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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Investigation of tip vortex aperiodicity in hover

Karpatne, Anand, 1987- 29 October 2012 (has links)
Previous research has indicated aperiodicity in the positions of tip vortices emitted from a helicopter rotor blade in hover. The objective of the current study is to develop an analysis of the tip vortex aperiodicity in hover and to validate it with measurements on a reduced-scale, 1m diameter, four-bladed rotor. A “vortex ring emitter model” (VREM) was developed to study the statistics of the tip vortices emitted from a rotor blade during hover. In order to better model the rotor wake, a number of independent vortex blobs were used to describe a vortex ring. An empirical model for viscosity was also considered which helped model the core radius growth of the vortex ring with vortex age. A parametric analysis was then performed to obtain a comprehensive qualitative and quantitative convergence study of the time step, viscosity parameter, initial core size, number of rings shed, number of blobs and overlap factor. It was observed that the solution converged rapidly for all the parameters used. The locations of tip vortex cores for vortex ages ranging from 0◦ to 260◦ were measured on the reduced-scale rotor using a stereo PIV system. The blade loading for the reduced scaled rotor was Ct /σ = 0.044 and the blade rotational speed was 1520 RPM, which corresponds to a tip Reynolds number of 248,000. The 95 % confidence region for the position of tip vortex cores exhibited an anisotropic, aperiodic pattern, approximating an ellipse. It was seen that the principal axis of this ellipse appeared to be aligned perpendicular to the slipstream boundary. The analytical model showed good correlation with experimental data in terms of the orientation and extent of the anisotropy. Moreover, an estimate of the total thrust produced and spanwise loading along the rotor blade was also obtained and compared with Blade Element Momentum Theory (BEMT). It was seen that by using more blobs to represent a vortex ring, the solution converged to the BEMT estimate. / text
2

A Molecular-Dynamics Study of the Frictional Anisotropy on the 2-fold Surface of a d-AlNiCo Quasicrystalline Approximant

Harper, Heather McRae 16 September 2008 (has links)
In 2005, Park et al. demonstrated that the 2-fold surface of a d-AlNiCo quasicrystal exhibits an 8-fold frictional anisotropy, as measured by atomic-force microscopy, between the periodic and aperiodic directions [40, 41]. It has been well known that quasicrystals exhibit lower friction than their crystalline counterparts [38, 18, 51, 30, 12, 54]; however, the discovery of the frictional anisotropy allows for a unique opportunity to study the effect of periodicity on friction when chemical composition, oxidation, and wear are no longer variables. The work presented herein is focused on obtaining an understanding of the mechanisms of friction and the dependence of friction on the periodicity of a structure at the atomic level, focusing on the d-AlNiCo quasicrystal studied by Park et al. Using the LAMMPS [44] package to simulate the compression and sliding of an 'adamant' tip, see section 3.3, on a d-AlNiCo quasicrystalline approximant substrate, we have demonstrated, in preliminary results, an 8-fold frictional anisotropy, but in more careful studies the anisotropy is found to be much smaller. The simulations were accomplished using Widom-Moriarty pair potentials to define the interactions between the atoms [36, 56, 55, 9]. The studies presented in this work have shown a clear velocity dependence on the measured frictional response of the quasicrystalline approximant's surface. The final results show between a 1.026-fold and 1.127-fold anisotropy between sliding in the periodic and 'aperiodic' directions, depending on the sliding velocity.
3

Investigation Of The Significance Of Periodicity Information In Speaker Identification

Gursoy, Secil 01 April 2008 (has links) (PDF)
In this thesis / general feature selection methods and especially the use of periodicity and aperiodicity information in speaker verification task is searched. A software system is constructed to obtain periodicity and aperiodicity information from speech. Periodicity and aperiodicity information is obtained by using a 16 channel filterbank and analyzing channel outputs frame by frame according to the pitch of that frame. Pitch value of a frame is also found by using periodicity algorithms. Parzen window (kernel density estimation) is used to represent each person&rsquo / s selected phoneme. Constructed method is tested for different phonemes in order to find out its usability in different phonemes. Periodicity features are also used with MFCC features to find out their contribution to speaker identification problem.
4

Brisures de symétrie dans des superespaces cristallographiques : aspects structuraux et dynamiques / Broken symmetry within crystallographic superspaces : structural and dynamical aspects

