Este trabalho discute o projeto de compensadores multivariáveis robustos com especificações no domínio do tempo. Primeiramente faz-se a análise dos compensadores por observadores de estados como forma de atingir tais objetivos. Mostra-se que, em certas condições, essa estrutura equivale à dos observadores proporcionais-integrais e apresentam-se as condições de estabilidade nominal. Evidencia-se também que é possível tratar esse problema de controle como um problema de "model matching" ou como um problema de controle com dois graus de liberdade. Mostra-se também que o projeto do compensador é equivalente ao projeto de sistemas de controle por realimentação estática da saída. Essa equivalência implica que, embora os compensadores por observadores sejam cômodos à incorporação de especificações temporais, sua estrutura é limitada para garantir que especificações gerais sejam satisfeitas. Contorna-se então essa limitação estendendo-se o estudo ao caso dos compensadores sem essa restrição estrutural. O problema de "model matching" e o problema de controle 2D são considerados como forma indireta de incorporar-se as especificações temporais e condições de projeto são obtidas reduzindo-se os possíveis conservadorismos dos projetos usuais. Ainda neste sentido, formula-se o problema denominado de "model tracking", podendo ser capaz de reduzir ainda mais esses aspectos de conservadorismo. Nessa estrutura, o erro de rastreamento entre a saída do modelo de referência e a saída medida da planta é realimentado, fazendo com que o modelo de referência faça parte explícita do controlador, permitindo ajuste pós-projeto da mesma forma que faz com a estrutura 2D. Toda as condições de projeto são obtidas no domínio da freqüência, em termos de restrições da malha aberta e da malha fechada, permitindo que técnicas padrões de projeto multivariável como LQG/LTR e H¥ possam ser diretamente utilizadas na obtenção do compensador. Obtiveram-se assim metodologias de projeto capazes de garantir robustamente a rejeição do erro de rastreamento de um modelo de referência, além de permitir que especificações usuais como a rejeição dos erros de medida e rejeição dos distúrbios sejam incorporadas no mesmo procedimento de projeto. O controle de um tanque de mistura é usado como exemplo numérico para ilustrar as metodologias de projeto. / This work is concerned with the design of robust multivariable controllers with time domain specifications. As a first step an analysis of controllers based on state observers has been done. It has been shown that this structure is equivalent to the proportional-integral observers. The conditions for nominal stability have then been presented. It has also been shown that this control problem can be seen as a model matching control design with two degrees of freedom. Furthermore it has been shown that compensator design can be reduced to the traditional static output feedback problem. This fact implies that although compensators based on state observers seem to be suitable to deal with time domain specifications, their structure has limitations to guarantee that more general specifications be satisfied. In order to overcome such limitations both the model matching and the 2-D control structures have been considered to include time domain specifications in the design problem. Design conditions have been derived in order to reduce the eventual conservatism associated to the usual design procedure. A control design problem named model tracking has also been formulated with the aim of reducing even more such conservatism. In this new structure the tracking error between the output of the reference model and the measured plant output is fed back. The reference model is then an explicit part of the controller. As a consequence small adjustments can be done on it during system start-up in the same way as with the 2-D structure. All the design conditions have been written in the frequency domain as constraints on both open-loop and closed-loop transfer matrices. Standard multivariable design techniques like LQG/LTR and H¥ can then be used. The proposed design methodology can robustly guarantee tracking of the reference model output as well as both measurement error and disturbance rejections. The control of a mixture tank has been used as a numeric example to illustrate the design methodologies.

