to NAV, the wing actuation mechanism must be changed. Throughout this work, it can be seen clearly that this difference affects the whole vehicles development including the design, the manufacturing method, the modeling approach and the optimizing process. It has been demonstrated that the simulations are in good correlation with the experimental tests. The main result of this work is the proper wing kinematics of both FWMAV and FWNAV which leads to a lift to the weight ratio bigger and equal to one respectively. The FWMAV is even success to take-off and vertically stable hover. Moreover, taking advantage of the Bond Graph-based models, the evolution power according to the wing dynamic and the efficiency of the subsystem can be evaluated. In conclusion, this study shows the key parameters for designing and optimizing efficiency and the lift generated for two flapping wing vehicles in different size regimes.; Au cours des dernières décennies, la possibilité d’exploiter les capacités de vol exceptionnelles des insectes a été à l’origine de nombreuses recherches sur l’élaboration de nano-véhicules aériens (NAVs) à ailes battantes. Cependant, lors de la conception de tels prototypes, les chercheurs doivent analyser une vaste gamme de solutions liées à la grande diversité des insectes volants pour identifier les fonctionnalités et les paramètres adaptés à leurs besoins. Afin d’alléger cette tâche, le but de ce travail est de développer un outil permettant à la fois d’examiner le comportement cinématique et énergétique d’un nano-véhicule aérien à ailes flexibles résonantes, et donc d'évaluer son efficacité. Cet objectif reste néanmoins extrêmement difficile à atteindre car il concerne des objets de très petites tailles. Aussi, nous avons choisi tout d’abord de travailler sur un micro-véhicule aérien (MAV) à ailes battantes. Il s’agit avant tout de valider l’outil de modélisation à travers une comparaison systématique des simulations avec des résultats expérimentaux effectués lors de l’actionnement des ailes, puis au cours du décollage et du vol stationnaire du prototype. Une partie des connaissances et expériences acquises pourra ensuite être utilisée afin de mieux comprendre le fonctionnement et identifier la distribution d'énergie au sein du NAV. Bien que les deux véhicules s’inspirent directement de la cinématique des ailes d'insectes, les mécanismes d'actionnement des ailes artificielles des deux prototypes ne sont pas les mêmes en raison de la différence de taille. Comme le NAV est plus petit, ces ailes ont un mouvement de battement à une fréquence plus élevée que celles du MAV, à l’instar de ce qui existe dans la nature. En conséquence, lorsque l’on passe du MAV au NAV, le mécanisme d’actionnement des ailes doit être adapté et cette différence nécessite d’une part, de revoir la conception, l'approche de modélisation et le processus d'optimisation, et d’autre part, de modifier le procédé de fabrication. Une fois ces améliorations apportées, nous avons obtenu des résultats de simulations en accord avec les tests expérimentaux. Le principal résultat de ce travail concerne l’obtention pour les deux prototypes, le MAV et le NAV, d’une cinématique appropriée des ailes, qui conduit à une force de portance équivalente au poids. Nous avons d’ailleurs démontré que le MAV était capable de décoller et d’avoir un vol stationnaire stable selon l’axe vertical. En tirant parti des modèles basés sur le langage Bond Graph, il est également possible d'évaluer les performances énergétiques de ces prototypes en fonction de la dynamique de l'aile. En conclusion, cette étude contribue à la définition des paramètres essentiels à prendre en compte lors de la conception et l'optimisation énergétique de micro et nano-véhicules à ailes battantes.

Traffic flow has been investigated by observing traffic phenomena in real traffic situations and interpreting the traffic phenomena based on traffic flow theory. The traffic flow theory is defined as “the description of traffic behavior by application of the laws of physics and mathematics”. The traffic flow theory seeks to describe the interactions between the vehicles and their operators (the mobile components) and the infrastructure (the immobile component) in precise mathematical way. For the realistic information of the current traffic state on traffic networks, the traffic flow of the networks is simulated by traffic flow models reproducing traffic dynamics with actual boundary conditions. In this paper a Bond Graph based modelling is use in order to obtain a realistic model of the physical system for the use case of traffic flow. For the use case a macroscopic traffic flow model is presented and a bond graph based modelling approach is used. Taking the most simple road segment we can actually recreate the system's behavior during congestion presented by one junction bond graph with only entry effort.

This paper presents modeling of a complex multidomain steering system, which consists of electrical, hydraulic, and mechanical physical subsystems. Moreover, it represents a hybrid system with continuous and discrete dynamics. The considered system is the steering system of an over-actuated heavy autonomous vehicle, which is used for container (size of 40 feet) transport in the port terminal. This Intelligent Autonomous Vehicle (IAV) can switch between three kinematic configurations based on combinations of its steering actuations. In this paper, the steering system is modeled using power-based graphical modeling approach called Bond Graph (BG). BG enables dynamic modeling of multi-domain systems directly from their physical structure. In addition, BG allows modeling of hybrid systems, i.e., Hybrid BG (HBG). The developed model is validated through co-simulation between Matlab/Simulink and a professional software for real-time simulation of vehicle dynamics called SCANeR Studio. Dynamics of IAV in SCANeR have been developed based on experimental data. The dynamic behavior of IAV is analyzed and compared in three different configurations.

