This research aims at solving an engineering design problem encountered in the field of robotics using mathematical programming techniques. The problem addressed is an indispensable part of designing the operation of Ursula, an underwater mobile robot, and involves finding its location as it moves along the circumference of a nuclear reactor vessel. The study has been conducted with an intent to aid a laser based global positioning system to make this determination. The physical nature of this problem enables it to be conceptualized as a position and orientation determination problem. Ursula tests the weldments in the reactor vessel, and its position and orientation needs to be found continuously in real-time. The kinematic errors in the setup and the use of a laser based positioning system distinguish this from traditional position and orientation determination problems. The aim of this research effort is to construct a suitable representative mathematical model for this problem, and to design and compare various solution methodologies that are computationally competitive, numerically stable, and accurate. / Master of Science

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The study of large nonlinear waves that seem to “appear out of nowhere and disappear without a trace”, known as rogue or freak waves, began largely in response to observations of catastrophic ocean waves. However, the study of rogue waves has since been expanded to a wider collection of physical scenarios, including discrete systems, such as those that appear in optics, as opposed to the continuous system of water waves. Waves in these discrete settings can be modeled as solutions to lattice wave equations. The nonlinear Schrodinger equation (NLSE) is one of the most ubiquitous continuous wave models for physical systems where rogue waves emerge. This thesis focuses on the two discrete analogs of the NLSE: a non-integrable model called the discrete nonlinear Schrodinger equation (DNLS) and its integrable sibling called the Ablowitz-Ladik (AL) equation. The physical relevance of DNLS model motivates the search for its rogue wave solutions; a search that is impeded by its lack of integrability. However, it is homotopically paired with the integrable AL equation through the Salerno model, providing a potential outlet to find numerically exact solutions. This threefold investigation will look at: (i) finding time-periodic solutions to the DNLS atop a constant non-zero background, (ii) proximity of solutions to the AL and DNLS equations over time, and (iii) time-periodic solutions to the defocusing AL model.

To help resolve certain practical issues with acoustical methods for landmine detection, experiments were performed using a pulsed, standoff source consisting of sixteen speakers mounted on a circular arc. This source, as well as a pair of 18-inch subwoofers, were used separately for acoustical excitation of the buried mine, and the response of the target site was examined as a function of source frequency, sound pressure level, and excitation signal type, with a particular focus on multitone signals. In addition, modeling was undertaken to investigate the effects of nonlinearity, including bimodular nonlinearity, on frequency generation. A numerical, time-domain solution based on a lumped-element model proposed by Donskoy et al. [J. Acoust. Soc. Am. 117, 690 (2005)] was developed and used to simulate pulsed excitation and the effects of bimodular nonlinearity, which allowed experimentally observed spectra to be compared with modeled results. / text

The Hamiltonian of a stably stratified incompressible fluid in an internal water wave in a deep ocean is constructed. Studying the ocean internal wave field with its full dynamics is formidable (or unsolvable) so we consider a test-wave Hamiltonian to study the dynamical and statistical properties of the internal water wave field in a deep ocean. Chaos is present in the internal test-wave dynamics using actual coupling coefficients. Moreover, there exists a certain separatrix net that fills the phase space and is covered by a thin stochastic layer for a two-triad pure resonant interaction. The stochastic web implies the existence of diffusion of the Arnold type for the minimum dimension of a non-integrable autonomous system. For non-resonant case, stochastic layer is formed where the separatrix from KAM theory is disrupted. However, the stochasticity does not increase monotonically with increasing energy. Also, the problem of relaxation process is studied via microscopic Hamiltonian model of the test-wave interacting nonlinearly with ambient waves. Using the Mori projection technique, the projected trajectory of the test-wave is transformed to a form which corresponds to a generalized Langevin equation. The mean action of the test-wave grows ballistically for a short time regime, and quenches back to the normal diffusion for a intermediate time regime and regresses linearly to a state of statistical equilibrium. Applying the Nakajima-Zwanzig technique on the test-wave system, we get the generalized master equation on the test-wave system which is non-Markovian in nature. From our numerical study, the distribution of the test-wave has non-Gaussian statistics.

