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A new control law is being developed and implemented for the Vision Based Target Tracking (VBTT) system onboard a small unmanned aerial vehicle (SUAV). The new control law allows for coordinated SUAV guidance and vision-based target tracking of stationary and moving targets in the presence of atmospheric disturbances and measurements noise. The new control law is tested for its performance and stability in both the theoretical 6DOF simulation and the Hardware-in-the-Loop (HIL) simulation. Principal results show that realistic measures of performance of the control law are continuous and exhibit predictable degradation of performance with increase of target speed. The results are encouraging and comparable among theoretical predictions, actual hardware simulation results, and initial flight testing. The control law development, implementation, and trial processes and procedures are also examined and categorically documented in this thesis as future reference on the subject development, as well as for better knowledge retention, continuation and proliferation of the VBTT system.

Nosso objetivo neste trabalho é estudar a obstrução de Euler de uma função, este conceito foi definido por J.-P. Brasselet, D. Massey, A. J. Parameswaran e J. Seade, e generaliza dois conceitos importantes, a obstrução de Euler definida por R. D. MacPherson assim como o número de Milnor de uma função. O resultado principal deste trabalho mostra a relação existente entre a obstrução de Euler e a obstrução de Euler de uma função / Our goal in this work is to study the Euler obstruction of a function, this concept was defined by J.-P. Brasselet, D. Massey, A. J. Parameswaran and J. Seade, and it generalizes two important concepts, the Euler obstruction defined by R. D. MacPherson and the Milnor number of a function. The main result of this study shows the relation between the Euler obstruction and the Euler obstruction of a function

Made available in DSpace on 2014-06-11T19:22:18Z (GMT). No. of bitstreams: 0 Previous issue date: 2012-02-17Bitstream added on 2014-06-13T20:28:18Z : No. of bitstreams: 1 porto_d_me_sjrp.pdf: 388104 bytes, checksum: ef6b41d53662a13bad28fcc9baed7ad9 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / O objetivo deste trabalho é o estudo do sistema de controle impulsivo de [Wolenski e Zabi´c 2007] para o caso em que o sistema é dado por uma igualdade e modificado pela adição de dois controles abstratos. Tal estudo foi feito utilizando duas abordagens. Na primeira, reparametrizamos o sistema inicial a partir da função distribuição relacionada à medida atômica e, através da discretização de Euler do sistema reparametrizado, obtemos uma sequência de soluções que converge no gráfico para a solução do sistema original, sob algumas hipóteses. Na segunda abordagem, definimos um novo sistema associado a uma sequência de medidas absolutamente contínuas que converge no gráfico para a medida atômica. A partir desse novo sistema, obtemos uma sequência de soluções com a propriedade de convergência no gráfico da solução do sistema original / The aim of this work is to study the impulsive control system of [ Wolenski e Zabic 2007] to the case where system is given by an equality and modified by addition of two abstract controls. The study was done using two approaches. At first, we've reparameterized the initial system from distribution function related to atomic measure and, through Euler's discretization of reparameterized system, we've obtained a sequence of solutions which graph converge to the solution of original system, under some hypothesis. In the second approach, we've defined a new system associated with a sequence of absolutely continuous measures which graph converge to atomic measure. From this new system, we've obtained a sequence of solutions with the graph convergence prop erty of the solution of the original system

