{"id":62636,"date":"2024-02-26T16:08:06","date_gmt":"2024-02-26T14:08:06","guid":{"rendered":"https:\/\/www.iemn.fr\/?p=62636"},"modified":"2024-04-11T11:51:44","modified_gmt":"2024-04-11T09:51:44","slug":"these-j-b-casavova-nouvelle-approche-du-sar-hybride-a-2-etages-assiste-dune-pente-digitale-bidirectionnelle-pour-des-applications-a-faible-consommation-denergie","status":"publish","type":"post","link":"https:\/\/www.iemn.fr\/en\/agenda\/these-j-b-casavova-nouvelle-approche-du-sar-hybride-a-2-etages-assiste-dune-pente-digitale-bidirectionnelle-pour-des-applications-a-faible-consommation-denergie.html","title":{"rendered":"THESE : Madame Nawal ALSALEH  \u2013 M\u00e9thodes de fusion multi-capteurs tol\u00e9rantes aux d\u00e9fauts \u2013 Localisation et caract\u00e9risation collaboratives d\u2019un syst\u00e8me multi-robots"},"content":{"rendered":"<div id='layer_slider_1'  class='avia-layerslider main_color avia-shadow  avia-builder-el-0  el_before_av_heading  avia-builder-el-first  container_wrap sidebar_right'  style='height: 261px;'  ><div id=\"layerslider_58_kf5my9ley7ch\" data-ls-slug=\"homepageslider\" class=\"ls-wp-container fitvidsignore ls-selectable\" style=\"width:1140px;height:260px;margin:0 auto;margin-bottom: 0px;\"><div class=\"ls-slide\" data-ls=\"duration:6000;transition2d:5;\"><img loading=\"lazy\" decoding=\"async\" width=\"2600\" height=\"270\" src=\"https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1.jpg\" class=\"ls-bg\" alt=\"\" srcset=\"https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1.jpg 2600w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-300x31.jpg 300w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-768x80.jpg 768w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-1030x107.jpg 1030w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-1500x156.jpg 1500w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-705x73.jpg 705w\" sizes=\"auto, (max-width: 2600px) 100vw, 2600px\" \/><ls-layer style=\"font-size:14px;text-align:left;font-style:normal;text-decoration:none;text-transform:none;font-weight:700;letter-spacing:0px;border-style:solid;border-color:#000;background-position:0% 0%;background-repeat:no-repeat;width:180px;height:30px;left:0px;top:231px;line-height:32px;color:#ffffff;border-radius:6px 6px 6px 6px;padding-left:50px;background-color:rgba(0, 0, 0, 0.57);\" class=\"ls-l ls-ib-icon ls-text-layer\" data-ls=\"minfontsize:0;minmobilefontsize:0;\"><i class=\"fa fa-quote-right\" style=\"color:#ffffff;margin-right:0.8em;font-size:1em;transform:translateY( -0.125em );\"><\/i>ACTUALITES<\/ls-layer><\/div><\/div><\/div><div id='after_layer_slider_1'  class='main_color av_default_container_wrap container_wrap sidebar_right'  ><div class='container av-section-cont-open' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-62636'><div class='entry-content-wrapper clearfix'>\n\n<style type=\"text\/css\" data-created_by=\"avia_inline_auto\" id=\"style-css-av-av_heading-047c57f8cc7805228556ae8e8a09dd84\">\n#top .av-special-heading.av-av_heading-047c57f8cc7805228556ae8e8a09dd84{\nmargin:0 0 10px 0;\npadding-bottom:4px;\n}\nbody .av-special-heading.av-av_heading-047c57f8cc7805228556ae8e8a09dd84 .av-special-heading-tag .heading-char{\nfont-size:25px;\n}\n.av-special-heading.av-av_heading-047c57f8cc7805228556ae8e8a09dd84 .av-subheading{\nfont-size:15px;\n}\n<\/style>\n<div  class='av-special-heading av-av_heading-047c57f8cc7805228556ae8e8a09dd84 av-special-heading-h2  avia-builder-el-1  el_after_av_layerslider  el_before_av_hr  avia-builder-el-first'><h2 class='av-special-heading-tag'  itemprop=\"headline\"  >THESE : Madame Nawal ALSALEH &#8211; M\u00e9thodes de fusion multi-capteurs tol\u00e9rantes aux d\u00e9fauts \u2013 Localisation et caract\u00e9risation collaboratives d\u2019un syst\u00e8me multi-robots<\/h2><div class=\"special-heading-border\"><div class=\"special-heading-inner-border\"><\/div><\/div><\/div>\n\n<style type=\"text\/css\" data-created_by=\"avia_inline_auto\" id=\"style-css-av-18u73nj-dad6a947580930e400fc42ba200e80f1\">\n#top .hr.av-18u73nj-dad6a947580930e400fc42ba200e80f1{\nmargin-top:5px;\nmargin-bottom:5px;\n}\n.hr.av-18u73nj-dad6a947580930e400fc42ba200e80f1 .hr-inner{\nwidth:100%;\n}\n<\/style>\n<div  class='hr av-18u73nj-dad6a947580930e400fc42ba200e80f1 