A fundamental question in Complexity Science is how numerous dynamic processes coordinate with each other on multiple levels of description to form a complex whole - a multiscale coordinative structure (e.g. a community of interacting people, organs, cells, molecules etc.). This dissertation includes a series of empirical, theoretical and methodological studies of rhythmic coordination between multiple agents to uncover dynamic principles underlying multiscale coordinative structures. First, a new experimental paradigm was developed for studying coordination at multiple levels of description in intermediate-sized (N = 8) ensembles of humans. Based on this paradigm, coordination dynamics in 15 ensembles was examined experimentally, where the diversity of subjects movement frequency was manipulated to induce di erent grouping behavior. Phase coordination between subjects was found to be metastable with inphase and antiphase tendencies. Higher frequency diversity led to segregation between frequency groups, reduced intragroup coordination, and dispersion of dyadic phase relations (i.e. relations at di erent levels of description). Subsequently, a model was developed, successfully capturing these observations. The model reconciles the Kuramoto and the extended Haken-Kelso-Bunz model (for large- and small-scale coordination respectively) by adding the second-order coupling from the latter to the former. The second order coupling is indispensable in capturing experimental observations and connects behavioral complexity (i.e. multistability) of coordinative structures across scales. Both the experimental and theoretical studies revealed multiagent metastable coordination as a powerful mechanism for generating complex spatiotemporal patterns. Coexistence of multiple phase relations gives rise to many topologically distinct metastable patterns with di erent degrees of complexity. Finally, a new data-analytic tool was developed to quantify complex metastable patterns based on their topological features. The recurrence of topological features revealed important structures and transitions in high-dimensional dynamic patterns that eluded its non-topological counterparts. Taken together, the work has paved the way for a deeper understanding of multiscale coordinative structures. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2018. / FAU Electronic Theses and Dissertations Collection

Zhong, Renxin. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2007. / Includes bibliographical references (leaves 107-114). / Abstracts in English and Chinese. / Abstract --- p.iv / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Non-Minimum Phase Nonlinear Systems --- p.1 / Chapter 1.2 --- Robust Output Regulation Problem --- p.4 / Chapter 1.3 --- Global Robust Output Regulation for Non-Minimum Phase Nonlinear Systems in Lower Triangular Form --- p.6 / Chapter 1.4 --- Rotational/Translational Actuator System --- p.8 / Chapter 1.5 --- Organization and Contributions --- p.8 / Chapter 2 --- Global Robust Output Regulation for Non-Minimum Phase Non-linear Systems in Lower Triangular Form --- p.10 / Chapter 2.1 --- Introduction --- p.10 / Chapter 2.2 --- Assumptions and Preliminaries --- p.12 / Chapter 2.3 --- Solvability Conditions --- p.17 / Chapter 2.4 --- Numerical Examples --- p.19 / Chapter 2.5 --- Concluding Remarks --- p.46 / Chapter 3 --- Global Robust Output Regulation for A Class of Non-Minimum Phase Nonlinear Systems by Output Feedback Control --- p.47 / Chapter 3.1 --- Introduction --- p.48 / Chapter 3.2 --- Assumptions and Preliminaries --- p.49 / Chapter 3.3 --- Reduced order observer design --- p.56 / Chapter 3.4 --- Stabilization of x system --- p.59 / Chapter 3.5 --- "Interconnection of the n,z,ζ,x subsystems and small gain condition" --- p.63 / Chapter 3.6 --- Numerical example --- p.67 / Chapter 3.7 --- Conclusion --- p.76 / Chapter 4 --- Robust output regulation for the nonlinear benchmark problem via output feedback --- p.77 / Chapter 4.1 --- Introduction --- p.78 / Chapter 4.2 --- Disturbance rejection problem of the RTAC system by output feedback control --- p.79 / Chapter 4.3 --- Robust Disturbance rejection problem of the RTAC system by output feedback --- p.88 / Chapter 4.4 --- Conclusion --- p.98 / Chapter 5 --- Conclusion --- p.103 / List of Figures --- p.105 / Bibliography --- p.107 / Biography --- p.115