Mariette, Céline 26 June 2013 (has links)
Les cristaux apériodiques possèdent la propriété d’avoir un ordre à grande distance mais sans la symétrie de translation. Ces cristaux se décrivent dans des superespaces cristallographiques de dimension supérieure à trois. Dans ce mémoire, nous nous intéressons plus particulièrement aux brisures de symétrie présentes dans de tels espaces cristallographiques en considérant la famille prototype de n-alcane/urée. Des études par diffraction de rayons X sur sources synchrotron révèlent de multiples solutions structurales impliquant des changements ou non de la dimension du groupe de superespace. Une fois la caractérisation du paramètre d’ordre et de la brisure de symétrie faite nous présentons les phénomènes prétransitionnels critiques associés à ces transitions de phase de type groupe/sous-groupe. La diffusion cohérente de neutrons et la diffusion de rayons X inélastiques permettent une analyse dynamique des différentes excitations dans ces matériaux (phonons, phasons). Les composés d’inclusion avec des molécules invitées courtes (alcane CnH2n+2 avec n variant de 7 à 13) révèlent à température ambiante des phases « quasi-liquides » uni-dimensionnelles. Ce désordre dynamique le long de la direction d'incommensurabilité de ces matériaux génère à basse température des solutions structurales nouvelles (composite monoclinique intermodulé, ancrages commensurables). / Aperiodic crystals have the property to possess long range order without translational symmetry. These crystals are described within the formalism of superspace crystallography. In this manuscript, we will focus on symmetry breakings which take place in such crystallographic superspace groups, considering the prototype family of n-alkane/urea. Studies performed by X-ray diffraction using synchrotron sources reveal multiple structural solutions implying or not changes of the dimension of the superspace. Once the characterization of the order parameter and of the symmetry breaking is done, we present the critical pretransitionnal phenomena associated to phase transitions of group/subgroup types. Coherent neutron scattering and X-ray scattering allow a dynamical analysis of different kind of excitations in these materials (phonons, phasons). The inclusion compounds with short guest molecules (alkane CnH2n+2, n varying from 7 to 13) show at room temperature unidimensional “liquid-like” phases. The dynamical disorder along the incommensurate direction of these materials generates new structural solutions at low temperature (intermodulated monoclinic composite, commensurate lock-in).
5

DESIGN AND MECHANICAL BEHAVIOR OF TOPOLOGICALLY INTERLOCKING PLATES: PERIODICITY AND APERIODICITY, SYMMETRY AND ASYMMETRY