hr-custom  avia-builder-el-2  el_after_av_heading  el_before_av_textblock  hr-left hr-icon-no'><span class='hr-inner inner-border-av-border-thin'><span class=\"hr-inner-style\"><\/span><\/span><\/div>\n<section  class='av_textblock_section av-jriy64i8-2f4600354c0449b610997916bbd9b6bc'   itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/BlogPosting\" itemprop=\"blogPost\" ><div class='avia_textblock'  itemprop=\"text\" >\n<style type=\"text\/css\" data-created_by=\"avia_inline_auto\" id=\"style-css-av-13ewzjw-68e036126b913e5028f77311dc66b825\">\n.av_font_icon.av-13ewzjw-68e036126b913e5028f77311dc66b825{\ncolor:#bfbfbf;\nborder-color:#bfbfbf;\n}\n.av_font_icon.av-13ewzjw-68e036126b913e5028f77311dc66b825 .av-icon-char{\nfont-size:60px;\nline-height:60px;\n}\n<\/style>\n<span  class='av_font_icon av-13ewzjw-68e036126b913e5028f77311dc66b825 avia_animate_when_visible av-icon-style- avia-icon-pos-left avia-icon-animate'><span class='av-icon-char' aria-hidden='true' data-av_icon='\ue8c9' data-av_iconfont='entypo-fontello' ><\/span><\/span>\n<p><strong>Nawal ALSALEH<br \/>\n<\/strong><\/p>\n<p>Soutenance : 12 Avril 2024\u00a0 \u00e0 10h 30<br \/>\n<span class=\"titre\">Th\u00e8se de doctorat en Electronique, micro\u00e9lectronique, nano\u00e9lectronique et micro-ondes, Universit\u00e9 de Lille, ENGSYS Sciences de l\u2019ing\u00e9nierie et des syst\u00e8mes, <\/span><br \/>\nIEMN Amphitheatre - Central Laboratory - Villeneuve d'Ascq<\/p>\n<\/div><\/section>\n<section  class='av_textblock_section av-jtefqx33-628129dba2299b2ecd65ebfc92eac29d'   itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/BlogPosting\" itemprop=\"blogPost\" ><div class='avia_textblock'  itemprop=\"text\" ><div  class='hr av-kjh3zw-4dff888f744b728a1aca9b3a0971493a hr-default  avia-builder-el-6  avia-builder-el-no-sibling'><span class='hr-inner'><span class=\"hr-inner-style\"><\/span><\/span><\/div>\n<h5>Jury<\/h5>\n<table style=\"width: 100%;\" border=\"0\" width=\"100%\" cellpadding=\"2\">\n<tbody>\n<tr>\n<td>M. Denis\u00a0POMORSKI<\/td>\n<td>Universit\u00e9 de Lille<\/td>\n<td>Directeur de th\u00e8se<\/td>\n<\/tr>\n<tr>\n<td>M. Kamel\u00a0HADDADI<\/td>\n<td>Universit\u00e9 de Lille<\/td>\n<td>Co-Directeur de th\u00e8se<\/td>\n<\/tr>\n<tr>\n<td>M. Tan Phu\u00a0VUONG<\/td>\n<td>Grenoble INP<\/td>\n<td>Rapporteur<\/td>\n<\/tr>\n<tr>\n<td>M. Bernard\u00a0KAMSU-FOGUEM<\/td>\n<td>Universit\u00e9 de Toulouse<\/td>\n<td>Rapporteur<\/td>\n<\/tr>\n<tr>\n<td>Mme Virginie \u00a0DEGARDIN<\/td>\n<td>Universit\u00e9 de Lille<\/td>\n<td>Examinatrice<\/td>\n<\/tr>\n<tr>\n<td>M. Serge\u00a0REBOUL<\/td>\n<td>Universit\u00e9 du Littoral Cote d\u2019Opale<\/td>\n<td>Examinateur<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h5><\/h5>\n<h5><\/h5>\n<h5>Summary:<\/h5>\n<p>Cette th\u00e8se vise \u00e0 d\u00e9velopper des m\u00e9thodologies d\u00e9di\u00e9es \u00e0 am\u00e9liorer la fonctionnalit\u00e9 de robots mobiles pour accomplir une mission, en particulier la caract\u00e9risation \u00e9lectromagn\u00e9tique micro-onde de mat\u00e9riaux dans leur environnement. Le succ\u00e8s de cette mission d\u00e9pend de la navigation pr\u00e9cise et de la perception exacte de l&rsquo;environnement par les robots, un challenge qui est souvent perturb\u00e9 par les d\u00e9faillances et les incertitudes des capteurs. \u00c0 cet \u00e9gard, la th\u00e8se se concentre principalement sur deux points fondamentaux. Dans le premier, nous d\u00e9veloppons une m\u00e9thode de localisation robuste pour assurer une navigation autonome pr\u00e9cise et tol\u00e9rante aux d\u00e9fauts pour les robots mobiles. Cette m\u00e9thode repose sur une approche statistique informationnelle, incorporant un seuil adaptatif qui facilite la d\u00e9tection rapide et pr\u00e9cise des d\u00e9fauts de capteurs. L&rsquo;efficacit\u00e9 de cette m\u00e9thode est valid\u00e9e par une \u00e9tude comparative avec des approches existantes de la litt\u00e9rature. Le deuxi\u00e8me point consiste \u00e0 d\u00e9velopper des techniques de contr\u00f4le et d&rsquo;\u00e9valuation non destructives par micro-ondes (Microwave Non Destructive Testing &amp; Evaluation &#8211; MNDT&amp;E) pour la caract\u00e9risation des mat\u00e9riaux. Initialement, nous consid\u00e9rons des techniques conventionnelles de MNDT&amp;E, associ\u00e9es \u00e0 une mod\u00e9lisation analytique. Reconnaissant les limites de la mod\u00e9lisation analytique, nous pr\u00e9sentons trois nouvelles techniques \u00ab intelligentes \u00bb de MNDT&amp;E qui int\u00e8grent des mod\u00e8les d&rsquo;apprentissage automatique (Machine Learning &#8211; ML) et d&rsquo;apprentissage profond (Deep Learning &#8211; DL). Ces techniques reposent sur deux approches micro-ondes : la propagation en espace libre pour la caract\u00e9risation sans contact en utilisant un radar mono-statique et la propagation guid\u00e9e pour la caract\u00e9risation en contact en utilisant un guide d&rsquo;ondes rectangulaire (Open-Ended Rectangular Waveguide &#8211; OERW). Les capteurs d\u00e9velopp\u00e9s int\u00e8grent des contraintes de faible encombrement et faible co\u00fbt, compatibles avec un contexte hors laboratoire. Dans une premi\u00e8re phase, les techniques propos\u00e9es sont utilis\u00e9es pour mesurer les coefficients de r\u00e9flexion des mat\u00e9riaux, g\u00e9n\u00e9rant trois bases de donn\u00e9es distinctes. La deuxi\u00e8me phase consiste \u00e0 utiliser les mod\u00e8les ML et DL afin de relier les r\u00e9ponses \u00e9lectromagn\u00e9tiques mesur\u00e9es et les types de mat\u00e9riaux identifi\u00e9s ou la pr\u00e9sence de d\u00e9fauts. De plus, diff\u00e9rentes configurations et topologies de mesure sont introduites et mises en \u0153uvre. La performance de chaque configuration est \u00e9valu\u00e9e et analys\u00e9e en fonction de m\u00e9triques s\u00e9lectionn\u00e9es dans des conditions de laboratoire et des conditions r\u00e9alistes. Enfin, nous pr\u00e9sentons une \u00e9tude de faisabilit\u00e9 bas\u00e9e sur un r\u00e9flectom\u00e8tre six ports \u00e0 guide d&rsquo;ondes m\u00e9tallique. Ce dispositif pr\u00e9sente des avantages particuli\u00e8rement bien adapt\u00e9s \u00e0 des contingences hors laboratoire tels que sa consommation \u00e9lectrique r\u00e9duite, sa pr\u00e9cision de mesure \u00e9lectrique et sa capacit\u00e9 \u00e0 op\u00e9rer en environnement difficile. De plus, le syst\u00e8me d\u00e9velopp\u00e9 pour un fonctionnement en bande de fr\u00e9quences V (55-75 GHz) facilite le passage de la caract\u00e9risation des micro-ondes \u00e0 celle des ondes millim\u00e9triques, jetant les bases d&rsquo;une analyse pr\u00e9cise et efficace. La mont\u00e9e en fr\u00e9quences \u00e9largit le spectre des informations captur\u00e9es, am\u00e9liorant les capacit\u00e9s, la pr\u00e9cision et la versatilit\u00e9 des techniques de contr\u00f4le et d&rsquo;\u00e9valuation non destructifs.<\/p>\n<table style=\"height: 46px;\" border=\"0\" width=\"928\">\n<tbody>\n<tr>\n<td><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h5>Abstract:<\/h5>\n<p>This thesis aims to develop methodologies dedicated to improving the functionality of mobile robots to accomplish a mission, in particular the microwave electromagnetic characterisation of materials in their environment. The success of this mission depends on precise navigation and accurate perception of the environment by the robots, a challenge that is often disrupted by sensor failures and uncertainties. In this respect, the thesis focuses mainly on two fundamental points. In the first, we develop a robust localisation method to ensure accurate and fault-tolerant autonomous navigation for mobile robots. This method is based on an informational statistical approach, incorporating an adaptive threshold that facilitates rapid and accurate detection of sensor faults. The effectiveness of this method is validated by a comparative study with existing approaches in the literature. The second objective is to develop Microwave Non Destructive Testing &amp; Evaluation (MNDT&amp;E) techniques for materials characterisation. Initially, we are considering conventional MNDT&amp;E techniques, combined with analytical modelling. Recognising the limitations of analytical modelling, we present three new &lsquo;intelligent&rsquo; MNDT&amp;E techniques that incorporate Machine Learning (ML) and Deep Learning (DL) models. These techniques are based on two microwave approaches: free-space propagation for non-contact characterisation using a mono-static radar, and guided propagation for contact characterisation using an Open-Ended Rectangular Waveguide (OERW). The