Les turbines aéronautiques doivent satisfaire à des normes d’émissions polluantes toujours en baisse. La qualité du mélange du carburant et de l’air dans la chambre de combustion est responsable de la formation de polluants nocifs pour l’environnement. La simulation aux grandes échelles (LES) permet d’étudier les mécanismes de mélanges turbulents de l’air et du carburant. La prise en compte de l’aspect liquide du carburant injecté devient nécessaire pour prédire correctement l’apparition de vapeur de carburant au sein du foyer. Le but de cette thèse est évaluer la fiabilité des simulations LES Euler-Euler dans une configuration complexe. Les processus d’injection, et d’évaporation du carburant liquide sont analysés et modélisés dans les simulations LES car ils pilotent la formation de vapeur de carburant. Les méthodes numériques pour résoudre les équations continues de la phase dispersée doivent permettre des simulations précises et robustes dans une configuration représentative d’une chambre de combustion. Les simulations présentées dans ces travaux reproduisent l’écoulement diphasique évaporant non-réactif du banc d’essai Mercato. Ce banc est équipé d’un système d’injection d’air vrillé et d’un atomiseur pressurisé-swirlé de kérosène typiques des foyers aéronautiques réels. Dans ces travaux, le modèle pour l’injection de liquide FIM-UR a été développé pour définir les conditions limites conduisant à un spray issu d’un atomiseur préssurisé-swirlé. Le kérosène employé dans les campagnes expérimentales est modélisé dans les simulations par un composé permettant d’obtenir des temps d’évaporation réalistes. Trois stratégies numériques ont été mises en place sur la configuration Mercato. Les comparaisons des résultats numériques aux mesures expérimentales ont permis d’évaluer la stratégie numérique conduisant à la meilleure précision. L’utilisation du schéma centré TTGC associé à un opérateur de viscosité artificielle localisée par un senseur adapté est optimale lorsque l’équation sur l’énergie décorrélée des gouttes est résolue. Cette stratégie permet de contrôler la localisation et les niveaux de viscosité par rapport à un schéma décentré. Les termes sources liés au mouvement mésoscopique permettent de redistribuer l’énergie dans les zones de compression ou de détente de la phase dispersée, et d’obtenir les bonnes répartitions des fluctuations dans la chambre de combustion. La stratégie retenue est comparée aux statistiques de la dynamique du spray résolu par une approche Lagrangienne employant la même injection monodispersse. Le méthode Euler-Euler conduit à la même précision de la dynamique de la phase dispersée que la méthode Euler-Lagrange. L’accès à l’évolution instationnaire de l’écoulement permet d’identifier les mêmes mécanismes de dispersion et de mélange dans les deux simulations. Des différences sur la répartition de diamètre moyen et de carburant dans la chambre ont été mis en évidence et reliés à la polydispersion locale qui n’est pas résolue dans l’approche Euler-Euler monodisperse et qui apparaît naturellement dans l’approche Euler-Lagrange malgré l’injection monodisperse. / Aeronautical gas turbines are facing growing demands on emission reductions. Indeed, the quality of the air-fuel mixture directly triggers the formation of pollutants degrading the environment. Large Eddy Simulation is an accurate numerical method to predict turbulent mixing in combustors. Adding the liquid phase of the fuel in these simulations also becomes necessary to properly predict the injection process and the vaporization of the fuel in the combustion chamber. The purpose of this dissertation is to evaluate the accuracy and reliability of Euler-Euler LES in a complex combustor configuration. The injection and vaporization processes of the fuel liquid phase are both modeled in the present LES as they drive the formation of the fuel gas phase. Moreover, the numerical methods that solve the continuous equations of the disperse phase must be accurate and robust in realistic combustor configurations. The simulations shown in the present study reproduce the non-reactive two-phase flow of the ONERA Mercato test bench. The experimental set-up is equipped with an air-swirler injection system and a pressure-swirled atomizer typical of actual turboengine combustors. In the present work the FIM-UR liquid injection model has been developed. It creates boundary conditions profiles for a liquid spray produced by a pressure-swirled atomizer. Kerosene used in the experiments is modeled in the present numerical simulations by a single species leading to a good estimate of the vaporization rate. Three numerical strategies have been tested on the Mercato configuration. Comparisons between experimental and LES results help defining the most accurate numerical strategy. The use of the centered numerical scheme TTGC stabilized by a localized artificial viscosity operator is best when the random uncorrelated energy of droplets is also resolved. Unlike an upwind numerical scheme, the selected strategy allows the user to control where and how much artificial viscosity is added. The source terms coming from the mesoscopic movement redistribute the energy in the compression or expanding zones of the disperse phase, and provide the proper distribution of fluctuations in the combustion chamber. The obtained strategy is compared with the statistics provided by a Lagrangian description of the liquid spray in the same mono-disperse injection. The Euler-Euler approach leads to the same accuracy in the same spray dynamics of the disperse phase as in the Euler-Lagrange method. Both unsteady flow simulations also provide the same dispersion and mixing processes in the Mercato set-up. Differences on the mean diameter and the fuel distribution in the combustion chamber are seen and related to the local poly-dispersion that cannot be resolved in the mono-disperse Euler-Euler approach and that naturally appear in the Euler-Lagrange method despite the mono-disperse injection.