JIF=3.543; International audience; Trilayer conducting polymer actuators are potential alternatives to piezoelectric and electrostatic actuators due to their large strain, and recently demonstrated operation at hundreds of Hertz. However, these actuators exhibit nonlinear electrical and mechanical properties as a function of their oxidation state, when operated over their full strain range, making it more challenging to accurately predict their mechanical behavior. In this paper, an analytical multi-physics model of the conducting polymer actuators is proposed to predict their non-linear dynamic mechanical behavior. To demonstrate the accuracy of the model, a trilayer actuator composed of a solid polymer electrolyte sandwiched between two poly(3,4-ethylenedioxythiophene) (PEDOT) electrodes was fabricated and characterized. This system consists of an electrical subsystem represented by an RC equivalent circuit, an electro-mechanical coupling matrix, and a mechanical subsystem described by using a rigid finite element method. The electrical conductivity and the volumetric capacitance, an empirical strain-to-charge ratio, and Young's modulus of the actuator as a function of the PEDOT electrode charge state were also implemented into the model, using measured values. The proposed model was represented using a Bond Graph formalism. The concordance between the simulations and the measurements confirmed the accuracy of the model in predicting the non-linear dynamic electrical and mechanical response of the actuators. In addition, the information extracted from the model also provided an insight into the critical parameters of the actuators and how they affect the actuator efficiency, as well as the energy distribution including dissipated, stored, and transferred energy. These are the key parameters for designing, optimizing, and controlling the actuation behavior of a trilayer actuator.

International audience; Timely and accurate, detection and prediction, of fault is beneficial for safety. However, it is a necessity for modern autonomous systems like autonomous vehicles and robots due to the absence of continuous human supervision. This paper attempts to establish energy as a viable parameter for fault identification. For this Element Activity Index is used as a metric for identification, calculated in this paper using only the sensor data. The proposed technique is then implemented on a bicycle vehicle dynamic model. Abrupt faults of different intensities are introduced in different elements of the model and their proper detection and isolation is checked using the proposed technique. The visibly different residual trends allows us to accurately detect the presence and also the location of the fault.

International audience; This article is devoted to the dynamic study of the brazed plate condenser (BPC). The proposed model is based on the bondgraph theory. The proposed model is based on the bond graph theory because of its energetic approach and multi-physicscharacter of the studied system. The model is discretized into five control volumes. The resolution of mass and energy equationsis done by Runge-Kutta method embedded in 20sim software. Analyses of simulation results show that the model has a goodability to transcribe the time evolution of the temperature and pressure in both regimes, transitional and permanent. Also, themodel is experimentally validated without any fitting of the set of thermal exchange coefficients.

This paper presents a solution for the state and unknown input estimator of linear MIMO systems with a structural approach based on Bond Graph methodology. A systematic procedure is initially proposed at the analysis stage by studying the finite and infinite structures of the modeled system from a structural approach, similar to the case study for the classical input-output decoupling problem and the disturbance rejection problem. Afterwards, the observer that can be represented by a Bond Graph model is directly implemented from the original model at the synthesis stage. The monovariable case as well as the multivariable case are treated and the stability property of the classical error equations (state and disturbance) of the observer is studied, based on the stability property of the invariant zeros of the model. The observer is tested by an illustrative example that considers a real bar system used for different cases.

Fault detection and diagnosis for industrial systems has been an important field of research during the past years. Among these systems, the Tennessee Eastman process is extensively used as a realistic benchmark to test and compare different fault detection and diagnosis strategies. In this context, data-driven approach has been widely applied for fault detection and diagnosis of the Tennessee Eastman process, by exploiting the massive amount of available measurement data. However, only few published works had attempted to deal with the dynamic behavior of the whole system including the mixing zone, circulating pumps, the reactor, the separator, the stripper, and so on, because of the difficulty of modeling physical phenomena that may occur in such complex system. In this article, an accurate model of the Tennessee Eastman process, properly tailored for fault detection and diagnosis purposes, is provided. This model shows better fault detection and diagnosis performances than all the others proposed in the literature and gives better or comparable results with the data-driven approaches. This work uses the bond graph methodology to systematically develop computational and graphical model. This methodology provides a physical understanding of the system and a description of its dynamic behavior. The bond graph model is then used for monitoring purposes by generating formal fault indicators, called residuals, and algorithms for fault detection and diagnosis. Hence, abnormal situations are detected by supervising the residuals’ evolution and faults are isolated using the nature of the violated residuals. Therefore, the dynamic model of the Tennessee Eastman process can now be used as a basis to achieve accurately different analysis through the causal and structural features of the bond graph tool.

International audience; This paper presents a bond graph (BG) model and a physical structural analysis of an intermediary cooling system of a power plant. The main goal is to extend the techniques already in use for the physical structural analysis of mechatronic systems to perform static analysis and diagnosis on physical models in order to state whether they are well-posed and suitable for each step of the system's lifecycle (from its design to its operation). If a problem for modeling, for simulating or for solving the given engineering question is detected, the analysis shall localize the problem in the model and give the physical interpretation of the error. The objective is not to be able to diagnose all possible physical errors, but to add another type of analysis in order to improve error detection before compiling and running a model.

In this paper, integrated fault diagnosis and fault prognosis approach, applied on a mechatronic system is presented. The goal is to assess the health status of the system and to predict the remaining useful lifetime before observing a failure. In the presented paper, the detection of the degradation beginning, the isolation of the faulty component, and the estimation of the degradation profile are performed in an integrated way by using the Bond Graph tool. Regarding the remaining useful lifetime, it is predicted from the considered dynamic of parametric degradation described by ordinary differential equations. To validate the proposed method, an experimental implementation is done on a mechatronic system. The prediction performances are evaluated by using universal metrics.

