Orientador: Grace Silva Deaecto / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-27T00:51:44Z (GMT). No. of bitstreams: 1 Santos_GuilhermeCavalari_M.pdf: 16424850 bytes, checksum: 7f2f16f9c4c4f920f928c8d19273978a (MD5) Previous issue date: 2015 / Resumo: Esta dissertação trata do projeto de controle H2 e Hoo via realimentação de estado para sistemas afins com comutação a tempo contínuo. Nosso objetivo principal é projetar um conjunto de ganhos de realimentação de estado e uma função de comutação assegurando estabilidade assintótica global do ponto de equilíbrio desejado. Este ponto deve pertencer a um conjunto de pontos de equilíbrio atingíveis a ser determinado. Além disso, o projeto deve levar em conta índices de desempenho H2 e Hoo que são adequadamente definidos. Para o projeto de controle Hoo, duas funções de comutação são propostas e discutidas. A primeira delas depende somente do estado, enquanto a segunda representa uma nova proposta que é mais geral e depende também da entrada externa. As condições obtidas são menos conservadoras do que as técnicas recentes disponíveis na literatura, por exemplo, os métodos baseados na função de Lyapunov do tipo máximo e os utilizados normalmente para assegurar estabilidade prática. Exemplos numéricos ilustram os resultados teóricos obtidos e são usados para comparações / Abstract: This Master's thesis deals with state feedback H2 and Hoo control design of continuous-time switched affine systems. Our main goal is to design a set of state feedback gains and a switching function assuring global asymptotical stability of a desired equilibrium point. This point must belong to a set of attainable equilibrium points to be determined. Moreover, the design must consider H2 and Hoo performance indexes to be defined. For the Hoo control design, two different switching functions are proposed and discussed. The first one depends only on the state and the other depends on the state and on the external input. The conditions are less conservative than the techniques available in the literature to date, as for instance, those based on a max-type Lyapunov function and those commonly used to assure practical stability. Numerical examples illustrate the theoretical results and are used for comparisons / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

abstract: For the last 50 years, oscillator modeling in ranging systems has received considerable attention. Many components in a navigation system, such as the master oscillator driving the receiver system, as well the master oscillator in the transmitting system contribute significantly to timing errors. Algorithms in the navigation processor must be able to predict and compensate such errors to achieve a specified accuracy. While much work has been done on the fundamentals of these problems, the thinking on said problems has not progressed. On the hardware end, the designers of local oscillators focus on synthesized frequency and loop noise bandwidth. This does nothing to mitigate, or reduce frequency stability degradation in band. Similarly, there are not systematic methods to accommodate phase and frequency anomalies such as clock jumps. Phase locked loops are fundamentally control systems, and while control theory has had significant advancement over the last 30 years, the design of timekeeping sources has not advanced beyond classical control. On the software end, single or two state oscillator models are typically embedded in a Kalman Filter to alleviate time errors between the transmitter and receiver clock. Such models are appropriate for short term time accuracy, but insufficient for long term time accuracy. Additionally, flicker frequency noise may be present in oscillators, and it presents mathematical modeling complications. This work proposes novel H∞ control methods to address the shortcomings in the standard design of time-keeping phase locked loops. Such methods allow the designer to address frequency stability degradation as well as high phase/frequency dynamics. Additionally, finite-dimensional approximants of flicker frequency noise that are more representative of the truth system than the tradition Gauss Markov approach are derived. Last, to maintain timing accuracy in a wide variety of operating environments, novel Banks of Adaptive Extended Kalman Filters are used to address both stochastic and dynamic uncertainty. / Dissertation/Thesis / Doctoral Dissertation Electrical Engineering 2020

