1- Généralisation des fibrés instantons spéciaux sur P^2n+1 qui est appelée les fibrés (b+1)-instantons pondérés sur P^2n+1. On a étudié la stabilité de ces fibrés dans le cas où b=0. On a étudié la déformation de fibrés de Steiner pondérés sur P^2n+1. 2- Généralisation des fibrés de Tango sur P^n qui est appelée les fibrés de Tango pondérés sur P^n. On a étudié la stabilité de ces fibrés vectoriels. On a étudié la déformation de ces fibrés vectoriels. 3- Construction de fibrés vectoriels de rang 3 sur P^4. On a étudié la condition pour avoir des fibrés vectoriels qui ne sont pas isomorphes à une somme directe de trois fibrés en droites. / 1 - Generalization of the special instanton bundles on P^2n+1 which is called the (b+1)-weighted instanton bundles on P^2n+1. The stability of these vector bundles was studied in the case b=0. We studied the deformation of weighted Steiner bundles on P^2n+1. 2 - Generalization of the Tango bundles on P^n which is called the weighted Tango bundles on P^n. The stability of these vector bundles has been studied. The deformation of these vector bundles has been studied. 3 - Construction of vector bundles of rank 3 on P^4. We have studied the condition to have vector bundles that do not isomorphic to a direct sum of three line bundles.

In this work is analysed the tangent bundle geometry order 3. Those bundles are defined like 3 - jet space. Co - ordinates transformation formulas of those bundles are received, how the object of linear connection inducted affine connections is demonstrated. In this work the theorem how the object of linear connection of tangent bundle inducted linear connection of tangent bundle order 3 is proved.

In this thesis we study some questions related to vector bundles over hypersurfaces. More precisely, for hypersurfaces of dimension ≥ 2, we study the extension problem of vector bundles. We find some cohomological conditions under which a vector bundle over an ample divisor of non-singular projective variety, extends as a vector bundle to an open set containing that ample divisor. Our method is to follow the general Groethendieck-Lefschetz theory by showing that a vector bundle extension exists over various thickenings of the ample divisor. For vector bundles of rank > 1, we find two separate cohomological conditions on vector bundles which shows the extension to an open set containing the ample divisor. For the case of line bundles, our method unifies and recovers the generalized Noether-Lefschetz theorems by Joshi and Ravindra-Srinivas. In the last part of the thesis, we make a specific study of vector bundles over elliptic curve.

On assiste aujourd'hui à l'importation des NTIC (Nouvelles Technologies de l'Information et de la Télécommunication) dans la robotique. L'union de ces technologies donnera naissance, dans les années à venir, à la robotique de service grand-public.Cet avenir, s'il se réalise, sera le fruit d'un travail de recherche, amont, dans de nombreux domaines : la mécatronique, les télécommunications, l'automatique, le traitement du signal et des images, l'intelligence artificielle ... Un des aspects particulièrement intéressant en robotique mobile est alors le problème de la localisation et de la cartographie simultanée. En effet, dans de nombreux cas, un robot mobile, pour accéder à une intelligence, doit nécessairement se localiser dans son environnement. La question est alors : quelle précision pouvons-nous espérer en terme de localisation? Et à quel coût?Dans ce contexte, un des objectifs de tous les laboratoires de recherche en robotique, objectif dont les résultats sont particulièrement attendus dans les milieux industriels, est un positionnement et une cartographie de l'environnement, qui soient à la fois précis, tous-lieux, intègre, bas-coût et temps-réel. Les capteurs de prédilection sont les capteurs peu onéreux tels qu'un GPS standard (de précision métrique), et un ensemble de capteurs embarquables en charge utile (comme les caméras-vidéo). Ce type de capteurs constituera donc notre support privilégié, dans notre travail de recherche. Dans cette thèse, nous aborderons le problème de la localisation d'un robot mobile, et nous choisirons de traiter notre problème par l'approche probabiliste. La démarche est la suivante, nous définissons nos 'variables d'intérêt' : un ensemble de variables aléatoires. Nous décrivons ensuite leurs lois de distribution, et leur modèles d'évolution, enfin nous déterminons une fonction de coût, de manière à construire un observateur (une classe d'algorithme dont l'objectif est de déterminer le minimum de notre fonction de coût). Notre contribution consistera en l'utilisation de mesures GPS brutes GPS (les mesures brutes - ou raw-datas - sont les mesures issues des boucles de corrélation de code et de phase, respectivement appelées mesures de pseudo-distances de code et de phase) pour une navigation bas-coût précise en milieu extérieur suburbain. En utilisant la propriété dite 'entière' des ambiguïtés de phase GPS, nous étendrons notre navigation pour réaliser un système GPS-RTK (Real Time Kinematic) en mode différentiel local précise et bas-coût. Nos propositions sont validées par des expérimentations réalisées sur notre démonstrateur robotique. / We are witnessing nowadays the importation of ICT (Information and Communications Technology) in robotics. These technologies will give birth, in upcoming years, to the general public service robotics. This future, if realised, shall be the result of many research conducted in several domains: mechatronics, telecommunications, automatics, signal and image processing, artificial intelligence ... One particularly interesting aspect in mobile robotics is hence the simultaneous localisation and mapping problem. Consequently, to access certain informations, a mobile robot has, in many cases, to map/localise itself inside its environment. The following question is then posed: What precision can we aim for in terms of localisation? And at what cost?In this context, one of the objectives of many laboratories indulged in robotics research, and where results impact directly the industry, is the positioning and mapping of the environment. These latter tasks should be precise, adapted everywhere, integrated, low-cost and real-time. The prediction sensors are inexpensive ones, such as a standard GPS (of metric precision), and a set of embeddable payload sensors (e.g. video cameras). These type of sensors constitute the main support in our work.In this thesis, we shed light on the localisation problem of a mobile robot, which we choose to handle with a probabilistic approach. The procedure is as follows: we first define our "variables of interest" which are a set of random variables, and then we describe their distribution laws and their evolution models. Afterwards, we determine a cost function in such a manner to build up an observer (an algorithmic class where the objective is to minimize the cost function).Our contribution consists of using brute GPS measures (brute measures or raw datas are measures issued from code and phase correlation loops, called pseudo-distance measures of code and phase, respectively) for a low-cost navigation, which is precise in an external suburban environment. By implementing the so-called "whole" property of GPS phase ambiguities, we expand the navigation to achieve a GPS-RTK (Real-Time Kinematic) system in a precise and low-cost local differential mode.Our propositions has been validated through experimentations realized on our robotic demonstrator.