JIF=2.978; International audience; Nowadays, there is a combine effect of piezoelectric material performances and energy harvesting management strategy increase. As the same time, the energy consumption of electrical components and circuits decrease. Thus, this leads to a growing interest in recovering low energy level with piezoelectric cantilever beam in the suspensions of an automotive vehicle to perform predictive maintaining operations for example. For this purpose, a Bond Graph model of suspension with an embedded piezoelectric beam has been proposed since it gives the keys to find an optimal configuration for the energy harvester. The Bond Graph language is well adapted to translate multiphysics exchange of energy and power from mechanical to electrical conversion. In order to validate simulation results, a prototype of piezoelectric energy harvester has been built and tested in a laboratory environment. Furthermore, this study has been supplemented by measurements performed on a road and simulations are in good keeping with these proposed experimental tests. In view of an energy balance, small power but with a long duration harvesting has been obtained. Therefore, energy harvester may be interesting for a punctual use with a large period of electrical loading.

Session SA4 - Specific MAVs Designs : Flapping and Folding Wings, and Bio-Inspired Designs, paper MAV17-PARSA4a; International audience; Micro air vehicles (MAVs) are becoming more popular over larger unmanned aerial vehicles (UAVs) as they are easily portable, more discreet and less dangerous in case of a crash. Among common types of MAVs, the flapping wing configuration shows incredibly potential flying skills such as hovering, flying backward and recovering after shock. However, designer faced many difficulties due to the microsize of the MAVs. In this work, we propose a numerical model based on Bond Graph for our flapping MAV which allows us to analyze the wing kinematic and thus predict the total lift force. This Bond Graph model employs the quasisteady aerodynamic theory and the Lagrange dynamic equation as the main principles. A proper wing kinematic which allows the enhancement of the total lift force could be derived from this model based on the non-linear optimization of the system‘s sensitivity parameters such as spring stiffness, working frequency and input voltage... A prototype is fabricated and characterized. Comparing the experiment and the simulation, the model is able to predict the wing movement and the mean lift force, and therefore could be used as a design tool. A take-off demonstration is provided to confirm our results.

International audience; This paper presents a solution for the state and unknown input estimator of linear MIMO systems with a structural approach. Compared to the classic Input-Output Decoupling problem, a systematic procedure is initially proposed for the analysis stage by analysing the finite and infinite structures of the modelled system from a structural approach. Afterwards, the observer is directly implemented from the original model at the synthesis stage in a graphical approach with some added terms, and can be represented by a Bond Graph model. The observer is tested by a particular and illustrative example which considers a real torsion-bar model.

International audience; —The presented research is carried out within the framework of a global industrial project " Electro-Mechanical Actuator Health Management " with french company CERTIA. The objective is the realization of an auto-diagnosis embedded module for health monitoring and reconfiguration of Electro-Mechanical Actuator (EMA) including two operating modes: Test checking before taking off (evaluation and health management, i.e evaluation of the rate of degradation) and online supervision including (i)fault detection and isolation (to avoid the irreversible jamming default for instance) and (ii) fault tolerant control and/or reconfiguration in faulty situation (how to continue to control the system en degraded mode ?). The present paper concerns the first part of the project. The innovative interest concerns use of bond graph model as unified and multidisciplinary tool not only for modeling but also for structural diagnosability analysis (which faults which may affect component including sensors can be detected an isolated ?) and sensor placement proposition to make the system diagnosable Without any need of numerical calculation. An application to an induction motor as main component in an EMA is used for illustration.

Colloque avec actes et comité de lecture. Internationale.; International audience; For many years, the development of renewable energies and specifically the production on wind energy remains a challenge for the energy transition. A major effort has been made by manufacturers to offer a high availability (> 97) of their equipment whatever the environmental conditions. However, according on the chosen sites (wind conditions favorable or not), the profitability of equipment may be low (around 1 %). In order to improve the cost control over the lifecycle of the equipment, it is then necessary to identify the process of degradation of the equipment. Therefore, to respond to this problem and to help wind farms to improve their maintenance policy, we present the development of a decision support tool for the planning of just-in-time maintenance activities based on the triplet Quality-Cost-Delay (Just-in-Time Monitored Maintenance). Within the framework of this paper, we present a state of the art of the diagnosis and prognosis of the health state of technical systems and we introduce the goal of our study: the degradation of wind turbine gearbox. This component is more complex (two planetary gear trains) and its degradation appears to be quite variable overtime (average of 8 years with premature replacement components (5 years)). The replacement operations are difficult and costly and involve specialist personnel at 100 m of height. To limit the risk, the environmental conditions (sunshine, little wind) must be perfect and the interventions are planned several weeks or even months in advance. It is therefore necessary to build up our expertise on the characterization of the health state of this type of equipment. In order to identify the degradation and to anticipate premature wear by preventive maintenance on ?sensitive? equipment, we present the various modules developed: monitoring module, diagnosis module, prognosis module whose objective is the determination of the Remaining Useful Life of the system (RUL) taking into account the operational constraints. The monitoring module is based on the laws of conservation of energy for design analytical redundancy relation. Indeed, the temporal repetition of the values of certain variables constitutes an information redundancy whose coherence must be checked. His incoherence generates then an indicator (residue) defining itself as the abnormal operation of the system. The diagnosis module is based on a matrix of recognition of causes. This allows, from abnormal operation, to identify the likely cause of degradation. The prognosis module presents different predictive models of health indicators and allows estimating the remaining useful life of the system. However, depending on the different assumption chosen, it is therefore necessary to suggest various planning strategies of intervention to the operator who is the guarantor of the implementation of the strategy. This work concludes with various simulations using data from wind turbine farms. These allow the evaluation of the performances of the various modules.