Câmeras embarcadas em sistemas robóticos móveis com sensoriamento visual geralmente são afetadas pelo movimento de seu suporte quando é necessária a aquisição de imagens com alta confiabilidade. Algumas câmeras disponíveis no mercado já estão equipadas com sistemas de estabilização de imagens, implementados nas lentes da câmera ou no sensor de imagem. Esses sistemas são relativamente caros para serem instalados em sistemas robóticos móveis aéreos ou terrestres de pequeno porte. Outro conceito que tem sido utilizado para alcançar a estabilização consiste em adotar sensores inerciais, algoritmos de visão computacional e aplicação de filtros digitais para estimativa e suavização de movimento. Esta dissertação tem por finalidade apresentar um sistema de estabilização digital de vídeo em conjunto com um acelerômetro para detectar movimentos da câmera. Considera-se que a câmera está instalada sobre plataforma instável ou em veículo em movimento, assim, utiliza-se filtragem robusta para minimizar o efeito da vibração sobre a câmera. Vários experimentos são realizados adicionando vibração em vídeo por meio de simulações em computador. Considera-se também experimentos em ambiente real com a câmera montada em um suporte dentro de um veículo em movimento. A principal contribuição deste trabalho é a realização de um estudo comparativo para analisar a vantagem de se usar uma abordagem robusta entre os métodos de filtragem comumente utilizados em sistemas de estabilização de vídeo. / Embedded cameras in robotic systems usually are susceptible to movements of your basis. The measurements can be affected mainly when they should obtain high performance in actual applications. Although some cameras available on the market are already equipped with an optical image stabilization system, implemented either in the camera lenses or in the image sensor. They are usually expensive to be installed into small aerial or land robotic systems. This dissertation presents a video stabilization system coupled with an accelerometer for motion detection at an unstable platform. It is embedded in a vehicle. Robust filtering is used to minimize vibration effects on the camera. Several experiments were performed, adding either vibrations via computer simulations and taking images from the camera with the vehicle moving. The main contribution of this work is the accomplishment of a comparative study to analyse the advantages of applying a robust approach among others filtering methods that frequently are used to video stabilizing systems.

Submitted by Geandra Rodrigues (geandrar@gmail.com) on 2018-03-19T18:02:26Z No. of bitstreams: 1 saulocustodiodeaquinoferreira.pdf: 1364913 bytes, checksum: efa844157e53551961fc063ecd615818 (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2018-03-21T13:30:23Z (GMT) No. of bitstreams: 1 saulocustodiodeaquinoferreira.pdf: 1364913 bytes, checksum: efa844157e53551961fc063ecd615818 (MD5) / Made available in DSpace on 2018-03-21T13:30:23Z (GMT). No. of bitstreams: 1 saulocustodiodeaquinoferreira.pdf: 1364913 bytes, checksum: efa844157e53551961fc063ecd615818 (MD5) Previous issue date: 2017-12-04 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / O presente trabalho apresenta uma nova metodologia para a reconfiguração de sistemas de distribuição de energia elétrica através da aplicação da técnica matemática de decomposição de Benders. Esta técnica possibilita dividir o problema global em dois subproblemas, mestre e escravo, que se comunicam através de restrições denominadas cortes, geradas a partir de informações do segundo subproblema e incluídas no primeiro de forma iterativa até que um critério de convergência seja alcançado. O objetivo do problema é a minimização de perdas técnicas na rede de distribuição através de redefinição de sua topologia, observando-se restrições operativas como níveis de tensão, conectividade e radialidade. A redução de perdas é atrativa por implicar em melhores níveis de tensão, menores esforços aos equipamentos do sistema e maior confiabilidade, proporcionando, portanto, benefícios para as concessionárias de distribuição e maior qualidade da energia aos consumidores. O problema de reconfiguração é de programação não linear inteira mista, de difícil tratamento. Na metodologia proposta, o primeiro subproblema determina as decisões de chaveamento considerando-se apenas restrições lineares associadas à topologia da rede, enquanto que o segundo avalia a operação mediante a decisão do primeiro considerando as não linearidades e as restrições de balanço de carga. A vantagem da aplicação da técnica de decomposição é que ela permite a inclusão de incertezas operativas no modelo, como a representação da aleatoriedade das cargas demandadas a rede conforme presente nesse trabalho. A representação destas incertezas é realizada no contexto de reconfiguração robusta, em que a tomada de decisões sobre topologia da rede deve otimizar a operação para o conjunto de cenários pré-definidos. Sistemas conhecidos da literatura especializada são utilizados para a avaliação da metodologia proposta. / This work shows a new methodology for the reconfiguration of electric energy distribution systems by the application of the mathematical technique named Benders decomposition. This technique makes it possible to divide the global problem into two subproblems, master and slave, which communicate with each other through constraints called slices, generated from information of the second subproblem and included in the first one iteratively until a convergence criterion is reached. The objective of the problem is to minimize technical losses in the distribution network by redefining its topology, observing operational constraints such as levels of voltage, connectivity and radiality. Loss reduction is attractive because it implies better voltage levels, less system equipment effort and greater reliability, thus providing benefits to distribution dealers and higher energy quality to consumers. The reconfiguration problem is non-linear mixed integer programming, difficult to process. In the proposed methodology, the first subproblem determines the switching decisions considering only linear constraints associated with the network topology, while the second one evaluates the operation by means of the decision of the first recital considering the nonlinearities and the load balance constraints. The advantage of the application of the proposed technique is that the decomposition model is potential for the representation of operational uncertainties, as well as the load demands according to the present work. The representation of these uncertainties is carried out in the context of robust reconfiguration, in which the decision making on network topology must optimize the operation under scenarios of a predefined set. Systems known in the literature are used for the evaluation of the proposed methodology.

