[pt] Neste trabalho aplica-se o método de inovações ao problema de estimação de um processo Gauss-Markov provindo de um sistema multivariável descrito por uma equação de estado. Após a dedução das fórmulas gerais de estimação em termos do processo de inovações obtém-se os algoritmos recursivos do filtro de Kalman-Bucy para o caso não linear contínuo, bem como, para o caso linear continuo e discreto. A seguir, faz-se a representação do processo como saída de um sistema causal e causalmente reversível excitado por um ruído branco, chamada representação por inovações (RI). Os parâmetros deste sistema são determinados a partir da covariância do processo. Finalmente, é desenvolvido um algoritmo para a determinação de uma RI de um processo estacionário provindo de um sistema desconhecido, invariante no tempo. / [en] In this work the innovations method is applied to the estimation problem of a Gauss-Markov process, output of a multivariable system described by a state equation. After obtaining general estimation formulas in terms of the innovations process, the Kalman-Bucy filter recursive algorithms are derived for the nonlinear continuous case as well as for the linear discrete and continuous case. Next, it is given a representation of the process as an output of a causal and causally reversible system to a white noise, known as the innovation representation. The parameters of such a system are determined from the process covariance. Finally, an algorithm is built to obtain an IR of a stationary process coming from an unknown time-invariant system.

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Doctor of Philosophy / Department of Mathematics / Christopher G. Pinner

This project investigates the development of four different proofs of the law of quadratic reciprocity, in order to study the critical reasoning process that drives discovery in mathematics. We begin with an examination of the first proof of this law given by Gauss. We then describe Gauss’ fourth proof of this law based on Gauss sums, followed by a look at Eisenstein’s geometric simplification of Gauss’ third proof. Finally, we finish with an examination of one of the modern proofs of this theorem published in 1991 by Rousseau. Through this investigation we aim to analyze the different strategies used in the development of each of these proofs, and in the process gain a better understanding of this theorem.

In 1980, L. Adleman, C. Pomerance, and R. Rumely invented the first cyclotomicprimality test, and shortly after, in 1981, a simplified and more efficient versionwas presented by H.W. Lenstra for the Bourbaki Seminar. Later, in 2008, ReneSchoof presented an updated version of Lenstra's primality test. This thesis presents adetailed description of the cyclotomic primality test as described by Schoof, along withsuggestions for implementation. The cornerstone of the test is a prime congruencerelation similar to Fermat's little theorem" that involves Gauss or Jacobi sumscalculated over cyclotomic fields. The algorithm runs in very nearly polynomial time.This primality test is currently one of the most computationally efficient tests and isused by default for primality proving by the open source mathematics systems Sageand PARI/GP. It can quickly test numbers with thousands of decimal digits.

Cette thèse est construite autour de l'approximation et la représentation des fonctions sur la sphère avec des applications pour des problèmes inverses issues de la géodésie et de l'imagerie médicale. Le plan de la thèse est structuré de la façon suivante. Dans le premier chapitre, on donne le cadre général d'un problème inverse ainsi que la description du problème de la géophysique et de la M/EEG. L'idée d'un problème inverse est de retrouver une densité à l'intérieur d'un domaine (la boule unité modélisant la terre ou le cerveau humain), à partir des données des mesures d'un certain potentiel à la surface du domaine. On continue par donner les principales définitions et théorèmes qu'on utilisera tout au long de la thèse. De plus, la résolution du problème inverse consiste dans la résolution de deux problèmes : transmission de données et localisation de sources à l'intérieur de la boule. En pratique, les données mesurées sont disponibles que sur des parties de la sphère : calottes sphériques, hémisphère nord de la tête (M/EEG), continents (géodésie). Pour représenter ce type de données, on construit la base de Slepian qui a des bonnes propriétés sur les régions étudiées. Dans le Chapitre 4 on s'intéresse au problème d'estimation de données sur la sphère entière (leur développement sous la base des harmoniques sphériques) à partir des mesures partielles bruitées. Une fois qu'on connait ce développement, on applique la méthode du meilleur approximant rationnel sur des sections planes de la sphère (Chapitre 5). Ce chapitre traite trois types de densité : monopolaire, dipolaire et inclusions pour la modélisation des problèmes, ainsi que des propriétés de la densité et du potentiel associé, quantités mises en relation par un certain opérateur. Dans le Chapitre 6 on regarde les Chapitres 3, 4 et 5 du point de vue numérique. On présente des tests numériques pour la localisation de sources dans la géodésie et la M/EEG lorsqu'on dispose des données partielles sur la sphère.