This paper proposes a Bond Graph (BG) model of a multi-source system (Wind Turbine (WT) and Solar Photovoltaic Panels (PV)) used to produce hydrogen from the water electrolysis. BG, as an unified and multidisciplinary tool, is a well suited tool for representing multi-physic dynamical systems based on power exchange. In this work, the approach is adapted for the Hybrid Renewable Energy Systems (HRES) by defining new appropriate BG elements to the per-existent library, these new elements allow covering wide class of the HRES systems sharing common structural characteristics. A simulator is built from the BG model of the multi-source system. It allows testing different operating modes according to weather conditions, user needs and safety measures.

International audience; Conducting polymer actuators have long been of interest as an alternative to piezoelectric and electrostatic actuators due to their large strains and low operating voltages. Recently, poly (3,4-ethylenedioxythiophene) (PEDOT) - based ionic actuators have been shown to overcome many of the initial obstacles to widespread application in micro-fabricated devices by demonstrating stable operation in air and at high frequencies, along with microfabrication compatible processing using a layer by layer method that does not require any handling. However, there is still a need for characterization, prediction, and control of the actuator behavior. This paper describes the fabrication and characterization of thin trilayers composed of a 7 mu m thick solid polymer electrolyte (SPE) sandwiched between two 2.1 mu m thick PEDOT-containing layers. Beam properties including capacitance, elastic moduli of the layers, and the extent of charge driven strain, are applied to predict curvature, frequency response and force generation. The actuator is represented by an electrical circuit, a mechanical system described via dynamic beam theory, and a strain-to-charge ratio for the electro-mechanical coupling matrix, which together predict the actuator curvature and the resonant response. The success of this physical model promises to enable design and control of micro-fabricated devices.

International audience; In the aerospace field, electromechanical actuators are increasingly being implemented in place of conventional hydraulic actuators. For safety-critical embedded actuation applications like flight controls, the use of electromechanical actuators introduces specific issues related to thermal balance, reflected inertia, parasitic motion due to compliance and response to failure. Unfortunately, the physical effects governing the actuator behaviour are multidisciplinary, coupled and nonlinear. Although numerous multi-domain and system-level simulation packages are now available on the market, these effects are rarely addressed as a whole because of a lack of scientific approaches for model architecting, multi-purpose incremental modelling and judicious model implementation. In this publication, virtual prototyping of electromechanical actuators is addressed using the Bond-Graph formalism. New approaches are proposed to enable incremental modelling, thermal balance analysis, response to free-run or jamming faults, impact of compliance on parasitic motion, and influence of temperature. A special focus is placed on friction and compliance of the mechanical transmission with fault injection and temperature dependence. Aileron actuation is used to highlight the proposals for control design, energy consumption and thermal analysis, power network pollution analysis and fault response.

International audience; This chapter presents a holistic method to addresses the issue of health monitoring of system parameters in Bond Graph (BG). The advantages of BGs are integrated with Bayesian estimation techniques for efficient diagnostics and prog-nostics of faults. In particular, BG in Linear fractional transformations (LFT) are used for modelling the global uncertain system and sequential Monte Carlo method based Particle filters (PF) are used for estimation of state of health (SOH) and subsequent prediction of the remaining useful life (RUL). In this work, the method is described with respect to a single system parameter which is chosen as prognos-tic candidate. The prognostic candidate undergoes progressive degradation and its degradation model is assumed to be known a priori. The system operates in control feedback loop. The detection of degradation initiation is achieved using BG LFT based robust fault detection technique. The latter forms an efficient diagnostic module. PFs are exploited for efficient Bayesian inference of SOH of the prog-nostic candidate. Moreover, prognostics is achieved by assessment of RUL in probabilistic domain. The issue of prognostics is formulated as joint state-parameter estimation problem, a hybrid prognostic approach, wherein the fault model is constructed by considering the statistical degradation model of the prog-nostic candidate. The observation equation is constructed from nominal part of the BG-LFT derived Analytical Redundancy Relations (ARR). Various uncertainties which arise because of noise on ARR based measurements, degradation process, environmental conditions etc. are effectively managed by PF. This allows the production of effective predictions of the RUL of the prognostic candidate with suitable confidence bounds. The method is applied over a mechatronic system in real time and performance is assessed using suitable metrics.

JIF=2.963; International audience; With the recent growing interest for soft actuation, many new types of ionic polymers working in air have been developed. Due to the interrelated mechanical, electrical, and chemical properties which greatly influence the characteristics of such actuators, their behavior is complex and difficult to understand, predict and optimize. In light of this challenge, an original linear multiphysics finite difference bond graph model was derived to characterize this ionic actuation. This finite difference scheme was divided into two coupled subparts, each related to a specific physical, electrochemical or mechanical domain, and then converted into a bond graph model as this language is particularly suited for systems from multiple energy domains. Simulations were then conducted and a good agreement with the experimental results was obtained. Furthermore, an analysis of the power efficiency of such actuators as a function of space and time was proposed and allowed to evaluate their performance.

