<div>Optimal control theory (OCT) exists since the 1950s. However, with the advent of modern computers, the design community delegated the task of solving the optimal control problems (OCPs) largely to computationally intensive direct methods instead of methods that use OCT. Some recent work showed that solvers using OCT could leverage parallel computing resources for faster execution. The need for near real-time, high quality solutions for OCPs has therefore renewed interest in OCT in the design community. However, certain challenges still exist that prohibits its use for solving complex practical aerospace problems, such as landing human-class payloads safely on Mars.</div><div><br></div><div>In order to advance OCT, this thesis introduces Epsilon-Trig regularization method to simply and efficiently solve bang-bang and singular control problems. The Epsilon-Trig method resolves the issues pertaining to the traditional smoothing regularization method. Some benchmark problems from the literature including the Van Der Pol oscillator, the boat problem, and the Goddard rocket problem verified and validated the Epsilon-Trig regularization method using GPOPS-II.</div><div><br></div><div>This study also presents and develops the usage of trigonometry for incorporating control bounds and mixed state-control constraints into OCPs and terms it as Trigonometrization. Results from literature and GPOPS-II verified and validated the Trigonometrization technique using certain benchmark OCPs. Unlike traditional OCT, Trigonometrization converts the constrained OCP into a two-point boundary value problem rather than a multi-point boundary value problem, significantly reducing the computational effort required to formulate and solve it. This work uses Trigonometrization to solve some complex aerospace problems including prompt global strike, noise-minimization for general aviation, shuttle re-entry problem, and the g-load constraint problem for an impactor. Future work for this thesis includes the development of the Trigonometrization technique for OCPs with pure state constraints.</div>

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本文採用可加性模型分析法建立台灣地區小型商用車市場之需求模型，並 引進Box-Jenkins時間序列模型處理具自我相關之誤差項，以利進行拔靴 推論設計時，能拔靴白干擾(bootstrapping white noise)，即重抽樣白 干擾的經驗分配。在此次研究過程中，除配適Box-Jenkins時間序列模型 外，所有分析步驟都是完全自動的，不須作假設和檢驗的工作，所以可降 低傳統上因統計人員主觀判斷錯誤所造成的估計偏誤。可加性模型改進傳 統迴歸模型須先假設模型形式的限制，可從商用車實證分析中，直接由資 料配適平滑函數，顯見其合理性。拔靴法免除傳統推論程序須強使隨機干 擾項分配為常態分配或漸近常態分配之束縛，改由殘差經驗分配模擬隨機 干擾項分配行為，在推論商用車市場上，也獲得不錯的結果。

Diffusion-weighted magnetic resonance imaging (MRI) has allowed unprecedented non-invasive mapping of brain neural connectivity in vivo by means of fiber tractography applications. Fiber tractography has emerged as a useful tool for mapping brain white matter connectivity prior to surgery or in an intraoperative setting. The advent of high angular resolution diffusion-weighted imaging (HARDI) techniques in MRI for fiber tractography has allowed mapping of fiber tracts in areas of complex white matter fiber crossings. Raw HARDI images, as a result of elevated diffusion-weighting, suffer from depressed signal-to-noise ratio (SNR) levels. The accuracy of fiber tractography is dependent on the performance of the various methods extracting dominant fiber orientations from the HARDI-measured noisy diffusivity profiles. These methods will be sensitive to and directly affected by the noise. In the first part of the thesis this issue is addressed by applying an objective and adaptive smoothing to the noisy HARDI data via generalized cross-validation (GCV) by means of the smoothing splines on the sphere method for estimating the smooth diffusivity profiles in three dimensional diffusion space. Subsequently, fiber orientation distribution functions (ODFs) that reveal dominant fiber orientations in fiber crossings are then reconstructed from the smoothed diffusivity profiles using the Funk-Radon transform. Previous ODF smoothing techniques have been subjective and non-adaptive to data SNR. The GCV-smoothed ODFs from our method are accurate and are smoothed without external intervention facilitating more precise fiber tractography. Diffusion-weighted MRI studies in amyotrophic lateral sclerosis (ALS) have revealed significant changes in diffusion parameters in ALS patient brains. With the need for early detection of possibly discrete upper motor neuron (UMN) degeneration signs in patients with early ALS, a HARDI study is applied in order to investigate diffusion-sensitive changes reflected in the diffusion tensor imaging (DTI) measures axial and radial diffusivity as well as the more commonly used measures fractional anisotropy (FA) and mean diffusivity (MD). The hypothesis is that there would be added utility in considering axial and radial diffusivities which directly reflect changes in the diffusion tensors in addition to FA and MD to aid in revealing neurodegenerative changes in ALS. In addition, applying adaptive smoothing via GCV to the HARDI data further facilitates the application of fiber tractography by automatically eliminating spurious noisy peaks in reconstructed ODFs that would mislead fiber tracking.

This thesis, within the subfield of computer science known as computer vision, deals with the use of scale-space analysis in early low-level processing of visual information. The main contributions comprise the following five subjects: The formulation of a scale-space theory for discrete signals. Previously, the scale-space concept has been expressed for continuous signals only. We propose that the canonical way to construct a scale-space for discrete signals is by convolution with a kernel called the discrete analogue of the Gaussian kernel, or equivalently by solving a semi-discretized version of the diffusion equation. Both the one-dimensional and two-dimensional cases are covered. An extensive analysis of discrete smoothing kernels is carried out for one-dimensional signals and the discrete scale-space properties of the most common discretizations to the continuous theory are analysed. A representation, called the scale-space primal sketch, which gives a formal description of the hierarchical relations between structures at different levels of scale. It is aimed at making information in the scale-space representation explicit. We give a theory for its construction and an algorithm for computing it. A theory for extracting significant image structures and determining the scales of these structures from this representation in a solely bottom-up data-driven way. Examples demonstrating how such qualitative information extracted from the scale-space primal sketch can be used for guiding and simplifying other early visual processes. Applications are given to edge detection, histogram analysis and classification based on local features. Among other possible applications one can mention perceptual grouping, texture analysis, stereo matching, model matching and motion. A detailed theoretical analysis of the evolution properties of critical points and blobs in scale-space, comprising drift velocity estimates under scale-space smoothing, a classification of the possible types of generic events at bifurcation situations and estimates of how the number of local extrema in a signal can be expected to decrease as function of the scale parameter. For two-dimensional signals the generic bifurcation events are annihilations and creations of extremum-saddle point pairs. Interpreted in terms of blobs, these transitions correspond to annihilations, merges, splits and creations. Experiments on different types of real imagery demonstrate that the proposed theory gives perceptually intuitive results. / <p>QC 20120119</p>

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