A la tesi doctoral amb títol "Geometria integral en espais de curvatura holomorfa constant" es resolen qüestions de geometria integral clàssica però en espais de curvatura holomorfa constant, és a dir, a l'espai hermític estàndard, a l'espai projectiu complex i a l'espai hiperbòlic complex. Per assolir l'objectiu, primer de tot, es resumeixen les principals propietats i definicions de varietats de Kähler i, en particular, dels espais de curvatura holomorfa constant. També s'introdueix el concepte de valoració en espais vectorials. Una valoració és un funcional a valors reals, de l'espai de dominis convexos, compactes, no buits, que satisfan una propietat d'additivitat. Aquest concepte està a la base de quasi tots els resultats d'aquest treball ja que aquesta noció es pot estendre en varietats regulars. Així doncs, es dedica un capítol a definir els exemples de valoracions que s'utilitzaran i també a descriure noves propietats (variacionals) de les valoracions en els espais de curvatura holomorfa constant. En aquest punt, es donen els principals resultats de la tesis. Un dels problemes d'estudi de la geometria integral clàssica consisteix a donar una expressió de la mesura de plans que talla un domini fixat de l'espai euclidià, en termes de la geometria del domini. La fórmula que s'obté a l'espai euclidià involucra els volums mixtos (o, equivalentment, per dominis amb frontera regular, les integrals de curvatura mitjana del domini). En els altres espais de curvatura seccional constant (és a dir, a l'espai projectiu i hiperbòlic real) també se satisfà una fórmula que involucra els volums mixtos. En aquest treball s'obté una expressió de la mesura de plans complexos (de dimensió complexa des de 1 fins a n − 1, on n és la dimensió complexa de l'espai ambient) que talla un domini compacte amb frontera regular. L'expressió s'obté en termes de les valoracions anomenades volums intrínsecs hermítics, que es defineixen al segon capítol de la tesis. Per provar la certesa d'aquesta expressió s'utilitzen noves fórmules variacionals, tant per la mesura de plans complexos que tallen un domini com pels volums intrínsecs hermítics. A partir del mètode variacional anterior, s'obté la fórmula de Gauss-Bonnet-Chern a l'espai projectiu i hiperbòlic complexos. A més a més, es relaciona la característica d'Euler d'un domini compacte amb la mesura d'hiperplans complexos que tallen el domini i la integral de la curvatura de Gauss. Per altra banda, s'estudia la propietat de reproductibilitat de les integrals de curvatura mitjana. Als espais de curvatura seccional constant es té una propietat reproductiva, és a dir, la integral sobre l'espai de plans d'una integral de curvatura mitjana del domini intersecció és un m ́ultiple de la mateixa integral de curvatura mitja de tot el domini. En els espais de curvatura holomorfa constant aquesta propietat no es conserva. Aquest fet s'explica també a partir de la teoria de valoracions. La demostració involucra tècniques de geometria Riemanniana i referències mòbils. Finalment, es dóna la mesura de plans coisotròpics que tallen un domini a l'espai complex. S'anomena pla coisotròpic a aquell que el seu ortogonal és totalment real. També s'estudien propietats de les hipersuperfícies (reals) generades per l'exponencial en un punt (que no són totalment geodèsiques), sobre l'espai hiperbòlic complex. / The main goal of this work is to solve questions in classical integral geometry but for complex space forms, i.e. in the standard Hermitian space, the complex projective space and the complex hyperbolic space.In order to attain this goal, first of all, I survey the main properties and definitions concerning Kähler manifolds and, in particular, complex space forms. I also recall the notion of valuation in vector spaces. A valuation is a real-valued functional from the space of non-empty compact convex sets, satisfying an additive property. This notion is one of the main tools in this work since it can be extended to smooth manifolds. So, a chapter is devoted to the study of this notion and to describe new (variational) properties of some valuations in complex space forms. Then, the main results are stated. One of the problems of study of the classical integral geometry consists on giving an expression for the measure of planes meeting a domain in the Euclidean space, in terms of the geometry of the domain. The obtained formula in the Euclidean space involves the so-called intrinsic volumes (or equivalently for domains with regular boundary, the mean curvature integrals of the domain). In the other spaces with constant sectional curvature (i.e. in projective and hyperbolic space) it is also verified a formula involving the intrinsic volumes. In this work, I obtain an expression for the measure of complex planes (of complex dimension from 1 to n − 1, where n denotes the dimension of the ambient space) meeting a regular domain. The obtained expression is given in terms of the so-called Hermitian intrinsic volumes valuations, already defined at the second chapter. In order to prove this equality I use new variational formulas for the measure of complex planes intersecting a regular domain and for the Hermitian intrinsic volumes. From this variational method, I also get the Gauss-Bonnet-Chern formula in the complex projective and hyperbolic space. Moreover, I relate the Euler characteristic of a compact domain with the measure of complex hyperplanes meeting a compact domain, and the Gauss curvature. On the other hand, I study the reproductive property of the mean curvature integrals. In the spaces with constant sectional curvature, it is satisfied a reproductive property, i.e. the integral over the space of planes meeting a regular domain of the intersection domain is a multiple of the same mean curvature integral of the whole domain. In complex space forms this property it is not satisfied. This fact it is explained from the theory of valuations, and the proof involves techniques in Riemannian geometry and moving frames. Finally, I give the measure of coisotropic planes meeting a domain in the standard Hermitian space. A plane is called coisotropic if its orthogonal is totally real. I also study properties of the (real) hypersurfaces in complex hyperbolic space generated by the exponential map in a point, which are not totally geodesics.