Dong Young Kim (16480338) 28 July 2023 (has links)
<p>A topologically interlocked material (TIM) system belongs to a class of architectured materials and is known to perform outstanding mechanical properties such as stiffness, strength, and toughness. TIM systems are assemblies of polyhedral or building blocks, where individual elements constrain each other on inclined sides of building blocks. This thesis first focuses on developing novel designs of TIM plates composed of building blocks that interact with each other. The resulting TIM systems can be characterized concerning their periodicity and symmetry. Consequently, this study investigates how the proposed geometric features enhance mechanical properties and contribute to emerging properties. Specifically, four research questions provide a clear direction and framework for the investigation. For efficient analysis, finite element calculations are employed, and physical validation methods are used to verify them.</p> <p>The first research question is how the mechanical properties of aperiodic systems differ from those of periodic systems. Aperiodic systems offer diverse possibilities in terms of forms and arrangements. In this thesis, aperiodicity is further divided into two aspects: disrupting symmetry and preserving symmetry. In the approach that disrupts symmetry, the shapes of the tiles are randomly generated. An aperiodic system does not necessarily possess inherently superior or inferior mechanical properties compared to a periodic system. However, the flexibility of aperiodic systems allows for numerous forms and arrangements, presenting promising alternatives to identify factors or patterns that contribute to improved mechanical performance. To simplify these complex configurations, network theory is employed.</p> <p>Each building and its contact interfaces are represented as nodes and links. By utilizing network theory, a focused analysis of the links is conducted, enabling a comprehensive understanding of force propagation across TIM systems. The quantification of the significance of each link assists in reinforcing critical links while potentially sacrificing less critical ones.</p> <p>This approach not only simplifies the research problem but also facilitates the creation of customized design systems by adjusting the links.</p> <p>The other approach to achieve aperiodicity while preserving symmetry utilizes quasicrystal structures. This is based on another research question: What are the benefits of creating TIM systems with quasi-crystal tilting? Quasi-crystals possess a unique characteristic of maintaining 5-fold rotational symmetry while breaking away from periodic patterns observed in traditional systems. The arrangement of elements in quasi-crystal structures extends in a non-repetitive pattern from the center outward, offering a multitude of potential possibilities for TIM systems. By incorporating quasi-crystal tiling, TIM systems are expected to open up exceptional mechanical properties and unconventional behaviors.</p> <p>The third research question investigates whether the influence on mechanical performance varies based on the symmetry level of TIM systems. Despite using identical unit blocks, the arrangement of an assembly can lead to different levels of symmetry. Furthermore, it is possible to modify the symmetry of the unit block, thereby impacting the overall symmetry of the assembly. To achieve this, the symmetry of a unit block is adjusted by modifying the angles of side faces, transitioning from larger angles to smaller angles or vice versa. This modification introduces directionality (rotational symmetry) to the unit block and creates a greater variety of symmetry levels depending on the arrangements of these blocks. By implementing a broader range of symmetry levels that conventional TIM systems cannot achieve, this research aims to investigate the relationship between these symmetries and mechanical properties.</p> <p>The fourth research question is about what emerging properties could be present in TIM systems. While the primary application of TIMs is to enhance the damage tolerance of brittle materials against an external load, there have been ongoing attempts to research emerging properties like negative stiffness, sound absorption, and chirality. Chirality, in particular, serves as a valuable geometric property to describe a circulation of force propagation. Generally, the ability of TIM systems to carry transverse loads is explained through equivalent Mises truss along x− and y − axis. However, chirality enables the representation of not only axial force paths but also circulations of forces within TIM systems. In addition, a rich variety of geometric patches are observed in quasi-crystal structures. In crystal structures, a limited number of patches are repetitively arranged, resulting in a restricted range of properties. However, quasi-crystals like Penrose are non-periodic and possess a greater capacity to generate diverse patches, allowing for the selection of various mechanical properties.</p>
6

Computer methods for voice analysis

Granqvist, Svante January 2003 (has links)
This thesis consists of five articles and a summary. Thethesis deals with methods for measuring properties of thevoice. The methods are all computer-based, but utilisedifferent approaches for measuring different aspects of thevoice. Paper I introduces the Visual Sort and Rate (VSR) method forperceptual rating of voice quality. The method is based on theVisual Analogue Scale (VAS), but simultaneously shows allstimuli as icons along the VAS on the computer screen. As thelistener places similar-sounding stimuli close to each otherduring the rating process, comparing stimuli becomeseasier. Paper II introduces the correlogram. Fundamental frequencyF0 sometimes cannot be strictly defined, particularly forperturbed voice signals. The method displays multipleconsecutive correlation functions in a grey scale image. Thus,the correlogram avoids selecting a single F0 value. Rather itpresents an unbiased image of periodicity, allowing theinvestigator to select among several candidates, ifappropriate. PaperIII introduces a method for detection of phonation tobe utilised in voice accumulators. The method uses twomicrophones attached near the subject’s ears. Phase andamplitude relations of the microphone signals are used to forma phonation detector. The output of the method can be used tomeasure phonation time, speaking time and fundamental frequencyof the subject, as well as sound pressure level of both thesubject’s voicing and the ambient sounds. Paper IV introduces a method for Fourier analysis ofhigh-speed laryngoscopic imaging. The data from the consecutiveimages are re-arranged to form time-series that reflect thetime-variation of light intensity in each pixel. Each of thesetime series is then analysed by means of Fouriertransformation, such that a spectrum for each pixel isobtained. Several ways of displaying these spectra aredemonstrated. Paper V examines a test set-up for simultaneous recording ofairflow, intra-oral pressure, electro-glottography, audio andhigh-speed imaging. Data are analysed with particular focus onsynchronisation between glottal area and inverse filteredairflow. Several methodological aspects are also examined, suchas the difficulties in synchronising high-speed imaging datawith the other signals. / QC 20100609
7

