The objective of this thesis is to analyze the kinematics of a mobile parallel robot with contribution that pertain to the singularity analysis, the optimization of geometric parameters and the optimal control to avoid singularities when navigating across singular geometric configurations. The analysis of the workspace and singularities is performed in a prescribed reference workspace regions using discretization method. Serial and parallel singularities are analytically analyzed and all possible singular configurations are presented. Kinematic conditioning index is used to determine the robot’s proximity to a singular configuration. A method for the determination of a continuous and singularity-free workspace is detailed. The geometric parameters of the system are optimized in various types of pipe-like structures with respect to a suitable singularity index, in order to avoid singularities during the navigation across elbows. The optimization problem is formulated with an objective to maximize the reachable workspace and minimize the singularities. The objective function is also subjected to constraints such as collision avoidance, singularity avoidance, workspace continuity and contact constraints imposed between the boundaries and the wheels of the robot. A parametric variation method is used as a technique to optimize the design parameters. The optimal design parameters found are normalized with respect to the width of the pipe-like structures and therefore the results are generalized to be used in the development phase of the robot. An optimal control to generate singularity-free trajectories when the robotic device has to cross a geometric singularity in a sharp 90◦ elbow is proposed. Such geometric singularity inherently leads to singularities in the Jacobian of the system, and therefore a modified device with augmented number of degrees of freedom is introduced to be able to generate non-singular trajectories.

La modélisation des structures magnétiques qUI définissent depuis le plateau continental sud-armoricain jusqu'à l'intérieur du Bassin Aquitain un "marqueur" linéaire d'une longueur d'environ six cents kilomètres, confirme l'existence d'un accid ent crustal majeur dont les diverses signatures géophysiques (magnétisme, gravimétrie, séismicité) sont compatibles avec une interprétation de suture interplaque. Une tentative de reconstitution spatiale des principales limites interplaques et intraplaques du domaine ibéro-armoricain a conduit à envisager l'existence de deux sutures dont la plus interne délimiterait une éventuelle microplaque "ébroaquitaine". La répartition des zones de magmatisme et de subsidence de la période cambro-ordovicienne ainsi que l'enregristrement à la même époque de mouvements "calédoniens" possiblement compressifs pou;raient s'expliquer en terme d'un processus de convergence de plaques initiés dès le Cambrien supérieur.

L’architecture crustale d’orogènes d’accrétion et de collision à grande échelle est étudiée en combinant géologie structurale, litho-stratigraphie, géochronologie et pétrologie magmatique avec les données gravimétriques, magnétiques et sismiques. Cette approche pluridisciplinaire permet de caractériser la structure et la composition de la croûte orogénique dans deux systèmes d’accrétion-collision : la Ceinture Orogénique d’Asie Centrale (CAOC) et le Massif de Bohême. La CAOC représente près d’un tiers du continent asiatique actuel. Ce système orogénique s’est construit par une accrétion continue de matériel depuis le Paléozoïque jusqu’au début du Mésozoïque, suivie par une collision durant le Mésozoïque. La comparaison des champs de potentiels avec les données géologiques met en évidence une compartimentation erronée de l’orogène en unités litho-stratigraphiques. Par rapport à la géologie, la géophysique permet une analyse directe des structures de la croûte orogénique sur toute son épaisseur. Le travail de thèse présente une compilation de données géologiques et de traitements gravimétriques et magnétiques inédits, dont la modélisation préliminaire pour contraindre l’architecture de la croûte continentale est proposée. Le Massif de Bohême possède quant à lui un catalogue de données complémentaires plus conséquent, ce qui permet une modélisation géophysique 3D plus précise. Dans cette zone, les données géophysiques mettent en évidence l’existence d’une croûte inférieure allochtone de composition felsique. Ceci indique que la croûte orogénique hercynienne est également le résultat d’une accrétion de portions crustales contrastées. / Large-scale accretionary and collisional crustal orogenic architecture is studied combining structural geology, lithostratigraphy, geochronology and magmatic petrology with gravity, magnetic and seismic data. This multidisciplinary approach allows characterizing the structure and composition of the orogenic crust in two accretionary-collisional systems. The Central Asian Orogenic Belt (CAOB) constituting one third of the Asia continent and the Bohemian Massif are two Palaeozoic orogens formed by accretion followed by collision. It is proposed that the CAOB formed by successive Paleozoic accretion of oceanic and continental fragments followed by a late Palaeozoic to early Mesozoic N-S convergence of North Chinese and Siberian Cratons. The comparison between the potential fields and the geological data reveals an incorrect compartmentalization into different lithostratigraphic terranes. In contrast to geology the geophysical approach allows the analysis of the crustal structures on a complete thickness of crustal column. This thesis presents a compilation of geological data combined with unique gravity and magnetic results which are integrated into a preliminary model for the architecture of the continental crust. Conversely, an important collection of complementary data is available for the Bohemian Massif, allow more precise 3D geophysical forward modeling. In this area, geophysical data reveal the occurrence of an allochtonous lower crustal layer with a felsic composition. This indicates that the Variscan orogenic crust actually resulted from the accretion of contrasted crustal fragments.