During the last two centuries many methods have been proposed to solve the angles-only initial orbit determination problem. As this problem continues to be relevant as an initial estimate is needed before high accuracy orbit determination is accomplished, it is important to perform direct comparisons among the popular methods with the aim of determining which methods are the most suitable (accuracy, robustness) for the most important orbit determination scenarios. The methods tested in this analysis were the Laplace method, the Gauss method (suing the Gibbs and Herrick-Gibbs methods to supplement), the Double R method, and the Gooding method. These were tested on a variety of scenarios and popular orbits. A number of methods for quantifying the error have been proposed previously. Unfortunately, many of these methods can overwhelm the analyst with data. A new method is used here that has been shown in previous research by the author. The orbit error is here quantified by two new general orbit error parameters identifying the capability to capture the orbit shape and the orbit orientation. The study concludes that for nearly all but a few cases, the Gooding method best estimates the orbit, except in the case for the polar orbit for which it depends on the observation interval whether one uses the Gooding method or the Double R method. All the methods were found to be robust with respect to noise and the initial guess (if required by the method). All the methods other than the Laplace method suffered no adverse effects when additional observation sites were used and when the observation intervals were unequal. Lastly for the case when the observer is in space, it was found that typically the Gooding method performed the best if a good estimate is known for the range, otherwise the Laplace method is generally best.

For robotic deployments in planetary worksite environments, map construction and navigation are essential for tasks such as base construction, scientific investigation, and in-situ resource utilization. However, operation in a planetary environment imposes sensing restrictions, as well as challenges due to the terrain. In this thesis, we develop enabling technologies for autonomous mapping and navigation by employing a panning laser rangefinder as our primary sensor on a rover platform. The mapping task is addressed as a three-dimensional Simultaneous Localization and Mapping (3D SLAM) problem. During operation, long-range 360 degree scans are obtained at infrequent stops. These scans are aligned using a combination of sparse features and odometry measurements in a batch alignment framework, resulting in accurate maps of planetary worksite terrain. For navigation, the panning laser rangefinder is configured to perform short, continuous sweeps while the rover is in motion. An appearance-based approach is taken, where laser intensity images are used to compute Visual Odometry (VO) estimates. We overcome the motion distortion issues by formulating the estimation problem in continuous time. This is facilitated by the introduction of Gaussian Process Gauss-Newton (GPGN), a novel algorithm for nonparametric, continuous-time, nonlinear, batch state estimation. Extensive experimental validation is provided for both mapping and navigation components using data gathered at multiple planetary analogue test sites.

Sudaryta ir išbandyta Matchad‘o programiniu paketu Gauso funkcijų splino programa glodinanti didelio matavimo skaičiaus eksperimentinį masyvą. Glodinimo funkciją sudaro polinomų ir Gauso funkcijų sandaugos suma. Glodinimo procedūra suvedama į algebrinių lygčių sistemą neapibrėžtiems koeficientams Cn,l rasti. Sudaryta Matchad‘o programa, kuri panaudojus suglodintą funkciją apruoksimuoja ją tik teigiamų Gauso funkcijų suma.Šis uždavinys realizuotas programa, kuri remiasi didžiausio nuolydžio metodu. Glodinimo ir aproksimavimo rezultatai tenkina eksperimentatorių reikalavimus. / Formed and, used MathCad software, tested Gauss function spline program, which smoothes big measure number experimental array. Smoothing function contains polynomial and Gauss functions multiplication sum. Smoothing procedure is reduced to algebraic equation system to find indeterminate coefficients Cn,l. Created MathCad program, which, by using smoothed function, approximates it to positive Gauss functions sum. This task was solved with program, which refers to biggest pitch method. Smoothing and approximation results fit experimenters’ requirements.