Cette these est composee de deux parties independantes ayant pour point commun l’utilisation intensive de la theorie des ∞-categories. Dans la premiere, on s’interesse aux liens entre deux approches differentes de la formalisation de la physique des particules : les algebres vertex et les algebres a factorisation a la Costello. On montre en particulier que dans le cas des theories dites topologiques, elles sont equivalentes. Plus precisement, on montre que les∞-categories de fibres vectoriels factorisant non-unitaires sur une variete algebrique complexe lisse X est equivalente a l’∞-categorie des EM-algebres non-unitaires et de dimension finie, ou M est la variete topologique associee a X. Dans la seconde, avec Mathieu Anel, nous etudions la caracterisation de l’exponentiabilite dans l’∞-categorie des ∞-topos. Nous montrons que les ∞-topos exponentiables sont ceux dont l’∞-categorie de faisceaux est continue. Une consequence notable est que l’∞-categorie des faisceaux en spectres sur un ∞-topos exponentiable est un objet dualisable de l’∞-categorie des ∞-categories cocompletes stables munie de son produit tensoriel. Ce chapitre contient aussi une construction des ∞-coends a partir de la theorie du produit tensoriel d’∞- categories cocompletes, ainsi qu’une description des ∞-categories de faisceaux sur un ∞-topos exponentiable en termes de faisceaux de Leray. / This thesis is made of two independent parts, both relying heavily on the theory of ∞-categories. In the first chapter, we approach two different ways to formalize modern particle physics, through the theory of vertex algebras and the theory of factorisation algebras a la Costello. We show in particular that in the case of ‘topological field theories’, they are equivalent. More precisely, we show that the ∞-category of non-unital factorization vector bundles on a smooth complex variety X is equivalent to the ∞-category of non-unital finite dimensional EM-algebras where M is the topological manifold associated to X. In the second one, with Mathieu Anel, we study a characterization of exponentiable objects of the∞-category of∞-toposes.We show that an ∞-topos is exponentiable if and only if its ∞-category of sheaves of spaces is continuous. An important consequence is the fact that the ∞-category of sheaves of spectra on an exponentiable ∞-topos is a dualisable object of the ∞-category of cocontinuous stable ∞-categories endowed with its usual tensor product. This chapter also includes a ix construction of∞-coends from the theory of tensor products of cocomplete∞- categories, together with a description of∞-categories of sheaves on exponentiable ∞-toposes in terms of Leray sheaves.

Pour des applications depositionnement, les moteurs piézoélectriquesprésentent aujourd’hui une alternativeintéressante aux moteurs électromagnétiquesclassiques en raison de leur forte précision del’ordre de quelques nanomètres ainsi que de leurfaible niveau de bruit électromagnétique. Dansce contexte, les travaux de cette thèse portent surla modélisation, la conception, et l’implantationen temps réel de contrôleurs en position pour desmoteurs piézoélectriques. L’objectif est deproposer un système de contrôle en positionrobuste pour des applications robotiques avecun cahier des charges prédéfini. Trois moteurspiézoélectriques avec des principes defonctionnement différents (USR60, PAD7220,N-310.13) ont été choisis. Leurs modèlesélectromécaniques ont été développés afin devalider leurs principes de fonctionnement etd’analyser leurs comportements dynamiquesface à des perturbations (variation de couple decharge, de température, etc…). Ensuite, cesmodèles sont utilisés pour simuler et valider lesperformances des algorithmes de contrôle enboucle fermée notamment en termes deprécision, de robustesse et de stabilité. Desbancs de test expérimentaux ont été mis enœuvre pour les trois moteurs, et des modèlesréduits reliant les positions des moteurs auxsignaux de commande correspondants ont étéidentifiés expérimentalement. Deux contrôleursde position de type H-infini (H∞) et RST sontensuite synthétisés et simulés. Ces contrôleurssont implantés en temps réel sur les bancs detests expérimentaux via un système dSPACE.Les performances de chaque moteur associé à sacommande sont évaluées. Une étudecomparative entre les résultats expérimentauxde ces deux contrôleurs et ceux d’un contrôleurPID classique est aussi présentée. / The Piezoelectric motors present aninteresting alternative to electromagneticsmotors for precise positioning systems. This ismainly due to their high accuracy in thenanometer scale, and to their very lowelectromagnetic noise levels. In this context, thework presented in this thesis deals with themodeling, design, and real time implementationof position controllers for piezoelectric motors.The objective is to propose robust closed loopposition controller of piezoelectric motors forrobotic applications. Based on the applicationspecification requirements, three motors withdifferent topologies (USR60, PAD7220, N-310.10) are selected. Their electro mechanicmodels are developed in order to validate theiroperating principle and to analyze theirdynamics.These models are also used to simulate thecontroller algorithms in closed loop.Experimental platforms based on the threemotors are designed, and the reduced modelslinking the motor positions to the correspondingcontrol signals are experimentally identified.Afterwards, two position controllers of type Hinfinity(H∞) and RST are synthesized andsimulated. These controllers are implemented inreal time via the experimental platformsequipped by dSPACE boards. The performancesof each motor in closed loop associated to theposition controllers are evaluated using theexperimental results. Comparative studybetween the experimental results of twoproposed controllers and conventional PIDcontroller is also presented.Université Paris-