[pt] O presente trabalho apresenta um conceito para um sistema de evasão de colisões, simulado usando modelos 3D de três veículos diferentes implementados em MATLAB. Dois destes veículos foram parametrizados com dados genéricos, caracterizando automóveis de médio e grande porte. Em seguida, utilizados para realização de simulações iniciais e demonstração de conceitos. O terceiro conjunto de dados foi construído com informações do Apollo N, um veículo super esportivo. Estes diferentes conjuntos de dados foram utilizados para avaliar a capacidade do controlador de trabalhar com veículos de diferentes portes e dinâmicas de direção. A abordagem para acionar o sistema baseia-se no cálculo do tempo para a colisão (TTC; timeto- collision). O conceito foi adotado para detectar situações onde o motorista não é capaz de evitar um acidente. Depois de ser acionado, o sistema deve decidir qual manobra é a mais apropriada, dadas as condições de aderência da pista e o risco associado. O primeiro objetivo deste trabalho é desenvolver um sistema autônomo de frenagem que deve ser capaz de avaliar o risco de uma possível colisão e decidir se o condutor é capaz de evitá-la. Uma vez que o motorista não tenha tempo suficiente para reagir, o sistema deve acionar os freios automaticamente a fim de evitar um possível acidente. Além disso, o veículo possui um sistema anti-travamento (ABS), desenvolvido usando controle Fuzzy. O desempenho do controlador ABS foi avaliado em simulações usando os conjuntos de dados e testado em um veículo em escala. Em casos mais críticos, quando há baixa aderência, o veículo não é capaz de frear em uma distância razoável. Levando-se em consideração tal situação, um controle autônomo de esterçamento também foi desenvolvido, visando a possibilidade de uma manobra alternativa de evasão. Este segundo sistema foi avaliado em simulações utilizando veículos com características subesterçantes e sobreesterçantes. Os resultados mostraram que o controle de esterçamento foi capaz de realizar manobras evasivas produzindo valores razoáveis de acelerações laterais, em veículos com diferentes dinâmicas de direção. / [en] This work presents a concept for a collision avoidance system simulated using 3D-models of three different vehicles implemented in MATLAB. Two of the vehicle data sets were built with generic information, used to characterize mid-size and full-size vehicles. These standard vehicles were used in initial simulations and for demonstration of some concepts. The third data set was built with information from the Apollo N, a super sportive car. These different data sets were used to evaluate the controller s capacity to work with a range of vehicles, with different sizes and driving characteristics. The approach for triggering the system is based on the time-to-colision (TTC) estimation. This concept was adopted to recognize when the driver is not able to avoid an accident. After being triggered, the system must decide which maneuver is the most appropriate for the given friction and risk conditions. The first goal of this work is to develop an autonomous braking system which evaluates the risk of a possible collision and decides if the driver is able to avoid it. Once the driver has not enough time to react, the system must trigger the brakes automatically in order to avoid the accident. The vehicle is equipped with an embedded Anti-lock Brake System (ABS) developed using Fuzzy control. The ABS controller s performance was evaluated in simulations using the data sets and tested in a scaled vehicle. In more critical cases, when there is low friction, the vehicle is not able to brake in a reasonable distance. Considering this situation, an autonomous steering control was implemented in order to make an alternative avoidance maneuver. This second system was evaluated in simulations using vehicles with understeering and oversteering characteristics. The results pointed out that the autonomous steering control was able to perform avoidance maneuvers in a reasonable range of lateral accelerations, in vehicles with different driving tendencies. / [de] Die vorliegende Arbeit prasentiert ein Konzept fur ein Kollisionsvermeidungssystem. Dieses wird anhand von drei verschiedenen 3DFahrzeugmodellen mit Hilfe von MATLAB simuliert. Zwei der FahrzeugDatensatze basieren auf generischen Informationen, die jeweils ein Automobil der Mittelklasse und der Oberklasse reprasentieren. Diese Standardfahrzeuge wurden fur anfangliche