Orientador: Janito Vaqueiro Ferreira / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-24T20:57:24Z (GMT). No. of bitstreams: 1 CastanedaJimenez_GermanEfrain_M.pdf: 6173136 bytes, checksum: 10447f1e90575f51111560bad8f24df0 (MD5) Previous issue date: 2014 / Resumo: Na indústria do petróleo é comum à utilização de bombas centrífugas submersas (BCS) operando em escoamento multifásico líquido-gás. A presença de elevadas vazões de gás causam uma degradação severa no desempenho da bomba, gerando instabilidades nas curvas de pressão-vazão, como o `surging¿ e o `gas locking¿. Portanto o conhecimento destas instabilidades é fundamental para a adequada operação da bomba e assim evitar falhas prematuras no equipamento. Na atualidade não existem modelos matemáticos que representem de forma adequada o comportamento da BCS na região de `surging¿ e no `gas locking¿, gerando a necessidade de empregar circuitos de testes para fazer o levantamento das curvas de desempenho das bombas. A maioria dos circuitos de testes é operada de forma manual para obter às condições de operação da bomba, tornando os ensaios repetitivos, cansativos e trabalhosos. Por isto nasce a necessidade de automatizar estas bancadas com a finalidade de facilitar o processo do levantamento das curvas de desempenho das bombas. Este trabalho apresenta o projeto e simulação de um controle robusto tipo H_? que permita manter o escoamento multifásico na entrada de uma BCS em diferentes condições de operação da bomba. Este controlador é projetado a partir de um circuito de testes para BCS virtual que é modelado empregando formulações físicas e modelos ajustados mediante dados experimentais usando algoritmos de aprendizagem de máquinas baseados em máquinas de suporte vetorial para regressão (SVMr). Após o projeto de controle, o controlador projetado é testado no circuito de testes virtual mediante simulações em tempo real `software in the loop¿ (SIL) / Abstract: In the oil industry, it is common to use electrical submersible pumps (ESP) operating with gas -liquid multiphase flow. The presence of high gas flows cause severe degradation in performance of the pump, generating instabilities in the flow-pressure curves, as "surging" and "gas locking". Therefore knowledge of these instabilities is essential for the proper functioning of the pump and thereby prevents premature failure of the equipment. Currently there are no mathematical models that adequately represent the behavior of the EPS in the region of "surging" and "gas locking", creating the need to use test circuits to make a study of the performance curves of the pumps. Most test circuits are operated manually to reach the operating conditions of the pump, making repetitive, tedious and laborious trials. Therefore there is a need to automate these circuits in order to facilitate the process of obtaining the performance curve of the pump. In this paper the project and simulation of a robust control type H_? for keeping the multiphase flow in the entrance of a EPS operating at different conditions is performed. This controller is designed based on a test circuit virtual for EPS which is modeled using physical formulations and adjusted models obtained by experimental data using machine learning algorithms based on support vector machines for regression (SVMR). After the controller design, the control is tested in the virtual test circuits using simulations in real time "software in the loop" (SIL) / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

