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Theses

Étude d’un système robotique coopératif en milieu sidérurgique sévère

Baptiste Menges 1, 2
1 NEUROSYS - Analysis and modeling of neural systems by a system neuroscience approach
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : The work proposed as part of this thesis is part of improving the production quality and working conditions of Saint-Gobain PAM steel sites. It was proposed to study and develop a collaborative robotic system capable of assisting an operator in repetitive, painful and sometimes dangerous tasks in an environment of extreme heat and dust. Recently passed CMR, crystalline silica dust represents the biggest problem requiring the study of alternative solutions to current production methods.More specifically, the operator's workstation, which is critical for the quality of production, requires demanding attention and know-how. The operator's job is to monitor, clean, coat, maintain a cast iron casting member of a centrifuge machine used in the production of ductile iron pipe. Many movements made by the operator are characterized as rhythmic and form a closed limit cycle, the same behavior of which is observed in dynamic oscillators.The objective of this thesis is therefore to study an alternative solution to reduce operator exposure. The technological choice fell on the remote operation of a robotic system in order to reproduce the tasks remotely outside the exhibition areas. The control of these rhythmic tasks will be carried out by different models of oscillator and different means of teleoperation. This thesis will also aim to study the implementation of two dynamic oscillators, those of Hopf and Rowat-Selverston coupled to three different teleoperation devices.Thanks to the various tests, we observed the impact of a control with a dynamic oscillator compared to a control without. We can also observe the impact that the various remote operation devices may have on the control signals.
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Submitted on : Friday, March 4, 2022 - 4:55:11 PM
Last modification on : Saturday, March 5, 2022 - 3:30:53 AM

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Baptiste Menges. Étude d’un système robotique coopératif en milieu sidérurgique sévère. Informatique [cs]. Université de Lorraine, 2021. Français. ⟨NNT : 2021LORR0261⟩. ⟨tel-03598213⟩

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