The context of this PhD thesis is the modeling and design of mechatronic systems. The study is positioned in the early design stage of the conception cycle (V-Cycle), where the main efforts have to be produced in terms of methodology, to enhance the quality and the functionality of the products, and based on virtual prototyping (modeling and simulation). One of the possible methodology is to reformulate the design problem as an inverse problem, in order to directly use the design specification of the product, usually given in terms of the system outputs, and then solve the design problem. In this context, the Ampere laboratory of INSA Lyon has developed a conception and design methodology, based on inverse approach and using the bond graph formalism, to propose a step-by-step method based on dynamic and energetic criteria, with a structural analysis phase that allows hierarchical analysis steps, depending on the structural physical layout of the model (topological, phenomenological, parameter set). The aim of the present works is to contribute to the development of this methodology, by enhancing it to the class of descriptor systems. This choice is led by the aim to apply the methodology in the context of chassis design and vehicle dynamics, where, among other, multi-body models represented as a differential-algebraic equation (DAE) system could occur. The contributions are proposed at the level of the topology of the model, as well as at the level of the phenomenological / behavioral aspects. A preliminary step is to enhance the existing algebraic framework to support graphical extension (in term of digraph and bond graph). The overall methodological extensions allow, firstly, a generalization of the approach to the class of descriptor systems, and, secondly, to reach a standardization of the procedures, previously dedicated to direct or inverse models, so as no mandatory differences between those models have to be done anymore., Cette thèse s'inscrit dans le cadre de la conception des systèmes mécatroniques. Les travaux se positionnent dans les premières phases du cycle de conception, là où les principaux efforts méthodologiques sont à mener pour améliorer la qualité et la fonctionnalité des produits, et reposent sur le prototypage virtuel (modélisation et simulation). Une approche méthodologique envisageable est de reformuler le problème de conception sous une forme inverse, pour directement utiliser les spécifications du cahier des charges, usuellement exprimées sur les sorties, pour calculer les inconnues du problème. Dans ce contexte, le laboratoire Ampère développe une méthodologie de conception et dimensionnement, basée sur l'inversion de modèle, utilisant le formalisme bond graph, pour proposer une démarche reposant sur des critères dynamiques et énergétiques, et dont la principale originalité est sa phase d'analyse structurelle, permettant une hiérarchisation d’analyse suivant différents niveaux de la structure physique du modèle (topologie, phénoménologie, paramétrage). L'objectif est de contribuer au développement de cette méthodologie, en l’étendant aux modèles appartenant à la classe des systèmes singuliers, porté par la velléité de décliner la démarche à la conception fonctionnelle du châssis automobile et de ses sous-systèmes, comportant un certain nombre d'abstractions de modélisation et d'idéalisations. Cette déclinaison est proposée, d’une part, au niveau de la structure du modèle et, d’autre part, à un niveau considérant sa phénoménologie et ses lois de comportement. Elle requiert la mise en place préalable d'un référentiel algébrique, essentiellement issu de travaux sur la commande des systèmes, pour constituer une base de validation des extensions graphiques (digraphe et bond graph) proposées. En plus de la généralisation qu'ils constituent à la classe des modèles singuliers, les présents travaux proposent une uniformisation des précédentes approches de la méthodologie, originellement appliquées respectivement aux modèles directs et aux modèles inverses, de sorte qu'il n'est à présent plus nécessaire de les différencier.

International audience; This article is devoted to the dynamic study of a brazed plate heat exchanger (BPHE). First, an introduction to the industrial context of the current FUI THERMOFLUIDE project is proposed. A succinct presentation of the heat exchanger technology is proposed. Afterward, a state of the art discussion of BPHE modelling, heat transfer and pressure drop correlations is given. Then a detailed mathematical description of an original dynamic model is presented. The last section deals with a description of the experimental test rig and performed validation tests.

This paper deals with the graphical modelling approach, and the structural observability of switching linear hybrid singular systems (SLHSS). First, this approach is based on switching bond graph representation of physical systems. Switching systems which are a particular case of hybrid systems are considered. Using energy considerations, hybrid automaton is built from switching bond graph (SBG) model. Second, we express different conditions for the structural observability of the continuous and discrete states, and structural observability of the switching times of SLHSS system. Our approach can be implemented in software such as Symbol2000 or 20sim, in order to observe and to control the SLHSS systems in real time.

International audience; n the last 20 years, computer science has considerably progressed and there has been a resurgence of interest in bond graphs. The evolution of bond graph software has allowed for the full exploitation of its graphical aspects and for its simulation directly from the modeling environment without the need for the modeler to derive the associated dynamic equations. However, within this last decade, few simulations of complex multibody systems modeled with bond graphs have been conducted directly from a graphic software platform.In this context, the objective of this chapter is to show how bond graphs can be used to model and simulate a complex mechatronic system with bond graph simulation software. The multibody system studied in this chapter is a helicopter’s vibration absorber suspension. The structural and modular approach allowed by bond graphs permits a systematic modeling of mechatronic multibody systems. The model is then built as an assembly of components or modules (rigid bodies and compliant kinematic joints) by following the structure of the actual system. This approach was carried out with the use of the parasitic elements method. The bond graph model of the suspension has been verified with another multibody tool for three different excitations (pumping, roll, and yaw).The first part of this chapter will be dedicated to giving the reader an overview of the modeling of multibody systems with bond graphs. BG models of the rigid body and all the basic kinematic joints will be presented. The main existing methods (zero-causal paths ZCPs, Lagrange multipliers, and singular perturbation) for modeling and carrying out simulations of multibody systems will be recalled.The second part of this chapter will present a vector bond graph (also called multibond graph) model of a helicopter’s antivibratory system and the associated simulations. This system is a specific suspension of a helicopter, which filters the vibration coming from the rotor to the fuselage. It is a complex multibody system with four closed kinematic chains (CKC). The dynamic equations of such a CKC system are differential-algebraic equation systems (DAE) that are often difficult to treat and which require specific solving methods.The intention of writing this chapter was to give to bond graph practitioners a detailed and comprehensive method so as to model and conduct simulations of complex multibody systems directly from a bond graph modeling interface.