La présente thèse a pour objet d’explorer les potentialités d’une méthode prometteuse de l’optimisation conique, la programmation semi-définie positive (SDP), pour les problèmes de management d’énergie, à savoir relatifs à la satisfaction des équilibres offre-demande électrique et gazier.Nos travaux se déclinent selon deux axes. Tout d’abord nous nous intéressons à l’utilisation de la SDP pour produire des relaxations de problèmes combinatoires et quadratiques. Si une relaxation SDP dite « standard » peut être élaborée très simplement, il est généralement souhaitable de la renforcer par des coupes, pouvant être déterminées par l'étude de la structure du problème ou à l'aide de méthodes plus systématiques. Nous mettons en œuvre ces deux approches sur différentes modélisations du problème de planification des arrêts nucléaires, réputé pour sa difficulté combinatoire. Nous terminons sur ce sujet par une expérimentation de la hiérarchie de Lasserre, donnant lieu à une suite de SDP dont la valeur optimale tend vers la solution du problème initial.Le second axe de la thèse porte sur l'application de la SDP à la prise en compte de l'incertitude. Nous mettons en œuvre une approche originale dénommée « optimisation distributionnellement robuste », pouvant être vue comme un compromis entre optimisation stochastique et optimisation robuste et menant à des approximations sous forme de SDP. Nous nous appliquons à estimer l'apport de cette approche sur un problème d'équilibre offre-demande avec incertitude. Puis, nous présentons une relaxation SDP pour les problèmes MISOCP. Cette relaxation se révèle être de très bonne qualité, tout en ne nécessitant qu’un temps de calcul raisonnable. La SDP se confirme donc être une méthode d’optimisation prometteuse qui offre de nombreuses opportunités d'innovation en management d’énergie. / The present thesis aims at exploring the potentialities of a powerful optimization technique, namely Semidefinite Programming, for addressing some difficult problems of energy management. We pursue two main objectives. The first one consists of using SDP to provide tight relaxations of combinatorial and quadratic problems. A first relaxation, called “standard” can be derived in a generic way but it is generally desirable to reinforce them, by means of tailor-made tools or in a systematic fashion. These two approaches are implemented on different models of the Nuclear Outages Scheduling Problem, a famous combinatorial problem. We conclude this topic by experimenting the Lasserre's hierarchy on this problem, leading to a sequence of semidefinite relaxations whose optimal values tends to the optimal value of the initial problem.The second objective deals with the use of SDP for the treatment of uncertainty. We investigate an original approach called “distributionnally robust optimization”, that can be seen as a compromise between stochastic and robust optimization and admits approximations under the form of a SDP. We compare the benefits of this method w.r.t classical approaches on a demand/supply equilibrium problem. Finally, we propose a scheme for deriving SDP relaxations of MISOCP and we report promising computational results indicating that the semidefinite relaxation improves significantly the continuous relaxation, while requiring a reasonable computational effort.SDP therefore proves to be a promising optimization method that offers great opportunities for innovation in energy management.