Simulationen und zur Demonstration einiger Konzepte verwendet. Das dritte Fahrzeugmodell wurde mit Hilfe der Daten des Sportwagens Apollo N aufgebaut. Durch die Verwendung der verschiedenen Datensatze soll die Funktionsfahigkeit der Regelung auch bei verschiedenen Fahrzeugtypen mit unterschiedlichen Dimensionen und Fahreigenschaften uberpruft werden.Die Grundlage zum Auslosen des Systems ist die Abschatzung der Zeit bis zur Kollision (TTC; time-to-collision). Dieses Konzept wurde aufgegriffen, um zu entscheiden, wann der Fahrer nicht mehr in der Lage ist einen Unfall zu vermeiden. Nachdem das System ausgelost wird muss dieses anhand der Traktionsverhaltnisse und Gefahrensituation entscheiden, welches Manover am besten geeignet ist. Das erste Teilziel ist die Entwicklung eines autonomen Bremssystems, welches eine bevorstehende Kollision erkennen muss und entscheidet ob der Fahrer die Kollision eigenstandig vermeiden kann. Sobald der Fahrer nicht mehr genug Zeit hat selbst zu reagieren, muss das System die Bremsen automatisch betatigen um den Unfall zu vermeiden. Hierzu ist das Fahrzeug mit einem Antiblockiersystem (ABS) ausgestattet. Dieses wurde mit Hilfe eines Fuzzy-Kontrollers realisiert. Die Funktionstuchtigkeit der ABS-Regelung wurde mit Simulationen und anhand eines realen, skalierten Fahrzeugmodells getestet. In kritischen Situationen, kann es aufgrund der Traktionsverhaltnisse vorkommen, dass das Fahrzeug nicht mehr in der Lage ist innerhalb einer ausreichenden Strecke zum Stehen zu kommen. Um fur solche Situationen ein alternatives Ausweichmanöver anwenden zu konnen, wurde ein automatischer Lenkeingriff implementiert. Dieses System wurde anhand von Simulationen an Fahrzeugmodellen mit Ubersteuernden und Untersteuernden Eigenschaften uberprüft. Die Ergebnisse zeigten, dass die automatische Lenkeingriff-Regelung in der Lage war auch bei Fahrzeugen mit unterschiedlichen Fahreigenschaften Ausweichmanöver unter Einhaltung angemessener Querbeschleunigungen durchzufuhren.

The Czech Republic as a signatory of the Convention on the Rights of the Child has vested the practice of state administration in the field of care for minor children to municipalities with extended powers, where the protection of the rights and legitimate interests of minor children is safeguarded by state authorities of social and legal protection of children (ASLPC hereinafter). These authorities are incorporated to the extent laid down by the Act on Social and Legal Protection of Children (Act No 359/1999 Coll., as amended). The position and roles of ASLPC and their competence and jurisdiction are also regulated by the same act. The position of workers of these authorities and its legal embodiment is equally important. Regarding professionality, there are high demands on these workers. In the Czech Republic, significant changes in legislature have been made over the past three years. These amendments have led to the strengthening of the rights of minor children and to the establishing of new tools for their protection. In connection with the adoption of new substantive regulation of family law, which is now exhaustively dealt with by the Act No 89/2012 Coll., the Civil Code, new procedural rules have been established regarding protection of rights of minor children. Such procedural legislation includes (apart from the long-existent Act No. 99/1963, the Code of Civil Procedure) the Act No 292/2013 Coll., on Special Civil Proceedings. The decision-making regarding minor children has been vested mainly by the state into the competence of courts. The courts appoint the locally relevant ASLPC as a guardian who then represents the interests of minor children. The purpose, interwoven with and derived from the first one, was to explore the opinions of selected social workers of ASLPC and of district court judges regarding the defined problems occurring during the work of ASLPCs and courts while protecting the interests of minor children. These particularly include: the use of the tool of precautionary measure; problems of different territorial jurisdiction of courts and ASLPCs; processing of complaints regarding bias in various phases of the proceedings; professional training of workers of ASLPC It is evident from the proposals of both judges and ASLPC workers that it is necessary to unify territorial jurisdiction. The courts are suggesting the priority criterion of the address where the child mainly resides. ASLPC workers suggest the official permanent