This paper presents a holistic solution towards prognostics of industrial Proton Exchange Membrane Fuel Cell. It involves an efficient multi-energetic model suited for diagnostics and prognostics, developed using some specific properties of Bond Graph (BG) theory. The benefits of Particle Filters (PF) are integrated with the BG model derived fault indicators named Analytical Redundancy Relations, for prognostics of the Electrical-Electrochemical part. The hybrid prognostics involves statistical degradation model obtained using real degradation tests. Prognostics problem is formulated as the joint state-parameter estimation problem in PF framework where estimations of state of health (SOH) is obtained in probabilistic domain. This in turn is used for prediction of Remaining Useful Life (RUL) under constant current as well as dynamic current solicitations. The SOH estimation and RUL prediction is obtained with very high accuracy and precise confidence bounds. Moreover, a comparative analysis with Extended Kalman Filter demonstrates the usefulness of PF.

The continuously increasing of the intercontinental trade as well as the globalization lead to the need of higher productivity for ports and container terminals. In order to fulfill the need of competitiveness of terminal operators and in the same time respect the environmental legislation, container handling machine manufacturers are developping new solutions. Hybridization of energy sources is an interesting way but using more energy efficient actuation lines is also suitable. As a consequence, specifications are more and more complex, and can in particular have heterogeneous natures. In this thesis, the focus is made on two main topics linked to those problematics. On the one hand, a methodology concerning the sizing of over-actuated systems thanks to a coupling between inverse problems and dynamic optimization is exposed. On the other hand, the design, control strategies and an experimental validation of an hybrid actuation line applied to an container handling machine is presented. First of all, we propose a new procedure based on the bond graph language allowing the designer to take into account simultaneously two types of specifications, namely a cost function to minimize and functions of time specifying desired outputs of the system. This results in a coupled problem of state-space inversion and optimization. The procedure lead to a bond graph from which it is possible to directly derive the analytical system of the problem. The fundamental theory for proving the effectiveness of this procedure is carried out using the port hamiltonian systems. The bond graph representation of an optimal control problem is then extended to systems involving non linearities on dissipative R elements. In a second part, a new actuation architecture is proposed for a container handling machine, in order to improve the fuel efficiency. On the one hand, a transformer based system to recover the potential energy released during container lowering is exposed. This energy is stored into a hydropneumatic accumulator. Then, it is returned thanks to an extra hydraulic motor coupled to the engine shaft. On the other hand, a resizing of the main hydraulic pumps as well as a more suitable control law is proposed in order to make the engine work at better efficiency points. All those evolutions previously mentionned give now the possibility to perform kinetic energy recuperation during vehicle deceleration without adding any major component. The new architecture combined with more effetive control laws lead to a fuel consumption reduction of 16% up to 18%. Finally, the potential energy recovery system is validated on a test rig. The control laws are implemented and the dynamic and energetic performances are then analysed.; L'accroissement permanent du commerce intercontinental et la mondialisation s'accompagnent d'une augmentation de la productivité des ports et des terminaux à conteneurs. Le besoin de compétitivité des exploitants auquel s'additionnent les législations environnementales, poussent les fabricants d'engins de manutention de conteneurs à développer de nouvelles solutions afin de produire des machines plus respectueuses de l'environnement à un coût de possession acceptable. Pour ce faire, l'hybridation des sources d'énergie et l'utilisation de chaînes d'actionnement plus efficaces d'un point de vue énergétique sont les solutions envisagées. En conséquence, les cahiers des charges sont de plus en plus complexes, et les spécifications qu'ils stipulent sont de nature hétérogène. Ce travail de thèse s'intéresse à deux aspects majeurs en lien avec ces problématiques. Il s'articule donc d'une part autour d'un développement méthodologique concernant le dimensionnement de systèmes suractionnés par couplage de problèmes d'inversion et d'optimisation, et d'autre part, autour d'un développement applicatif visant la conception, la commande et la validation expérimentale d'une chaîne d'actionnement hybride d'un engin portuaire. Premièrement, nous proposons une procédure de construction d'un modèle s'appuyant sur le langage bond graph permettant de prendre en compte des spécifications exprimées en termes de critère à minimiser et de fonctions du temps désirées en sortie du système. Ce problème prend alors la forme d'un problème couplé d'inversion-optimisation. Du modèle bond graph obtenu, il est possible de déterminer directement les conditions nécessaires d'optimalité, et donc le système d'équations algébrodifférentielles associé. Nous nous intéressons ensuite à l'extension de la procédure de représentation d'un problème d'optimisation seul, dans le cas où des non linéarités apparaissent au niveau des phénomènes de dissipation d'énergie. Dans un second temps, nous proposons une nouvelle architecture pour un engin de manutention de conteneurs afin d'améliorer son efficacité énergétique. Cette solution de récupération d'énergie à la descente du conteneur est basée sur un transformateur hydraulique. L'énergie est stockée dans un accumulateur hydropneumatique, puis, elle est restituée grâce à un moteur hydraulique complémentaire couplé au moteur diesel. Un redimensionnement de la chaîne d'actionnement hydraulique ainsi qu'une stratégie de commande plus adaptée sont également proposées. Ces modifications offrent la possibilité de réaliser une récupération d'énergie à la décélération du véhicule sans ajout de composant majeur. L'architecture globale obtenue associée à une stratégie de commande adéquate génèrent une réduction de la consommation de carburant de 16% à 18%. Finalement, une validation expérimentale du système de récupération d'énergie potentielle est effectuée et les performances dynamiques et énergétiques sont analysées avec la commande proposée.