Ce rapport porte sur le sujet de recherche de l'identification boîte noire du système non linéaire. En effet, parmi toutes les techniques nombreuses et variées développées dans ce domaine de la recherche ces dernières décennies, il semble toujours intéressant d'étudier l'approche réseau de neurones dans l'estimation de modèle de système complexe. Même si des modèles précis ont été obtenus, les principaux inconvénients de ces techniques restent le grand nombre de paramètres nécessaires et, en conséquence, le coût important de calcul nécessaire pour obtenir le niveau de pratique de la précision du modèle désiré. Par conséquent, motivés pour remédier à ces inconvénients, nous avons atteint une méthodologie complète et efficace du système d'identification offrant une précision équilibrée, la complexité et les modèles de coûts en proposant, d'une part, de nouvelles structures de réseaux de neurones particulièrement adapté à une utilisation très large en matière de modélisation système pratique non linéaire, d'autre part, un simple et efficace technique de réduction de modèle, et, troisièmement, une procédure de réduction de coût de calcul. Il est important de noter que ces deux dernières techniques de réduction peut être appliquée à une très large gamme d'architectures de réseaux de neurones sous deux simples hypothèses spécifiques qui ne sont pas du tout contraignant. Enfin, la dernière contribution importante de ce travail est d'avoir montré que cette phase d'estimation peut être obtenue dans un cadre robuste si la qualité des données d'identification qu'il oblige. Afin de valider la procédure d'identification système proposé, des exemples d'applications entraînées en simulation et sur un procédé réel, de manière satisfaisante validé toutes les contributions de cette thèse, confirmant tout l'intérêt de ce travail. / This report concerns the research topic of black box nonlinear system identification. In effect, among all the various and numerous techniques developed in this field of research these last decades, it seems still interesting to investigate the neural network approach in complex system model estimation. Even if accurate models have been derived, the main drawbacks of these techniques remain the large number of parameters required and, as a consequence, the important computational cost necessary to obtain the convenient level of the model accuracy desired. Hence, motivated to address these drawbacks, we achieved a complete and efficient system identification methodology providing balanced accuracy, complexity and cost models by proposing, firstly, new neural network structures particularly adapted to a very wide use in practical nonlinear system modeling, secondly, a simple and efficient model reduction technique, and, thirdly, a computational cost reduction procedure. It is important to notice that these last two reduction techniques can be applied to a very large range of neural network architectures under two simple specific assumptions which are not at all restricting. Finally, the last important contribution of this work is to have shown that this estimation phase can be achieved in a robust framework if the quality of identification data compels it. In order to validate the proposed system identification procedure, application examples driven in simulation and on a real process, satisfactorily validated all the contributions of this thesis, confirming all the interest of this work.

Abstract : Images acquired from unmanned aerial vehicles (UAVs) can provide data with unprecedented spatial and temporal resolution for three-dimensional (3D) modeling. Solutions developed for this purpose are mainly operating based on photogrammetry concepts, namely UAV-Photogrammetry Systems (UAV-PS). Such systems are used in applications where both geospatial and visual information of the environment is required. These applications include, but are not limited to, natural resource management such as precision agriculture, military and police-related services such as traffic-law enforcement, precision engineering such as infrastructure inspection, and health services such as epidemic emergency management. UAV-photogrammetry systems can be differentiated based on their spatial characteristics in terms of accuracy and resolution. That is some applications, such as precision engineering, require high-resolution and high-accuracy information of the environment (e.g. 3D modeling with less than one centimeter accuracy and resolution). In other applications, lower levels of accuracy might be sufficient, (e.g. wildlife management needing few decimeters of resolution). However, even in those applications, the specific characteristics of UAV-PSs should be well considered in the steps of both system development and application in order to yield satisfying results. In this regard, this thesis presents a comprehensive review of the applications of unmanned aerial imagery, where the objective was to determine the challenges that remote-sensing applications of UAV systems currently face. This review also allowed recognizing the specific characteristics and requirements of UAV-PSs, which are mostly ignored or not thoroughly