residence as the prime criterion. Bias causes problems in all phases of proceedings. It is obvious that courts take differing approaches towards the solution of this problem (some courts solve the problem of bias complaints filed by the parties while other courts do not) and for ASLPC workers it is difficult to assess how to act when such complaint is raised against them. The training of ASLPC workers - workers are obliged to educate themselves and their employer is obliged to finance such training. Not all ASLPCs are able to provide training in the required extent - due to financial reasons (the average costs of education of one employee pose from 9,169 to 13,400 CZK annually and they cover approximately 6 days of training). The heavy work-load caused by insufficient numbers of ASLPC employees prevents them from completing such compulsory training. As part of the examination of the "participation of a collision guardian in court proceedings" it has been found out that irregular participation of the worker in the proceedings (absence from participation in appeals proceedings); incomplete reports (directed to courts) from surveys in families. Based on comprehensive examination of the problems of territorial jurisdiction, it was recommended that requests are independently recorded and financial compensation is provided for ASLPCs who are requested to represent minors in front of courts, to draft proposals for precautionary measures.

This dissertation, named "A person, an employee in social work, as a moral being coming into contradiciton with duties assigned by an employer", deals with a theme of a person as an autonomous moral being in a position of an employee in the sphere of social work, who comes into conflict with duties assigned by an employer. The aim of this dissertation is to possess a complex analysis of the causes of these conflicts and inner preconditions of a person as a moral human being who is involved in these conflicts, and the ability for ethical reflection and questioning, which the author addresses in the processing of this theme. The study of special native and foreign literature was chosen as a way of gathering the base information for the final ethical reflection.

La réalité augmentée (Augmented Reality ou AR) peut potentiellement changer significativement l’expérience utilisateur. Au contraire les applications sur Smartphone ou tablette, les technologies d’affichage tête haute (Head Up Display ouHUD) aujourd’hui sont capables de projeter localement sur une zone du pare-brise ou globalement sur tout le pare-brise. Le conducteur peut alors percevoir l’information directement dans son champ de vision. Ce ne sont pas que les informations basiques comme vitesse ou navigation, le système peut aussi afficher des aides, des indicateurs qui guident l’attention du conducteur vers les dangers possibles. Il existe alors un chalenge scientifique qui est de concevoir des visualisations d’interactions qui s’adaptent en fonction de l’observation de la scène mais aussi en fonction de l’observation du conducteur. Dans le contexte des systèmes d’alerte de collision avec les piétons (Pedestrian Collision Warning System ou PCWS), l’efficacité de la détection du piéton a atteint un niveau élevé grâce à la technologie de vision. Pourtant, les systèmes d’alerte ne s’adaptent pas au conducteur et à la situation, ils deviennent alors une source de distraction et sont souvent négligés par le conducteur. Pour ces raisons, ce travail de thèse consiste à proposer un nouveau concept de PCWS avec l’AR (nommé the AR-PCW system). Premièrement, nous nous concentrons sur l’étude de la conscience de la situation (Situation Awareness ou SA) du conducteur lorsqu’il y a un piéton présent devant le véhicule. Nous proposons une approche expérimentale pour collecter les données qui représentent l’attention du conducteur vis-à-vis du piéton (Driver Awareness of Pedestrian ou DAP) et l’inattention du conducteur vis-à-vis de celui-ci (Driver Unawareness of Pedestrian ou DUP). Ensuite, les algorithmes basées sur les charactéristiques, les modèles d’apprentissage basés sur les modèles discriminants (ex, Support Vector Machine ou SVM) ou génératifs (Hidden Markov Model ou HMM) sont proposés pour estimer le DUP et le DAP. La décision de notre AR-PCW system est effectivement basée sur ce modèle. Deuxièmement, nous proposons les aides ARs pour améliorer le DAP après une étude de l’état de l’art sur les ARs dans le contexte de la conduite