The continuously increasing of the intercontinental trade as well as the globalization lead to the need of higher productivity for ports and container terminals. In order to fulfill the need of competitiveness of terminal operators and in the same time respect the environmental legislation, container handling machine manufacturers are developping new solutions. Hybridization of energy sources is an interesting way but using more energy efficient actuation lines is also suitable. As a consequence, specifications are more and more complex, and can in particular have heterogeneous natures. In this thesis, the focus is made on two main topics linked to those problematics. On the one hand, a methodology concerning the sizing of over-actuated systems thanks to a coupling between inverse problems and dynamic optimization is exposed. On the other hand, the design, control strategies and an experimental validation of an hybrid actuation line applied to an container handling machine is presented. First of all, we propose a new procedure based on the bond graph language allowing the designer to take into account simultaneously two types of specifications, namely a cost function to minimize and functions of time specifying desired outputs of the system. This results in a coupled problem of state-space inversion and optimization. The procedure lead to a bond graph from which it is possible to directly derive the analytical system of the problem. The fundamental theory for proving the effectiveness of this procedure is carried out using the port hamiltonian systems. The bond graph representation of an optimal control problem is then extended to systems involving non linearities on dissipative R elements. In a second part, a new actuation architecture is proposed for a container handling machine, in order to improve the fuel efficiency. On the one hand, a transformer based system to recover the potential energy released during container lowering is exposed. This energy is stored into a hydropneumatic accumulator. Then, it is returned thanks to an extra hydraulic motor coupled to the engine shaft. On the other hand, a resizing of the main hydraulic pumps as well as a more suitable control law is proposed in order to make the engine work at better efficiency points. All those evolutions previously mentionned give now the possibility to perform kinetic energy recuperation during vehicle deceleration without adding any major component. The new architecture combined with more effetive control laws lead to a fuel consumption reduction of 16% up to 18%. Finally, the potential energy recovery system is validated on a test rig. The control laws are implemented and the dynamic and energetic performances are then analysed., L'accroissement permanent du commerce intercontinental et la mondialisation s'accompagnent d'une augmentation de la productivité des ports et des terminaux à conteneurs. Le besoin de compétitivité des exploitants auquel s'additionnent les législations environnementales, poussent les fabricants d'engins de manutention de conteneurs à développer de nouvelles solutions afin de produire des machines plus respectueuses de l'environnement à un coût de possession acceptable. Pour ce faire, l'hybridation des sources d'énergie et l'utilisation de chaînes d'actionnement plus efficaces d'un point de vue énergétique sont les solutions envisagées. En conséquence, les cahiers des charges sont de plus en plus complexes, et les spécifications qu'ils stipulent sont de nature hétérogène. Ce travail de thèse s'intéresse à deux aspects majeurs en lien avec ces problématiques. Il s'articule donc d'une part autour d'un développement méthodologique concernant le dimensionnement de systèmes suractionnés par couplage de problèmes d'inversion et d'optimisation, et d'autre part, autour d'un développement applicatif visant la conception, la commande et la validation expérimentale d'une chaîne d'actionnement hybride d'un engin portuaire. Premièrement, nous proposons une procédure de construction d'un modèle s'appuyant sur le langage bond graph permettant de prendre en compte des spécifications exprimées en termes de critère à minimiser et de fonctions du temps désirées en sortie du système. Ce problème prend alors la forme d'un problème couplé d'inversion-optimisation. Du modèle bond graph obtenu, il est possible de déterminer directement les conditions nécessaires d'optimalité, et donc le système d'équations algébrodifférentielles associé. Nous nous intéressons ensuite à l'extension de la procédure de représentation d'un problème d'optimisation seul, dans le cas où des non linéarités apparaissent au niveau des phénomènes de dissipation d'énergie. Dans un second temps, nous proposons une nouvelle architecture pour un engin de manutention de conteneurs afin d'améliorer son efficacité énergétique. Cette solution de récupération d'énergie à la descente du conteneur est basée sur un transformateur hydraulique. L'énergie est stockée dans un accumulateur hydropneumatique, puis, elle est restituée grâce à un moteur hydraulique complémentaire couplé au moteur diesel. Un redimensionnement de la chaîne d'actionnement hydraulique ainsi qu'une stratégie de commande plus adaptée sont également proposées. Ces modifications offrent la possibilité de réaliser une récupération d'énergie à la décélération du véhicule sans ajout de composant majeur. L'architecture globale obtenue associée à une stratégie de commande adéquate génèrent une réduction de la consommation de carburant de 16% à 18%. Finalement, une validation expérimentale du système de récupération d'énergie potentielle est effectuée et les performances dynamiques et énergétiques sont analysées avec la commande proposée.

Volume 1: Advances in Aerospace TechnologyPhoenix, Arizona, USA, November 11–17, 2016Conference Sponsors: ASMEISBN: 978-0-7918-5051-0; International audience; In the field of more electric aircraft, electromechanical actuators (EMAs) are becoming more and more attractive because of their outstanding benefits of aircraft fuel reduction, maintenance costs saving, and system flexibility improvement. For aerospace electromechanical actuator applications, mechanical power transmission is critical for safety, in which reflected inertia to load, heat generated by energy losses and faults due to jamming, free-play and free-run are specific issues. According to the system-engineering process and simulation-aided design, this communication proposes an incremental approach for the virtual prototyping of EMA mechanical power transmission. Resorting to the Bond-graph formalism, the parasitic effects are progressively introduced and realism of models is increased step-by-step. Finally, the numerical implementations are presented and compared with basic, advanced and full models of mechanical power transmission in AMESim environment. Multi-level submodels are available and can be re-used for preliminary sizing, thermal balance verification and response to fault analysis.

