Organigramme des tâches du projet

Un organigramme des tâches du projet (OTP) ou structure de découpage du projet (SDP), ou encore work breakdown structure (WBS) (en anglais), est une décomposition hiérarchique des travaux nécessaires pour réaliser les objectifs d'un projet. Elle a pour but d’aider à organiser le projet, en définissant la totalité de son contenu et en servant de référence pour planifier les activités et établir le budget prévisionnel. Elle est également utilisée pour guider la gestion des risques, ou identifier les acquisitions nécessaires. Elle permet également de déléguer et de contractualiser la mission confiée à chaque acteur. Origine Le concept d'OTP (WBS en anglais) a été développé par le département américain de la Défense (United States Department of Defense), pour piloter la mise au point du programme de missile Polaris en 1957 dans la Marine. Même si le terme n'était à l'époque pas employé, il constitue la première application d'une décomposition hiérarchique ax

Systems engineering and design of a Mars Polar Research Base with a human crew

Anton Ivanov, Claudio Leonardi, Anne-Marlene Rüede, Tatiana Volkova

Mars Polar Ice caps have been known ever since they were first observed by Cassini. Robotic exploration mis- sions, starting with Mariner 9, have confirmed that they are composed of water ice. During later missions, instruments such as Mars Global Surveyor's MOLA have established a detailed topography and have estimated their depth at about 3 km in the thickest part, while detailed internal structure has been investigated by MARSIS from Mars Express and SHARAD from the Mars Reconnaissance Orbiter. This analysis proposes to establish a base near North Polar Layered Deposits to investigate Mars' climate, hydrological processes and to test for possible traces of life. The objectives of the mission are to sustain a crew for nine months on the surface of Mars, near the North Pole, and to bring the crew back to Earth safely. During the surface mission, the crew will drill and analyze Polar Layered Deposits in ice samples. Furthermore, because the North Polar region provides an easy access to water ice, this area has the potential of sustaining a long-term human presence. The Mars Polar Research mission shall therefore prepare for long term missions, spanning over multiple crew generations. Indeed, longer duration missions and larger crews should be facilitated by this first mission. This paper describes a mission design for a Mars Polar Research base using systems engineering approach and scenario testing. The goal of the work is to establish a strategy composed of various technologies that have been selected accordingly. The requirements related to crew composition, human physiology and psychology adaptation, quality of com- munication, challenges and prospects of advancing science, as well as optimum habitat design and its usability, are derived and compiled into mass, volume, data and power consumption. A design for the base and mission scenario is also proposed. Given the identified requirements, possible technologies for life support systems, radiation protection, in-situ propellant production, thermal control, air pressure difference compensation and availability of power are discussed and solutions to focus on are recommended. Furthermore, the requirements for a long-term mission preparation are also identified and solutions to include in a first Mars mission with crew are recommended. In conclusion, approximately 110 metric tons and 160 kW are required to enable a Mars Polar mission with a human crew. A two-phase mission is recommended for enabling the testing of key in-situ resource utilization technologies allowing to minimize mass, while ensuring the security of the crew. The use of optimal payload and fairing, a Mars orbit crane system and deployable structures are recommended. Finally, in pre- paration for a long-term presence of humans on Mars, including in-situ testing of key technologies enabling the production of consumables facilitating autonomy from Earth is suggested. The consumables that have been identified as not being able to be tested before a first crew is sent to Mars are food and energy production. These developments may serve as priorities for current Mars settlement programs.

2019

Review of control strategies for lower-limb exoskeletons to assist gait

Romain Pierre François Baud, Mohamed Bouri, Auke Ijspeert, Ali Reza Manzoori

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Methods In addition to covering the recent publications on the control of lower-limb exoskeletons for gait assistance, an effort has been made to review the controllers independently of the hardware and implementation aspects. The common 3-level structure (high, middle, and low levels) is first used to separate the continuous behavior (mid-level) from the implementation of position/torque control (low-level) and the detection of the terrain or user's intention (high-level). Within these levels, different approaches (functional units) have been identified and combined to describe each considered controller. Results 291 references have been considered and sorted by the proposed classification. The methods identified in the high-level are manual user input, brain interfaces, or automatic mode detection based on the terrain or user's movements. In the mid-level, the synchronization is most often based on manual triggers by the user, discrete events (followed by state machines or time-based progression), or continuous estimations using state variables. The desired action is determined based on position/torque profiles, model-based calculations, or other custom functions of the sensory signals. In the low-level, position or torque controllers are used to carry out the desired actions. In addition to a more detailed description of these methods, the variants of implementation within each one are also compared and discussed in the paper. Conclusions By listing and comparing the features of the reviewed controllers, this work can help in understanding the numerous techniques found in the literature. The main identified trends are the use of pre-defined trajectories for full-mobilization and event-triggered (or adaptive-frequency-oscillator-synchronized) torque profiles for partial assistance. More recently, advanced methods to adapt the position/torque profiles online and automatically detect terrains or locomotion modes have become more common, but these are largely still limited to laboratory settings. An analysis of the possible underlying reasons of the identified trends is also carried out and opportunities for further studies are discussed.

BMC2021

Systems engineering and design of a Mars Polar Research Base with a human crew

Anton Ivanov, Claudio Leonardi, Anne-Marlene Rüede, Tatiana Volkova

2019

Review of control strategies for lower-limb exoskeletons to assist gait

Romain Pierre François Baud, Mohamed Bouri, Auke Ijspeert, Ali Reza Manzoori

BMC2021