Deslocalização de ondas acústicas em sistemas unidimensionais não periódicos / Deslocalization of acoustic wave in an one-dimensional system non periodic

Costa, Alex Emanuel Barros 24 February 2011 (has links)
In this master degree thesis we numerically study the propagation of acoustic waves in one-dimensional non-periodic medium. We focus on two kinds of medium: (1) a media with scale-free long-range correlated elasticity distribution and (2) medium with an aperiodic pseudo-random elasticity distribution. In the first case, the random elasticity distribution is assumed to have a power spectrum S (k) ~ 1 / kª. By using a transfer matrix method we solve the discrete version of the scalar wave equation and comput the location length. In addition, we apply a second-order infinite-difference method for both the time and spatial variables and study the nature of the waves that propagate in the chain. Our numerical data indicate the presence of extended acoustic waves for high degree of correlations. In contrast with local correlation, we numerically demonstrated that scale-free correlations promote a stable phase of free acoustic waves in the thermodynamic limit. In the another case, elasticity distribution was generated by using a sinusoidal function whose phase varies as a power law, φ α nv, where n labels the positions along the media. By considering again a discrete one-dimensional version of the wave equation and a matrix recursive reformulation we compute the location length within the band of allowed frequencies. Our numerical data indicates the presence of extended acoustic waves with non-zero frequency for a sufficient degree of aperiodicity. / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Nesta dissertação de mestrado estudamos numericamente a propagação de ondas acústicas em meios não periódicos unidimensionais. Nós nos concentramos em dois tipos de meios: (1) com distribuição da elasticidade possuindo correlação de longo alcance e (2) com distribuição aperiódica pseudo-aleatória. No primeiro caso, a elasticidade da distribuição aleatória é assumida ter um espectro de potência S(k)~1/kª. Usando o método de matriz de transferência resolvemos a versão discreta da equação da onda escalar e calculamos o comprimento de localização. Além disso, aplicamos o método de diferença infinita de segunda ordem para as variáveis temporal e espacial e estudamos a natureza das ondas que se propagem na cadeia. Nossos dados numéricos indicam a presença de ondas acústicas estendidas para alto grau de correlação. Em contraste com correlação local, demonstramos numericamente que correlações de livre-escala promovem uma fase estável com ondas acústicas livres no limite termodinâmico. No outro caso, a distribuição das constantes elásticas foram geradas usando uma função senoidal cuja faze varia como uma lei de potência, ϕ α nv , onde n rotula as posições ao longo da rede. Ao considerar novamente uma versão unidimensional discretizada da equação de onda e uma reformulação da matriz recursiva nós calculamos o comprimento de localização dentro da faixa de frequências permitidas. Nossos dados indicam a presença de ondas acústicas propagantes com frequência diferente de zero para um suficiente grau de aperiodicidade.
8

Shift spaces on groups : computability and dynamics / Calculabilité et dynamique des sous-décalages sur des groupes