Emmanuel Levinas on human freedom and relation to the other Ján Hreško ABSTRACT This dissertation deals with the philosophical problem of human freedom from an intersubjective and ethical point of view. It interprets and elaborates Emmanuel Levinas' understanding of freedom and shows that he paid considerable attention to this issue in his works. The thesis is based primarily on the formulation of this problem in his main post-war works but makes its thematic elaboration. It shows what role freedom plays within his ethics and its key ideas. The research follows the constitution of freedom of the corporal and economic being. It explains the criticism of freedom, the argument of justifying freedom and finally its investiture. Separately it focuses on the question of human position in history. Finally, it clarifies Levinas' main claim that responsibility precedes freedom. At the same time, it asks: In what sense did Levinas understand the ambiguous concept of freedom? Are there more notions of freedom? What is the relationship between my freedom and the freedom of the other? What does it mean that acceptance of ethical demand does not depend on my will or choice? And what is the positive significance of responsibility for the other? The main thesis of this work can be expressed as follows: according to...

This work deals with a basic question of modern science and it is its indefectibility. Quality of education is reduce to an evaluation of conformity to a common known knowledge and its quantity representation. Seeds of this long process go back to an ancient academia of Gondisapur established in an Arabic world. Author proclaims that the main goal of philosophy is to show, that this is not the only way of thinking and in the same time that the main goal and power of phenomenology is to apply the transcendental epoche to overcame the truth in its regularization shape. The hardcore of modern science is located in the world of mathematics and a lot of thinkers find the Math as a land of pure sureness - the core of this work in an opposite proofs, that in fact nowadays math is all, but the correct way of thinking. The two examples are explicit: the Pythagorean Theorem and the Sum of the geometric row. This work brings a quite new view on the mathematical problem of "the point" and "the nothing" as a border of things. In the second part uses as a frame of its topic the first 18 §§ of the work "Paradoxes of the infinite" by Czech mathematician of German mother tongue Bernard Bolzano. The important idea of this study is a new ontological view on the set of prime numbers.

