蒙彼利埃学院蒙彼利埃第二大学- 语言科学与技术-论文要获得的等级蒙彼利埃第二大学博士学科：计算机工程、自动化和信号处理博士培训：自动化系统和微电子学博士学校：信息、结构和系统由以下人员公开介绍和支持巴斯蒂安·杜兰德2011年6月15日标题：一种用于容错的自适应控制架构的建议陪审团：M.西蒙·拉克鲁瓦研究总监LAAS-CNRS报告员M.让-马克·蒂里埃教授GIPSA实验室报告员M.拉皮尔·莱昂内尔会议主持人LIRMM审查员M.邪恶的杰克教授LIP6审查员M.克里斯塔尼·迪迪埃教授LIRMM论文主任夫人。戈登·德让·凯伦会议主持人LIRMM论文联合主任感谢玛丽、米歇尔、马吉和蒂博，也感谢其他他有狮子座波波头，他可能会把狮子座打他有波波头狮子座哦，可怜的狮子座我们他死了...来自Boby Lapointe的歌曲"Bobo Léon"。谢谢你本论文中介绍的工作是在蒙彼利埃机器人部门的计算机科学实验室（Laboratoire d'Informatique他们由Didier CRESTANI先生和Karen GODARY-DEJEAN女士领导，我非常感谢他们与我们的人际交往。在整个经历中，他们的帮助是有限的。我还与实验室的许多同事合作，我要感谢他们：– 机器人学家Lionel LAPIERRE、René ZAPATA和博士生Lei ZHANG和Alfredo TO-RIZPALACIOS使我能够使用先锋3-DX，但最重要的是，他们通过讨论和建议以及我实验中使用的控制算法向我提供了他们的移动机器人知识– 控制架构专家David ANdreu、Robin PAssama和Abdellah EL JA-LAOUI我还要特别感谢由皮埃尔和玛丽·居里大学（巴黎）教授Jacques MAlenfant、约瑟夫·傅立叶大学（格勒诺布尔）教授Jean-Marc T HI - RIET和LAAS-CNRS（图卢兹）研究主任Simon L Acroix担任主席的评审团外部成员，感谢他们我还要向整个CAR社区（法国机器人控制架构会议）致敬，我能够与他们分享、学习和发展控制架构和各种相关领域的概念和发展，以及在这些年会上一起度过的美好时光。我特别在NDREU，N. BOuraqadi，J-L. 阿尔热斯，C. 没有椭圆形， 和G. 乌鲁先生。我不能忽视所有在V– 老Yousra，Abdellah，Olivier，Kevin，Aurélien– 最年轻的塞巴斯蒂安、文森特、杰里米、纪尧姆、罗杰里奥、卡拉、雷、布鲁诺– 和那些和还有那些我希望很快就能成为的人最后，我转向我的家人、朋友和所有与我亲近的人，告诉他们他们的存在和支持对我的冒险的成功是多么必要。杜兰德·巴斯蒂安T ABLE 从材料谢谢你V数字十五表十九一般介绍1I最新技术水平31工作环境51.1 回到机器人的可靠性。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...51.1.1发现 ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...51.2操作安全的原则。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...71.2.1 功能安全的属性。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...71.2.2安全运行的障碍。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...81.2.3 操作安全的方法。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...102安全运行的方法132.1 防止故障。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...142.2 消除故障。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...152.2.1消除系统开发过程中的故障。... ... ... ... ...152.2.2 消除系统使用过程中的故障。... ... ... ... ... ... ... ...162.3故障预测。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...162.3.1MD E C。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...172.3.2故障树。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...183.3事件树18。 . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...2.4容错：检测和诊断故障的 方 法 。... ... ... ... ... ...192.4.1容错的步 骤 。... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...20七八T ABLE 从材料2.4.2诊断.................................................................................................................................212.5容错：恢复.............................................................................................................................272.5.1被动............................................................................................................................ 恢复272.5.2主动............................................................................................................................ 恢复282.5.3通过人机.................................................................................................................... 交互292.6分析和结论.............................................................................................................................323机器人控制架构和操作安全353.1L’architecture de contrôle robotique..................................................................................3.1.1建筑的概念................................................................................................................3.1.2机器人控制架构：经典............................................................................................ 类型学363.2预防错误.................................................................................................................................393.2.1系统............................................................................................................................ 的模块化393.2.2系统............................................................................................................................ 设计工具403.3故障.........................................................................................................................................排除413.3.1测试和模拟................................................................................................................ 413.3.2正式............................................................................................................................ 确认423.4故障.........................................................................................................................................预测433.4.1统计............................................................................................................................ 分析433.4.2A MDEC在机器人技术中的应用..............................................................................3.4.3故障............................................................................................................................ 严重程度分析443.5容忍.........................................................................................................................................度453.5.1软件故障.................................................................................................................... 463.5.2第................................................................................................................................ 四十七章恢复3.6结论.........................................................................................................................................57最新技术水平的结论II提出4容错控制体系结构的方法论634.163号提案.................................................................................................................................4.2控制体系结构：一般.............................................................................................................原则644.3故障预测方法：我们对MDEC 65的看法...................................................................................................4.3.1步骤1：确定系统......................................................................................................65八T ABLE 从材料4.3.2步骤2：系统..............................................................................................................的664.3.3步骤3：识别故障模式及其严重..............................................................................程度684.3.4结果：A MDEC 70的汇总表.............................................................................................................4.4集成容错机制.........................................................................................................................73.4.4.1控制体系结构的观察.....................................................................................................4.4.2诊断............................................................................................................................ 754.4.380年代的恢复................................................................................................................4.5结论.........................................................................................................................................85III应用和实验背景895控制架构COTAMA915.1控制架构的结构.........................................................................................................................5.2模块-建筑的基本构件................................................................................................................5.2.1模块之间的交互方式.....................................................................................................5.2.2模块........................................................................................................ 94的内部结构5.3主管：全球和本地.................................................................................................................955.3.1一般.................................................................................................................... 