Barbieri Lemp, Sebastián Andrés 28 June 2017 (has links)
Les sous-décalages sont des ensembles de coloriages d'un groupe définis en excluant certains motifs, et munis d'une action de décalage. Ces objets apparaissent naturellement comme discrétisations de systèmes dynamiques : à partir d'une partition de l'espace, on associe à chaque point de ce-dernier la suite des partitions visitées sous l'action du système.Plusieurs résultats récents ont mis en évidence la riche interaction entre la dynamique des sous-décalages et leur propriétés algorithmiques. Un exemple remarquable est la classification des entropies des sous-décalages multidimensionnels de type fini comme l'ensemble des nombres récursivement énumérables à droite. Cette thèse s'intéresse aux sous-décalages avec une approche double : d'un côté on s'intéresse à leurs propriétés dynamiques et de l'autre on les étudie comme des modèles de calcul.Cette thèse contient plusieurs résultats : une condition combinatoire suffisante prouvant qu'un sous-décalage dans un groupe dénombrable est non-vide, un théorème de simulation qui réalise une action effective d'un groupe de type fini comme un facteur d'une sous-action d'un sous-décalage de type fini, une caractérisation de l'effectivité à l'aide de machines de Turing généralisées et l'indécidabilité du problème de torsion pour deux groupes, qui sont invariants de systèmes dynamiques.Comme corollaires de nos résultats, nous obtenons d'abord une preuve courte de l'existence de sous-décalages fortement apériodiques sur tout groupe dénombrable. Puis, dans le cas d'un produit semi-direct de la grille bidimensionnelle avec un groupe de type fini avec problème du mot décidable, nous montrons que le sous-décalage obtenu est de type fini. / Shift spaces are sets of colorings of a group which avoid a set of forbidden patterns and are endowed with a shift action. These spaces appear naturally as discrete versions of dynamical systems: they are obtained by partitioning the phase space and mapping each element into the sequence of partitions visited by its orbit.Severa! breakthroughs in this domain have pointed out the intricate relationship between dynamics of shift spaces and their computability properties. One remarkable example is the classification of the entropies of multidimensional subshifts of finite type as the set of right recursively enumerable numbers. This work explores shift spaces with a dual approach: on the one hand we are interested in their dynamical properties and on the ether hand we studythese abjects as computational models.Four salient results have been obtained as a result of this approach: (1) a combinatorial condition ensuring non-emptiness of subshifts on arbitrary countable groups; (2) a simulation theorem which realizes effective actions of finitely generated groups as factors of a subaction of a subshift of finite type; (3) a characterization of effectiveness with oracles using generalized Turing machines and (4) the undecidability of the torsion problem for two group invariants of shift spaces.As byproducts of these results we obtain a simple proof of the existence of strongly aperiodic subshifts in countable groups. Furthermore, we realize them as subshifts of finite type in the case of a semidirect product of a d-dimensional integer lattice with a finitely generated group with decida ble word problem whenever d> 1.
9

Transitions vers des états électroniques complexes et des structures super périodiques dans les bronzes mono phosphates de tungstènes / Transitions toward complex electronic states and super-periodic structures in the monophosphate tungsten bronzes family.

Duverger-Nédellec, Elen 01 December 2017 (has links)
Les matériaux conducteurs de basse dimensionnalité électronique peuvent présenter des transitions vers des états électroniques complexes tels que la supraconduction, les Ondes de Densité de Spins (ODS) et les Ondes de Densité de Charges (ODC). La coexistence de plusieurs de ces instabilités au sein d’un même matériau a donné lieu à une recherche active de nouveaux systèmes conducteurs quasi-bidimensionnels. Dans cette thèse nous avons choisi de nous intéresser à la famille des Bronzes MonoPhosphate de Tungstène à tunnels pentagonaux (MPTBp), de formule chimique (PO2)4(WO3)2m ; l’un des principaux intérêts réside dans la possibilité de contrôler directement la dimensionnalité du matériau et sa densité de porteurs en faisant varier la valeur de m (2 ≤ m ≤ 14). Dans la littérature il a été montré que certains termes de cette famille (m=4, 5, 6) admettent des états ODC successifs alors que d’autres (m=10) présentent des ordres de type ferro électrique ; l’objectif de cette thèse est alors de montrer l’effet de la dimensionnalité du matériau sur l’apparition et la stabilité de ces états électroniques dans les MPTBp. Pour cela, des mesures de transport électronique, des études des structures modulées incommensurables et commensurables par diffraction des rayons X avant et après chaque transition et des mesures de diffusion inélastique ont été effectuées sur plusieurs termes à valeur de m pair. Dans ce travail nous avons pu montrer l’existence d’un état ODC pour les termes m=2, 4, 6, 8 et 10, caractérisé par la formation d’amas de tungstène dans certaines régions du matériau, accompagné, pour les m=8 et 10, de l’installation progressive d’une mise en ordre de type anti-ferroélectrique des déplacements des atomes de tungstène. Un phénomène de dépiégeage d’ODC a été observé pour le terme quasi-unidimensionnel m=2, ce qui n’avait encore jamais été reporté chez les MPTBp. Un couplage électron-phonon fort a pu être mis en évidence pour les hauts termes (m ≥ 8) à la fois via les analyses structurales, l’observation de transitions résistives du premier ordre mais également par des mesures de diffusion inélastique des rayons X. Pour ces hauts termes, une transition de type ordre-désordre est alors à envisager. / Conductive materials with low electronic dimensionality can present some transitions toward complex electronic states as superconductivity, Spin Density Waves (SDW) and Charge Density Waves (CDW). The coexistence of several of these instabilities in the same material leads to bustling investigations on new quasi-bidimensional conductors. In this thesis, we chose to study the MonoPhosphate Tungsten Bronzes with pentagonal channels family (MPTBp), of chemical formula (PO2)4(WO3)2m ; one of the main interests of this family is the possibility to directly control the compound’s dimensionality and its carriers density by varying m value (2 ≤ m ≤ 14). In the literature, it’s been shown that some MPTBp members (m=4, 5, 6) present successive CDW states whereas others (m=10) show ferroelectric-type orders. The aim of this thesis is thus to bring into light the effect of the material’s dimensionality on the appearance and the stability of these electronic states in the MPTBp family. In this way, transport measurements, X-Rays diffraction studies of the commensurate and incommensurate modulated structures below and above each transition and inelastic scattering measurements were done on several members with even value of m. In this work we reveal the existence of a CDW state for the m=2, 4, 6, 8 and 10 members, characterized by the formation of tungsten clusters in some areas of the crystal. For the m=8 and 10 members, the CDW is accompanied by a gradual installation of an anti-ferroelectric-like ordering of the tungsten atoms displacements. A CDW depinning phenomenon was observed for the quasi-unidimensional m=2 member, which has never been reported before in the MPTBp family. A strong electron-phonon coupling was evidenced for the high terms of the family (m ≥ 8) by structural analysis, first order resistive transitions observation and by X-Rays inelastic scattering measurements. For these high terms, an order-disorder transition must be considered.
10