Charles Renouvier, philosophe savant, honnête chercheur, se bat contre les mystères et la métaphysique en utilisant la méthode scientifique. Il appuie son néocriticisme sur l’esprit de la science, il voit même dans la critique cet esprit. Il n’omet pas d’étudier les premiers principes des sciences, les notions de phénomène et de loi, les catégories, lois irréductibles au fondement des sciences. Rejetant le noumène, il articule son phénoménisme entre les catégories de relation, d’où découle l’absurdité de l’infini actuel, et de personne, toute chose étant par le biais de représentations. Il use des principes de relativité et de contradiction, propose un classement des sciences, prenant en compte ses principes et posant la critique comme tronc commun des sciences. Ce polytechnicien voit l’objet des mathématiques dans le rapport du multiple à l’un, et le nombre comme un tout d’unités, un nombre discret. Sa loi du nombre lui permet de sortir des antinomies kantiennes, de penser l’indéfini, les nombres négatifs et fractionnaires. Il analyse les concepts élémentaires de la géométrie, il présente les enjeux du calcul des probabilités et se positionne par rapport aux géométries imaginaires, tout cela en vue de débarrasser les mathématiques de toute métaphysique. Il étudie également les sciences physiques, faisant valoir l’hypothèse scientifique dans les sciences expérimentales, il s’interroge sur les notions de matière et de force. Considérant la place de la liberté et de la volonté en l’homme, il y voit une différence spécifique d’avec l’animal. Dans sa philosophie de l’histoire des sciences et des idées, et dans ses ouvrages ultérieurs, l’académicien montre le lien entre croyance et savoir, et il milite pour une religion raisonnée et un progrès moral. / Philosopher - scientist, hobest researcher, Charles Renouvier fights against the mysteries and the metaphysics using the scientific method.He bases his néocriticisme on the spirit of science, that he sees in the critic itself. He does not omit to study the first principles of science : the conxepts of phenomenon, law and category, the latest constituting irreducible rules at the foundation of sciences. Rejecting the noumenon, he articulates his phenomenalism between the categories of relation, from which flows the absurdity of the actual infinity and of person, all things being through representations. He uses the principles of relativity of contradiction, offers a classification of sciences, taking into account his principles and stating the critic at the core of sciences. This ex-student from the Ecole Polytechnique sees the object of mathematics in the connection between multiple and one, and the number as a set of units, consequently being a discrete number. His law of number permits him to get out of the Kantian antinomies, to think out the indefinite, negative and fractionnal numbers. He discusses the basic concepts og geometry. He presents the issues of probability calculations and takes a position on imaginary geometries. All these aim to get rid of any metaphysics in mathematics. He also examines physical sciences. Arguing for scientific hypothesis in experimental siences, he examines the concepts of matter and force. Considering the importance of freedom and will in the man, he sees in that a significant difference from tha animal. In his philosophy of history of science and ideas and in his later works, the Academician shows the relationship between belief and knowledge, and argues for a rational religion and moral progress.

The aim of the project was to compare the workflow for an Elekta Linac with and without the surfacescanning system Catalyst and describe pros and cons with both workflows. The findings in the reportcan be used as decision support in development of Elekta products and workflow improvements. The method for the project was to do interviews, observations and time measurements at Södersjukhuset(not using Catalyst) and Sundsvalls sjukhus (using Catalyst). The workflows were graded in an as-sessment protocol covering time efficiency, comfort, noise, resources, reliability, cost, dosage and sideeffects. Different workflow scenarios were simulated in AnyLogic. The result of the project was that, according to our protocol, the workflow with Catalyst was ratedhigher than without it. The simulations in Anylogic showed that minimizing gaps in the treatment sched-ule generated the same number of patients treated per day, if the positioning could not be done faster.The simulations also showed that removing position verification with cone beam computer tomography(CBCT), an imaging system which is used in addition to the Catalyst system, would increase the numberof treated patients with approximately 33%. The conclusion was that there were no great differences in time efficiency between the workflows. How-ever, considering the higher reliability and comfort for the patient, optical surface scanning can improvethe positioning for Elekta Linac and is therefore worth implementing. Minimizing treatment gaps wouldnot improve the workflow. Removing the use of CBCT would increase the number of treated patientsper day.

This study investigated what factors come into play when looking at the user experience involved with the commercial video game Disney Infinity (2.0 Edition), and sought to determine if the unique combination between sandbox and smart toy based gameplay present in gameplay offers an additional level of immersion. This study analyzed the effect of Disney Infinity (2.0 Edition) on immersion utilizing a Game Immersion Questionnaire modified to analyze play preference as well as video game experience. The study methodology analyzed 48 users while playing in "Toy Box" mode both with and without the associated smart toys, or Disney characters. Results show that while there was no significant difference in immersion for either group, nor were there any significant correlations between variables, there was a preference for playing the game with the associated smart toys in both groups. Recommendations were made for continued research building on modifications to this study as well as future research exploring the potential for smart toys in other areas.

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