说明955.3.2执行.................................................................................................................... 情况965.3.3词汇............................................................................................................................ 965.3.4第97章............................................................................................................................5.4L’ordonnanceur - clef de voute de l’architecture...................................................................5.4.1第98章第一次见面........................................................................................................5.4.2实施和词汇................................................................................................................ 995.5结论....................................................................................................................................... 1016103实验室内的邮件递送任务6.1任务............................................................................................................................... 规范1036.1.1控制.................................................................................................. 监督员的描述1046.1.2机器.......................................................................................................... 人的描述1066.2控制器................................................................................................................... 的实例化1076.2.1机器人的任务描述.........................................................................................................6.2.2将机器人移动到用户.............................................................................................. 1096.2.3人机交互模块.................................................................................................................6.3主管............................................................................................................................... 说明1196.4结论....................................................................................................................................... 121八T ABLE 从材料IV容错方法的应用1237故障预测：该方法在案例研究125中的应用7.1A MDEC 125的应用.....................................................................................................................................................7.1.1SMZ.....................................................................125自主路径跟踪函数的S ADT分解7.1.2故障.......................................................................................................... 模式识别1277.1.3A MDEC 131的严重程度分析和汇总表............................................................................................7.2恢复....................................................................................................................................... 的操作模式1337.2.1跟踪路径133的目标的自主操作模式....................................................................7.2.2非自主.......................................................................................................................操作模式1357.3结论....................................................................................................................................... 1378容错：体系结构实现1398.1检测阶段：观察模块...........................................................................................................8.1.1数据观察模块...........................................................................................................8.1.2模块143中的观察模块............................................................................................8.1.3多模块观测模块.......................................................................................................8.1.4控制...........................................................................................................................模块中的观察结果1468.1.5结论...........................................................................................................................1478.2诊断阶段：诊断................................................................................................................... 模块1478.2.1从...............................................................................................................................8.2.2诊断...........................................................................................................................过程的实施1498.3恢复阶段：主管................................................................................................................... 1528.3.1用于恢复...................................................................................................................1538.3.2特派团.......................................................................................................................管理全球主管1548.3.3自主权调整的本地主管...........................................................................................8.3.4用于重新配置和本地适应的适应监督器8.4结论....................................................................................................................................... 157V容错体系结构的实验9任务的描述和分析9.1161号任务.............................................................................................................................的实验条件9.2残差矩阵和FMECA...............................................................................................................表163的反馈9.3第166章第一.........................................................................................................................次见面八T ABLE 从材料9.3.1第1阶段：启动........................................................................................................9.3.2阶段2：单次............................................................................................................ 超时故障检测1679.3.3阶段3：检测多个位置............................................................................................ 故障1689.3.4阶段4：检测机器.................................................................................................... 人170的反向运动9.3.5阶段5：人机交互诊断-远程操作...........................................................................1719.3.6阶段6：通过人机交互恢复-远程编程1739.3.7第7阶段：探测........................................................................................................9.3.8第8阶段：从声纳.................................................................................................... 部分干扰中恢复1769.3.9第9阶段：探测........................................................................................................9.3.10 阶段10：碰撞..........................................................................................................1809.3.11 第11阶段：通过人机交互完成任务：远程操作..................................................1829.4综合与分析........................................................................................................................... 1839.4.1任务...........................................................................................................................进展概述1839.4.2人机交互的重要性...........................
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