Définissabilité et synthèse de transductions / Definability and synthesis of transductions

Lhote, Nathan 12 October 2018 (has links)
Dans la première partie de ce manuscrit nous étudions les fonctions rationnelles, c'est-à-dire définies par des transducteurs unidirectionnels. Notre objectif est d'étendre aux transductions les nombreuses correspondances logique-algèbre qui ont été établies concernant les langages, notamment le célèbre théorème de Schützenberger-McNaughton-Papert. Dans le cadre des fonctions rationnelles sur les mots finis, nous obtenons une caractérisation à la Myhill-Nerode en termes de congruences d'indice fini. Cette caractérisation nous permet d'obtenir un résultat de transfert, à partir d'équivalences logique-algèbre pour les langages vers des équivalences pour les transductions. En particulier nous montrons comment décider si une fonction rationnelle est définissable en logique du premier ordre. Sur les mots infinis, nous pouvons également décider la définissabilité en logique du premier ordre, mais avec des résultats moins généraux.Dans la seconde partie nous introduisons une logique pour les transductions et nous résolvons le problème de synthèse régulière : étant donnée une formule de la logique, peut-on obtenir un transducteur bidirectionnel déterministe satisfaisant la formule ? Les fonctions réalisées par des transducteurs bidirectionnels déterministes sont caractérisés par plusieurs modèles différents, y compris par les transducteurs MSO, et ont ainsi été nommées transductions régulières. Plus précisément nous fournissons un algorithme qui produit toujours une fonction régulière satisfaisant une spécification donnée en entrée.Nous exposons également un lien intéressant entre les transductions et les mots avec données. Par conséquent nous obtenons une logique expressive pour les mots avec données, pour laquelle le problème de satisfiabilité est décidable. / In the first part of this manuscript we focus on the study of rational functions, functions defined by one-way transducers.Our goal is to extend to transductions the many logic-algebra correspondences that have been established for languages, such as the celebrated Schützenberger-McNaughton-Papert Theorem. In the case of rational functions over finite words, we obtain a Myhill-Nerode-like characterization in terms of congruences of finite index. This characterization allows us to obtain a transfer result from logic-algebra equivalences for languages to logic-algebra equivalences for transductions. In particular, we show that one can decide if a rational function can be defined in first-order logic.Over infinite words, we obtain weaker results but are still able to decide first-order definability.In the second part we introduce a logic for transductions and solve the regular synthesis problem: given a formula in the logic, can we obtain a two-way deterministic transducer satisfying the formula?More precisely, we give an algorithm that always produces a regular function satisfying a given specification.We also exhibit an interesting link between transductions and words with ordered data. Thus we obtain as a side result an expressive logic for data words with decidable satisfiability.

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