assessed in recent studies. Accordingly, the focus of the first part of this thesis is on exploring the methodological and experimental aspects of implementing a UAV-PS. The developed system was extensively evaluated for precise modeling of an open-pit gravel mine and performing volumetric-change measurements. This application was selected for two main reasons. Firstly, this case study provided a challenging environment for 3D modeling, in terms of scale changes, terrain relief variations as well as structure and texture diversities. Secondly, open-pit-mine monitoring demands high levels of accuracy, which justifies our efforts to improve the developed UAV-PS to its maximum capacities. The hardware of the system consisted of an electric-powered helicopter, a high-resolution digital camera, and an inertial navigation system. The software of the system included the in-house programs specifically designed for camera calibration, platform calibration, system integration, onboard data acquisition, flight planning and ground control point (GCP) detection. The detailed features of the system are discussed in the thesis, and solutions are proposed in order to enhance the system and its photogrammetric outputs. The accuracy of the results was evaluated under various mapping conditions, including direct georeferencing and indirect georeferencing with different numbers, distributions and types of ground control points. Additionally, the effects of imaging configuration and network stability on modeling accuracy were assessed. The second part of this thesis concentrates on improving the techniques of sparse and dense reconstruction. The proposed solutions are alternatives to traditional aerial photogrammetry techniques, properly adapted to specific characteristics of unmanned, low-altitude imagery. Firstly, a method was developed for robust sparse matching and epipolar-geometry estimation. The main achievement of this method was its capacity to handle a very high percentage of outliers (errors among corresponding points) with remarkable computational efficiency (compared to the state-of-the-art techniques). Secondly, a block bundle adjustment (BBA) strategy was proposed based on the integration of intrinsic camera calibration parameters as pseudo-observations to Gauss-Helmert model. The principal advantage of this strategy was controlling the adverse effect of unstable imaging networks and noisy image observations on the accuracy of self-calibration. The sparse implementation of this strategy was also performed, which allowed its application to data sets containing a lot of tie points. Finally, the concepts of intrinsic curves were revisited for dense stereo matching. The proposed technique could achieve a high level of accuracy and efficiency by searching only through a small fraction of the whole disparity search space as well as internally handling occlusions and matching ambiguities. These photogrammetric solutions were extensively tested using synthetic data, close-range images and the images acquired from the gravel-pit mine. Achieving absolute 3D mapping accuracy of 11±7 mm illustrated the success of this system for high-precision modeling of the environment. / Résumé : Les images acquises à l’aide d’aéronefs sans pilote (ASP) permettent de produire des données de résolutions spatiales et temporelles uniques pour la modélisation tridimensionnelle (3D). Les solutions développées pour ce secteur d’activité sont principalement basées sur des concepts de photogrammétrie et peuvent être identifiées comme des systèmes photogrammétriques embarqués sur aéronefs sans pilote (SP-ASP). Ils sont utilisés dans plusieurs applications environnementales où l’information géospatiale et visuelle est essentielle. Ces applications incluent notamment la gestion des ressources naturelles (ex. : agriculture de précision), la sécurité publique et militaire (ex. : gestion du trafic), les services d’ingénierie (ex. : inspection de bâtiments) et les services de santé publique (ex. : épidémiologie et gestion des risques). Les SP-ASP peuvent être subdivisés en catégories selon les besoins en termes de précision et de résolution. En effet, dans certains cas, tel qu’en ingénierie, l’information sur l’environnement doit être de haute précision et de haute résolution (ex. : modélisation 3D avec une précision et une résolution inférieure à un centimètre). Pour d’autres applications, tel qu’en gestion de la faune sauvage, des niveaux de précision et de résolution moindres peut être suffisants (ex. : résolution de l’ordre de quelques décimètres). Cependant, même dans ce type d’applications les caractéristiques des SP-ASP devraient être prises en considération dans le développement des systèmes et dans leur utilisation, et ce, pour atteindre les résultats visés. À cet égard, cette thèse présente une revue exhaustive des applications de l’imagerie aérienne acquise par ASP et de déterminer les challenges les plus courants. Cette étude a également permis d’établir les caractéristiques et exigences spécifiques des SP-ASP qui sont généralement ignorées ou partiellement discutées dans les études récentes. En conséquence, la première partie