automobile. La boite englobante autour du piéton et le panneau d’alerte de danger sont utilisés. Finalement, nous étudions expérimentalement notre système AR-PCW en analysant les effets des aides AR sur le conducteur. Un simulateur de conduite est utilisé et la simulation d’une zone HUD dans la scène virtuelle sont proposés. Vingt-cinq conducteurs de 2 ans de permis de conduite ont participé à l’expérimentation. Les situations ambigües sont créées dans le scénario de conduite afin d’analyser le DAP. Le conducteur doit suivre un véhicule et les piétons apparaissent à différents moments. L’effet des aides AR sur le conducteur est analysé à travers ses performances à réaliser la tâche de poursuite et ses réactions qui engendrent le DAP. Les résultats objectifs et subjectifs montrent que les aides AR sont capables d’améliorer le DAP défini en trois niveaux : perception, vigilance et anticipation. Ce travail de thèse a été financé sur une bourse ministère et a été réalisé dans le cadre des projets FUI18 SERA et Labex MS2T qui sont financé par le Gouvernement Français, à travers le programme « Investissement pour l’avenir » géré par le ANR (Référence ANR-11-IDEX-0004-02). / Augmented reality (AR) can potentially change the driver’s user experience in significant ways. In contrast of the AR applications on smart phones or tablets, the Head-Up-Displays (HUD) technology based on a part or all wind-shield project information directly into the field of vision, so the driver does not have to look down at the instrument which maybe causes to the time-critical event misses. Until now, the HUD designers try to show not only basic information such as speed and navigation commands but also the aids and the annotations that help the driver to see potential dangers. However, what should be displayed and when it has to be displayed are still always the questions in critical driving context. In another context, the pedestrian safety becomes a serious society problem when half of traffic accidents around the world are among pedestrians and cyclists. Several advanced Pedestrian Collision Warning Systems (PCWS) have been proposed to detect pedestrians using the on-board sensors and to inform the driver of their presences. However, most of these systems do not adapt to the driver’s state and can become extremely distracting and annoying when they detect pedestrian. For those reasons, this thesis focuses on proposing a new concept for the PCWS using AR (so called the AR-PCW system). Firstly, for the «When» question, the display decision has to take into account the driver’s states and the critical situations. Therefore, we investigate the modelisation of the driver’s awareness of a pedestrian (DAP) and the driver’s unawareness of a pedestrian (DUP). In order to do that, an experimental approach is proposed to observe and to collect the driving data that present the DAP and the DUP. Then, the feature-based algorithms, the data-driven models based on the discriminative models (e.g. Support Vector Machine) or the generative models (e.g. Hidden Markov Model) are proposed to recognize the DAP and the DUP. Secondly, for the «What» question, our proposition is inspired by the state-of-the-art on the AR in the driving context. The dynamic bounding-box surrounding the pedestrian and the static danger panel are used as the visual aids. Finally, in this thesis, we study experimentally the benefits and the costs of the proposed AR-PCW system and the effects of the aids on the driver. A fixed-based driving simulator is used. A limited display zone on screen is proposed to simulate the HUD. Twenty five healthy middle-aged licensed drivers in ambiguous driving scenarios are explored. Indeed, the heading-car following is used as the main driving task whereas twenty three pedestrians appear in the circuit at different moment and with different behaviors. The car-follow task performance and the awareness of pedestrian are then accessed through the driver actions. The objective results as well as the subjective results show that the visual aids can enhance the driver’s awareness of a pedestrian which is defined with three levels: perception, vigilance and anticipation. This work has been funded by a Ministry scholarship and was carried out in the framework of the FUI18 SERA project, and the Labex MS2T which is funded by the French Government, through the program ”Investments for the future” managed by the National Agency for Research (Reference ANR-11-IDEX-0004-02).