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This work presents several major developments related to a fluorescence confocal microendoscope technology that can provide instantaneous cellular level images from selected depths of tissue inside the human body. The confocal microendoscope systems discussed employ fiber-optic based imaging catheters coupled to custom built slit-scan confocal microscopes. One major new development involves the design, development, and testing of a new flexible confocal microgastroscope (CMG) system for imaging the esophagus. This new system has the potential to aid in the early detection of esophageal cancer. It consists of a new optical scan unit mounted on an endoscopy cart and a new flexible catheter that can be inserted through the instrument channel of a commercial gastroscope. The CMG system has higher spatial resolution and larger field of view than the previous generation clinical confocal microendoscopes in our lab. In addition, the new CMG system can be operated over a greater wavelength range than its predecessor. Central to the CMG system is the design, construction, and testing of a new distal miniature objective that enables high-quality microendoscopy. The miniature objective, built with all glass spherical surfaces, achieves diffraction-limited performance over a 486 to 1000 nm spectral range. The wide achromatic range of this lens allows the CMG system to be used with a variety of contrast agents including agents in the NIR region. In addition, the new miniature objective can be mounted on existing confocal microendoscopes in our lab such as the ovarian clinical confocal microlaparoscope and our laboratory based experimental system. Finally, a new confocal microlaparoscope with an articulating catheter capable of imaging inside the distal portion of fallopian tubes is presented. This instrument is intended to allow the detection of early stage ovarian cancer originating inside the fallopian tube. The new microlaparoscope is compatible with 5 mm trocars and includes a thin 2.2 mm diameter articulating distal tip consisting of a bare fiber bundle and an automated dye delivery system. The distal tip of this new endoscope can be articulated through simple wrist movements and locked in place at a given angle if desired. The thin distal tip and the ability to control the angle of the tip provide the size and flexibility needed to image inside the curved and delicate structures of the fallopian tube. Preliminary imaging results from the new CMG system, the achromatized miniature objective, and the new articulating confocal microlaparoscope are presented to demonstrate the performance and the potential of each system towards the overall goal of in vivo imaging and disease diagnosis.

Master of Science / Department of Electrical and Computer Engineering / Christopher L. Lewis / This thesis describes the development of an automated computer vision system that identifies and inventories road signs from imagery acquired from the Kansas Department of Transportation's road profiling system that takes images every 26.4 feet on highways through out the state. Statistical models characterizing the typical size, color, and physical location of signs are used to help identify signs from the imagery. First, two phases of a computationally efficient K-Means clustering algorithm are applied to the images to achieve over-segmentation. The novel second phase ensures over-segmentation without excessive computation. Extremely large and very small segments are rejected. The remaining segments are then classified based on color. Finally, the frame to frame trajectories of sign colored segments are analyzed using triangulation and Bundle adjustment to determine their physical location relative to the road video log system. Objects having the appropriate color, and physical placement are entered into a sign database. To develop the statistical models used for classification, a representative set of images was segmented and manually labeled determining the joint probabilistic models characterizing the color and location typical to that of road signs. Receiver Operating Characteristic curves were generated and analyzed to adjust the thresholds for the class identification. This system was tested and its performance characteristics are presented.