sensors developed incorporate the constraints of small size and low cost, compatible with a non-laboratory context. In the first phase, the proposed techniques are used to measure the reflection coefficients of materials, generating three separate databases. In the second phase, the ML and DL models are used to relate the measured electromagnetic responses to the types of materials identified or the presence of defects. In addition, different measurement configurations and topologies are introduced and implemented. The performance of each configuration is evaluated and analysed against selected metrics under laboratory and realistic conditions. Finally, we present a feasibility study based on a six-port metallic waveguide reflectometer. This device offers advantages that are particularly well suited to non-laboratory contingencies, such as its low power consumption, electrical measurement accuracy and ability to operate in harsh environments. In addition, the system has been developed to operate in the V-band frequency range (55-75 GHz), facilitating the transition from microwave to millimetre-wave characterisation, laying the foundations for accurate and efficient analysis. The increase in frequency broadens the spectrum of information captured, improving the capabilities, accuracy and versatility of non-destructive testing and evaluation techniques.<\/p>\n<\/div><\/section>\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='layer_slider_2'  class='avia-layerslider main_color avia-shadow  avia-builder-el-7  el_after_av_textblock  avia-builder-el-last  slider-not-first container_wrap sidebar_right'  style='height: 261px;'  ><div id=\"layerslider_58_452hyn94g70x\" data-ls-slug=\"homepageslider\" class=\"ls-wp-container fitvidsignore ls-selectable\" style=\"width:1140px;height:260px;margin:0 auto;margin-bottom: 0px;\"><div class=\"ls-slide\" data-ls=\"duration:6000;transition2d:5;\"><img loading=\"lazy\" decoding=\"async\" width=\"2600\" height=\"270\" src=\"https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1.jpg\" class=\"ls-bg\" alt=\"\" srcset=\"https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1.jpg 2600w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-300x31.jpg 300w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-768x80.jpg 768w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-1030x107.jpg 1030w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-1500x156.jpg 1500w, https:\/\/www.iemn.fr\/wp-content\/uploads\/2019\/01\/sliders_news1-705x73.jpg 705w\" sizes=\"auto, (max-width: 2600px) 100vw, 2600px\" \/><ls-layer style=\"font-size:14px;text-align:left;font-style:normal;text-decoration:none;text-transform:none;font-weight:700;letter-spacing:0px;border-style:solid;border-color:#000;background-position:0% 0%;background-repeat:no-repeat;width:180px;height:30px;left:0px;top:231px;line-height:32px;color:#ffffff;border-radius:6px 6px 6px 6px;padding-left:50px;background-color:rgba(0, 0, 0, 0.57);\" class=\"ls-l ls-ib-icon ls-text-layer\" data-ls=\"minfontsize:0;minmobilefontsize:0;\"><i class=\"fa fa-quote-right\" style=\"color:#ffffff;margin-right:0.8em;font-size:1em;transform:translateY( -0.125em );\"><\/i>ACTUALITES<\/ls-layer><\/div><\/div><\/div>","protected":false},"excerpt":{"rendered":"","protected":false},"author":20,"featured_media":63214,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[87,65,84],"tags":[],"class_list":["post-62636","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-agenda-en","category-agenda","category-agenda-en-en"],"_links":{"self":[{"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/posts\/62636","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/users\/20"}],"replies":[{"embeddable":true,"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/comments?post=62636"}],"version-history":[{"count":0,"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/posts\/62636\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/media\/63214"}],"wp:attachment":[{"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/media?parent=62636"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/categories?post=62636"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.iemn.fr\/en\/wp-json\/wp\/v2\/tags?post=62636"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}