This paper describes a robust model-based fault diagnosis approach that enables to enhance the sensitivity analysis of the residuals. A residual is a fault indicator generated from an analytical redundancy relation which is derived from the structural and causal properties of the signed bond graph model. The proposed approach is implemented in two stages. The first stage consists in computing the residuals using available input and measurements while the second level leads to moving horizon residuals enclosures according to an interval consistency technique. These enclosures are determined by solving a constraint satisfaction problem which requires to know the derivatives of measured outputs as well as their boundaries. A numerical differentiator is then proposed to estimate these derivatives while providing their intervals. Finally, an inclusion test is performed in order to detect a fault upon occurrence. The proposed approach is well suited to deal with different kinds of faults and its performances are demonstrated through experimental data of an omni-directional robot.

This thesis is part of the collaborative project FUI THERMOFLUIDE-RT involving major groups (Zodiac DS, Safran Hispano, and MBDA), SMEs (Atmostat Alcen, ADR, AER, ControlSys) and five laboratories (CRIStAL Ecole Centrale de Lille, LML Arts et Métiers Paris Tech, LEGI Grenoble, LMT ENS Cachan, CEA-Liten Grenoble). The main purpose is to study a new electronic cooling system. The technology chosen consists of a two-phase fluid loop mechanically pumped (TPLMP). The thesis deals with the dynamic modeling and experimental validation of the cooling components. The developed dynamic model allows to predict the efficiency of the cooling loop, to conduct the study of transitional regimes, and provides an original tool dedicated to design the loop components. The bond graph methodology is adopted because of the multi physics character of the studied components. First, the basic issues and the industrial context are presented. This allows to introduce the chosen solution (TPLMP). The objectives of the thesis are described. Then, a description of the rig test is proposed. The following three chapters are devoted to a theoretical and experimental study of the loop equipment. Each chapter begins with a state of the art on modeling and correlations of the heat exchange coefficients and losses. A second part of the chapter describes phenomena and equations. A third part is dedicated to the experimental validation. A final chapter presents the coupling works of dynamic models validated separately. Finally, a summary of all contributions is made. Prospects for future developments in short and medium term are proposed.; Cette thèse s’inscrit dans le cadre du projet FUI THERMOFLUIDE-RT impliquant des Grands Groupes (Zodiac DS, Safran Hispano, MBDA), des PME (Atmostat, ADR, ControlSys) et cinq laboratoires (CRIStAL, LML Arts et Métiers Paris Tech, LEGI Grenoble, LMT ENS Cachan, CEA-Liten Grenoble). Le but est d’étudier un nouveau système de refroidissement de l’électronique. La technologie retenue est celle d’une boucle fluide diphasique à pompage mécanique (BFDPM). La thèse traite la modélisation dynamique et la validation expérimentale des composants de la boucle. Ceci permet de prévoir l’efficacité du système à partir de ses paramètres d’entrée, d’analyser les problèmes de régimes transitoires, et de proposer un outil de dimensionnement. La méthodologie bond graph est retenue à cause du caractère multi-physique des composants. D’abord, la problématique de base et le contexte sont présentés. Ceci permet d’introduire la solution retenue, celle des BFDPM. Les objectifs de la thèse sont décrits. Ensuite, une description du banc expérimental développé au cours de cette thèse est proposée. Les trois chapitres suivant sont consacrés à l’étude théorique et expérimentale des équipements de la boucle. Chacun de ces chapitres commence par l’état de l’art sur les travaux de modélisation et les corrélations des coefficients d’échange et des pertes de charge. Une seconde partie décrit les phénomènes et les équations. Une troisième partie est réservée à la validation des modèles. Un dernier chapitre récapitule les travaux de couplage des modèles dynamiques validés séparément. En conclusion, un récapitulatif des contributions est effectué. Des perspectives à court et moyen terme sont proposées

This paper presents a bond graph model of a helicopter’s semiactive suspension and the associated simulations. The structural and modular approach proposed with bond graph permits a systematic modeling of mechatronic multibody systems. This approach was carried out thanks to the use of the singular perturbation method, which is a variant of penalty formulation. The model is then built as an assembly of components or modules (rigid bodies and compliant kinematic joints) by following the structure of the actual system. The bond graph model of the passive suspension with fixed flapping masses has been verified with another multibody tool for three different excitations (pumping, roll, and yaw). Next, the passive model, augmented with electrical actuators and controllers, is called the semiactive suspension model. Simulations on the semiactive suspension model have been conducted. Chaire "dynamique des systèmes complexes" - Fondation EADS

Efforts towards a circular economy, increased possibilities of sensor technology and monitoring, and the developments in smart, connected products and systems have all contributed to the shift from selling products towards selling service-based offerings. Product-service systems are one example of service-based offerings, combining physical products or systems to service-based earnings logic. Many traditional companies might benefit from exploring the possibilities of service-based offerings, but the tools for modeling, simulating and analyzing service-based offerings are somewhat lacking. There are numerous existing methods for modeling products on one hand, or business and economic models on the other, but fewer combining the two. This article presents a modeling framework for describing, analyzing and simulating offerings consisting of interdependent technical systems and business processes, based on a an extension of previous work on the Dimensional Analysis Conceptual Modeling (DACM) framework. The goal of the framework is to allow modeling combinations of technical systems and business processes, resulting in flows of revenue between the stakeholders over a period of time. Further, the framework can be used to identify objectives of the stakeholders, and identify contradictions on a variable level, or conflicting objectives on a system level, and to propose solutions for solving the conflicts and contradictions based on general solution principles. In the article, the framework is applied on a case study of designing a reverse vending machine.