O direito fundamental à não-autoincriminação encontra seu fundamento jurídicoconstitucional na conexão dos princípios constitucionais da dignidade humana, do procedimento correto, da ampla defesa e da presunção de inocência. Todas as condutas passivas cuja adoção diga respeito a uma opção tomada pelo acusado na condição de sujeito processual – dentre as quais o exercício passivo da autodefesa no interrogatório judicial – estão prima facie protegidas pelo direito de não se autoincriminar. O problema da influência do silêncio do acusado no interrogatório judicial apresenta uma colisão do direito à nãoautoincriminação com o bem coletivo da eficiência da justiça penal e exige, consequentemente, soluções de acordo com os critérios da teoria dos princípios e da argumentação jusfundamental. A busca da concordância prática dos princípios colidentes exige a consideração de que, embora o comportamento processual do acusado não esteja sujeito a valorações, a omissão do acusado em responder ao interrogatório pode privar a defesa de uma oportunidade para contribuir à refutação ou ao enfraquecimento do grau de confirmação da hipótese acusatória. / The fundamental right against self-incrimination has its legal-constitutional basis in the connection of the constitutional principles of human dignity, fair trial, ample defense against criminal charges and presumption of innocence. All the passive conducts of which adoption refers to a choice of the accused in the condition of subject of the process – such as the passive exercise of self-defense at the examination – are prima facie protected by the right against self incrimination. The issue of the charged’s silence influence in the judicial examination presents a collision of the right against self incrimination with the collective good of the criminal justice efficiency and demands, therefore, solutions according to the criteria of principles theory and fundamental-legal arguing. The search for practical compliance of the colliding principles requires considering that although the processual behavior of the charged is not submitted to judgments of value, the omission of the accused in answering the examination may deprive defense the opportunity to contribute in denying or minimizing the confirmation degree of the accusatory hypothesis.

O objetivo central desta investigação é demonstrar que a ponderação é racional. A proposição normativa particular concreta resultante de um caso de colisão de direitos fundamentais resolvido pela ponderação pode ser justificada racionalmente. O que se pretende sustentar é que o problema não está na ponderação, mas como ela é realizada para solucionar os casos de colisão de direitos fundamentais. A ponderação somente pode pretender racionalidade quando sustentada por razões dadas conforme regras. A proposição decisiva desta investigação é a de que a ponderação, como atividade argumentativa, deve observar as regras da argumentação racional. Essas regras são as regras da argumentação prática geral e da argumentação jurídica, formuladas pela teoria do discurso prático geral e do discurso jurídico. Elas configuram a base das regras próprias da ponderação racional. / The goal of this research is to show that balancing is rational. The particular concrete normative statement resulting from a collision of constitutional rights resolved by balancing can be justified rationally. The aim is to sustain that the problem is not balancing itself, but how it is used to solve the cases of collision of constitutional rights.The balancing can be rational only if supported by reasons given under rules. A crucial proposition of this research is that the balancing, as argumentative activity, must observe the rules of rational legal reasoning. These rules are the rules of the general practice argumentation and the rules of the legal reasoning, raised by the theory of general practical discourse and legal discourse. They make the basis of its own rules of rational balancing.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Um Estudo para a solução numérica do modelo de difusão com retenção, proposta por Bevilacqua et al. (2011), é apresentado, bem como uma formulação implícita para o problema inverso para a estimativa dos parâmetros envolvidos na formulação matemática do modelo. Através de um estudo minucioso da análise de sensibilidade e do cálculo do coeficiente de correlação de Pearson, são identificadas as chances de se obter sucesso na solução do problema inverso através do método determinístico de Levenberg-Marquardt e dos métodos estocásticos Algoritmo de Colisão de Partículas (Particle Collision Algorithm - PCA) e Evolução Diferencial (Differential Evolution - DE). São apresentados os resultados obtidos através destes três métodos de otimização para três casos de conjunto de parâmetros. Foi observada uma forte correlação entre dois destes três parâmetros, o que dificultou a estimativa simultânea dos mesmos. Porém, foi obtido sucesso nas estimativas individuais de cada parâmetro. Foram obtidos bons resultados para os fatores que multiplicam os termos diferenciais da equação que modela o fenômeno de difusão com retenção. / A Study for the numerical solution of the diffusion model with retention, proposed by Bevilacqua et al.(2011), using the finite difference method is presented, as well as an implicit formulation for the inverse problem to estimate the parameters involved in the formulation of the mathematical model. Through of a thorougth study of sensitivity analysis and calculating the Pearson correlation coefficient, are identified the chances of success in solving the inverse problem using the deterministic method of Levenberg-Marquardt and stochastic methods Particle Collision Algorithm - PCA and Differential Evolution - DE. Presents the results obtained from these three methods of optimization for three cases of parameter set. We observed a strong correlation between two of these three parameters, making it difficult to estimate simultaneously the same. However, success was obtained in the individual estimates for each parameter. Good results were obtained for the factors that increase the terms of the differential equation that models the phenomenon of diffusion with retention.