Thesis (MEng)--Stellenbosch University, 2015. / ENGLISH ABSTRACT: In this study, one and two-dimensional models are developed for the evaluation of the thermal performance of a delugeable flat tube bundle to be incorporated in the second stage of an induced draft hybrid (dry/wet) dephlegmator (HDWD) of a direct air-cooled steam condenser (ACSC). Both models are presented by a set of differential equations. The one-dimensional model is analysed analytically by using three methods of analysis which are: Poppe, Merkel, and heat and mass transfer analogy. The two-dimensional model is analysed numerically by means of heat and mass transfer analogy method of analysis whereby, the governing differential equations are discretised into algebraic equations using linear upwind differencing scheme. The two-dimensional model’s accuracy is verified through a comparison of the two dimensional solutions to one dimensional solutions. Satisfactory correlation between the one and two-dimensional results is reached. However, there is a slight discrepancy in the solutions, which is mainly due to the assumptions made in one-dimensional model. The effect of tube height, tube pitch, tube width, deluge water mass flow rate, frontal air velocity, steam, and air operating conditions on the heat transfer rate and air-side pressure drop for both wet and dry operating modes are investigated. The long tube height, large tube width, small tube pitch, and high frontal air velocity are found to increase the tube bundle’s performance. However, this performance is associated with a high airside pressure drop. The performance of the deluged flat tube bundle is found to be less sensitive to the changes in the deluge water mass flow rate and air operating conditions. Furthermore, the best configuration of a delugeable flat tube bundle is identified through a comparison to round tube bundle presented by Anderson (2014). The performance of the round tube bundle is found to be around 2 times, and 1.5 times of that of flat tube bundle, when both bundles operate as an evaporative and dry air-cooled condenser respectively. / AFRIKAANSE OPSOMMING: In hierdie studie is een en twee-dimensionele modelle ontwikkel vir die evaluering van die termiese prestasie van 'n benatbare plat buis bundel in die tweede stadium van 'n geïnduseerde ontwerp hibriede (droë / nat ) deflegmator van 'n direkte lugverkoelde stoom kondensator. Beide modelle is aangebied deur 'n stel van differensiaalvergelykings. Die een-dimensionele model is analities ontleed deur die gebruik van drie metodes van analise wat: Poppe, Merkel, en die hitte en massa-oordrag analogie. Die twee-dimensionele model is numeries ontleed deur middel van hitte en massa-oordrag analogie metode van analise waardeur , die regerende differensiaalvergelykings gediskretiseer in algebraïese vergelykings met behulp van lineêre windop differensievorming skema. Die tweedimensionele model se akkuraatheid is geverifieer deur 'n vergelyking van die twee dimensionele oplossings te een dimensionele oplossings. Bevredigende korrelasie tussen die een en twee-dimensionele resultate bereik word. Maar daar is 'n effense verskil in die oplossings, wat is hoofsaaklik te wyte aan die aannames wat gemaak in een-dimensional model. Die effek van buis hoogte, buis toonhoogte, buis breedte, vloed water massa-vloeitempo, frontale lug snelheid, stoom, en in die lug werktoestande op die hitte oordrag snelheid en lug - kant drukval vir beide nat en droë maatskappy modi word ondersoek. Die lang buis hoogte, groot buis breedte, klein buisie toonhoogte, en 'n hoë frontale lug snelheid gevind die buis bundel se prestasie te verhoog. Tog is hierdie prestasie wat verband hou met 'n hoë lug - kant drukval. Die prestasie van die oorstroom plat buis bundel gevind word minder sensitief vir die veranderinge in die vloed water massa-vloeitempo en lug werktoestande. Verder is die beste opset van 'n benatbare plat buis bundel geïdentifiseer deur 'n vergelyking met ronde buis bundel aangebied deur Anderson (2014). Die prestasie van die ronde buis bundel gevind word om 2 keer, en 1.5 keer van daardie plat buis bundel , wanneer beide bundels funksioneer as 'n damp en droë lugverkoelde kondensor onderskeidelik.

The first chapter provides some basic definitions and results from the theory of convex analysis and nonlinear mappings related to our work. Some sufficient conditions for the existence of a solution of problem (GVIP) are also recalled. In the second chapter, we first illustrate the scope of the auxiliary problem procedure designed to solve problems like (GVIP) by examining some well-known methods included in that framework. Then, we review the most representative convergence results for that class of methods that can be found in the literature in the case where F is singlevalued as well as in the multivalued case. Finally, we somewhat discuss the particular case of projection methods to solve affine variational inequalities. The third chapter introduces the variational convergence notion of Mosco and combines it with the auxiliary problem principle. Then, we recall the convergence conditions existing for the resulting perturbed scheme before our own contribution and we comment them. Finally, we introduce and illustrate the rate of convergence condition that we impose on the perturbations to obtain better convergence results. Chapter 4 presents global and local convergence results for the family of perturbed methods in the case where F is singlevalued. We also discuss how our results extend or improve the previous ones. Chapter 5 studies the multivalued case. First, we present convergence results generalizing those obtained when there is no perturbations. Then, we relax the scheme by means of a notion of enlargement of an operator and we provide convergence conditions for this inexact scheme. In Chapter 6, we build a bundle algorithm to solve problem (GVIP) and we study its convergence.