de cette thèse traite des aspects méthodologiques et d’expérimentation de la mise en place d’un SP-ASP. Le système développé a été évalué pour la modélisation précise d’une gravière et utilisé pour réaliser des mesures de changement volumétrique. Cette application a été retenue pour deux raisons principales. Premièrement, ce type de milieu fournit un environnement difficile pour la modélisation, et ce, en termes de changement d’échelle, de changement de relief du terrain ainsi que la grande diversité de structures et de textures. Deuxièment, le suivi de mines à ciel ouvert exige un niveau de précision élevé, ce qui justifie les efforts déployés pour mettre au point un SP-ASP de haute précision. Les composantes matérielles du système consistent en un ASP à propulsion électrique de type hélicoptère, d’une caméra numérique à haute résolution ainsi qu’une station inertielle. La composante logicielle est composée de plusieurs programmes développés particulièrement pour calibrer la caméra et la plateforme, intégrer les systèmes, enregistrer les données, planifier les paramètres de vol et détecter automatiquement les points de contrôle au sol. Les détails complets du système sont abordés dans la thèse et des solutions sont proposées afin d’améliorer le système et la qualité des données photogrammétriques produites. La précision des résultats a été évaluée sous diverses conditions de cartographie, incluant le géoréférencement direct et indirect avec un nombre, une répartition et des types de points de contrôle variés. De plus, les effets de la configuration des images et la stabilité du réseau sur la précision de la modélisation ont été évalués. La deuxième partie de la thèse porte sur l’amélioration des techniques de reconstruction éparse et dense. Les solutions proposées sont des alternatives aux techniques de photogrammétrie aérienne traditionnelle et adaptée aux caractéristiques particulières de l’imagerie acquise à basse altitude par ASP. Tout d’abord, une méthode robuste de correspondance éparse et d’estimation de la géométrie épipolaire a été développée. L’élément clé de cette méthode est sa capacité à gérer le pourcentage très élevé des valeurs aberrantes (erreurs entre les points correspondants) avec une efficacité de calcul remarquable en comparaison avec les techniques usuelles. Ensuite, une stratégie d’ajustement de bloc basée sur l’intégration de pseudoobservations du modèle Gauss-Helmert a été proposée. Le principal avantage de cette stratégie consistait à contrôler les effets négatifs du réseau d’images instable et des images bruitées sur la précision de l’autocalibration. Une implémentation éparse de cette stratégie a aussi été réalisée, ce qui a permis de traiter des jeux de données contenant des millions de points de liaison. Finalement, les concepts de courbes intrinsèques ont été revisités pour l’appariement stéréo dense. La technique proposée pourrait atteindre un haut niveau de précision et d’efficacité en recherchant uniquement dans une petite portion de l’espace de recherche des disparités ainsi qu’en traitant les occlusions et les ambigüités d’appariement. Ces solutions photogrammétriques ont été largement testées à l’aide de données synthétiques, d’images à courte portée ainsi que celles acquises sur le site de la gravière. Le système a démontré sa capacité a modélisation dense de l’environnement avec une très haute exactitude en atteignant une précision 3D absolue de l’ordre de 11±7 mm.

La construction de modèles qui protègent contre les incertitudes dans les données, telles que la variabilité de l'information et l'imprécision est une des principales préoccupations en optimisation sous incertitude. L'incertitude peut affecter différentes domaines, comme le transport, les télécommunications, la finance, etc. ainsi que les différentes parts d'un problème d'optimisation, comme les coefficients de la fonction objectif et /ou les contraintes. De plus, l'ensemble des données incertaines peut être modélisé de différentes façons, comme sous ensembles compactes et convexes de l´espace réel de dimension n, polytopes, produits Cartésiens des intervalles, ellipsoïdes, etc.<p><p>Une des approches possibles pour résoudre des tels problèmes est de considérer les versions minimax regret, pour lesquelles résoudre un problème sous incertitude revient à trouver une solution qui s'écarte le moins possible de la valeur solution optimale dans tout les cas. <p><p>Dans le cas des incertitudes définies par intervalles, les versions minimax regret de nombreux problèmes combinatoires polynomiaux sont NP-difficiles, d'ou l'importance d'essayer de réduire l'espace des solutions. Dans ce contexte, savoir quand un élément du problème, représenté par une variable, fait toujours ou jamais partie d'une solution optimal pour toute réalisation des données (variables 1-persistentes et 0-persistentes respectivement), constitue une manière de réduire la taille du problème. Un des principaux objectifs de cette thèse est d'étudier ces questions pour quelques problèmes d'optimisation combinatoire sous incertitude.<p><p>Nous étudions les versions minimax regret du problème du choix de p éléments parmi m, de l'arbre couvrant minimum et des deux problèmes de plus court chemin. Pour de tels problèmes, dans le cas des incertitudes définis par intervalles, nous étudions le problème de trouver les variables 1- et 0-persistentes. Nous présentons une procédure de pre-traitement du problème, lequel réduit grandement la taille des formulations des versions de minimax regret.<p><p>Nous nous intéressons aussi à la version minimax regret du problème de programmation linéaire dans le cas où les coefficients de la fonction objectif sont incertains et l'ensemble des données incertaines est polyédral. Dans le cas où l'ensemble des incertitudes est défini par des intervalles, le problème de trouver le regret maximum est NP-difficile. Nous présentons des cas spéciaux ou les problèmes de maximum regret et de minimax regret sont polynomiaux. Dans le cas où l´ensemble des incertitudes est défini par un polytope, nous présentons un algorithme pour trouver une solution exacte au problème de minimax regret et nous discutons les résultats numériques obtenus dans un grand nombre d´instances générées aléatoirement.<p><p>Nous étudions les relations entre le problème de 1-centre continu et la version minimax regret du problème de programmation linéaire dans le cas où les coefficients de la fonction objectif sont évalués à l´aide des intervalles. En particulier, nous décrivons la géométrie de ce dernier problème, nous généralisons quelques résultats en théorie de localisation et nous donnons des conditions sous lesquelles certaines variables peuvet être éliminées du problème. Finalement, nous testons ces conditions dans un nombre d´instances générées aléatoirement et nous donnons les conclusions. / Doctorat en sciences, Orientation recherche opérationnelle / info:eu-repo/semantics/nonPublished

The presence of uncertainty in model predictive control (MPC) has been accounted for using two types of approaches: robust MPC (RMPC) and stochastic MPC (SMPC). Ideal RMPC and SMPC formulations consider closed-loop optimal control problems whose exact solution, via dynamic programming, is intractable for most systems. Much effort then has been devoted to find good compromises between the degree of optimality and computational tractability. This thesis expands on this effort and presents robust and stochastic MPC strategies with reduced online computational requirements where the conservativeness incurred is made as small as conveniently possible. Two RMPC strategies are proposed for linear systems under additive uncertainty. They are based on a recently proposed approach which uses a triangular prediction structure and a non-linear control policy. One strategy considers a transference of part of the computation of the control policy to an offline stage. The other strategy considers a modification of the prediction structure so that it has a striped structure and the disturbance compensation extends throughout an infinite horizon. An RMPC strategy for linear systems with additive and multiplicative uncertainty is also presented. It considers polytopic dynamics that are designed so as to maximize the volume of an invariant ellipsoid, and are used in a dual-mode prediction scheme where constraint satisfaction is ensured by an approach based on a variation of Farkas' Lemma. Finally, two SMPC strategies for linear systems with additive uncertainty are presented, which use an affine-in-the-disturbances control policy with a striped structure. One strategy considers an offline sequential design of the gains of the control policy, while these are variables in the online optimization in the other. Control theoretic properties, such as recursive feasibility and stability, are studied for all the proposed strategies. Numerical comparisons show that the proposed algorithms can provide a convenient compromise in terms of computational demands and control authority.

The thesis focuses on a mixed integer linear programming (MILP) formulation for a bi-level mathematical program with equilibrium constraints (MPEC) considering chance constraints. The particular MPEC problem relates to a power producer’s bidding strategy: maximize its total benefit through determining bidding price and bidding power output while considering an electricity pool’s operation and guessing the rival producer’s bidding price. The entire decision-making process can be described by a bi-level optimization problem. The contribution of our thesis is the MILP formulation of this problem considering the use of chance constrained mathematical program for handling the uncertainties. First, the lower-level poor operation problem is replaced by Karush-Kuhn-Tucker (KKT) optimality condition, which is further converted to an MILP formulation except a bilinear item in the objective function. Secondly, duality theory is implemented to replace the bilinear item by linear items. Finally, two types of chance constraints are examined and modeled in MILP formulation. With the MILP formulation, the entire MPEC problem considering randomness in price guessing can be solved using off-shelf MIP solvers, e.g., Gurobi. A few examples and a case study are given to illustrate the formulation and show the case study results.