Covering maps and fibrations of spaces fulfilling certain technical conditions are known to satisfy a multiplicative formula relating the Euler characteristic of the domain to that of the codomain. An open question posed by Albrecht Dold in 1980 asks in general when this is true and can be stated as: for which classes of maps is it true that if χ(X) denotes the Euler characteristic of a space X, and if f : X → Y has the property that the Euler characteristic of the preimage of y is k for all y ∈ Y and for some integer k, the multiplicative formula χ(X) = k · χ(Y ) holds? A corroborative answer is given herein for simplicial maps of finite simplicial complexes, while counterexamples are constructed for cellular maps of finite CW complexes, continuous maps of closed topological manifolds, and even smooth maps of smooth manifolds. / 1 / Kelley Brook Johnson

We consider systems of Euler-Lagrange equations with two degrees of freedom and with Lagrangian being quadratic in velocities. For this class of equations the generic case of the equivalence problem is solved with respect to point transformations. Using Lie's infinitesimal method we construct a basis of differential invariants and invariant differentiation operators for such systems. We describe certain types of Lagrangian systems in terms of their invariants. The results are illustrated by several examples.

In recent years, Land vehicle navigation system (LVNS) technology is a subject of great interest due to its potential for both consumer and business vehicle markets. GPS/INS ( Global Positioning System/ Inertial Navigation System ) integrated system is an effective solution to realize the LVNS. And how to keep communication between the vehicle and satellite while the vehicle is running in a bad environment is the main task in this thesis. The thesis provides an introduction to beam tracking system and two algorithms of how to improve the performance, then compare these two algorithms and choose the suitable one and implement it on ArduPilotMega board using Arduino language, at last test the integrated GPS/INS system in practice in order to estimate the performance. The requirements of the project are the maximum angular speed and angular acceleration speed of the vehicle are  and , respectively. Two algorithms which are Direction Cosine Matrix (DCM) and Euler Angle are evaluated in the system. In this thesis, there are many rotations due to the hostile environment, and DCM algorithm is not suitable for the requirement according to the results of simulation. Therefore, an innovated method which is Euler Angle Algorithm can be one effective way to solve the probelm. The primary idea of Euler Angle algorithm is to calculate the difference between the reference direction vector and the measurement direction vector from GPS and accelerometers, once there is an error rotation, take the cross product and rotate the incorrect direction vector back to original direction. The simulation results show that by implementing EA algorithm, system requirements can be achievable with a 10kHz update rate antenna and a 4000Hz sampling rate gyroscope, also with EA implementation in ArduPilotMega board, the real system tracking ability can be enhanced effectively.

We present the design and implementation of the Standard Template Adap- tive Parallel Library (stapl) pList, a parallel container that has the properties of a sequential list, but allows for scalable concurrent access when used in a paral- lel program. The stapl is a parallel programming library that extends C with support for parallelism. stapl provides a collection of distributed data structures (pContainers) and parallel algorithms (pAlgorithms) and a generic methodology for extending them to provide customized functionality. stapl pContainers are thread-safe, concurrent objects, providing appropriate interfaces (pViews) that can be used by generic pAlgorithms. The pList provides Standard Template Library (stl) equivalent methods, such as insert, erase, and splice, additional methods such as split, and efficient asyn- chronous (non-blocking) variants of some methods for improved parallel performance. List related algorithms such as list ranking, Euler Tour (ET), and its applications to compute tree based functions can be computed efficiently and expressed naturally using the pList. Lists are not usually considered useful in parallel algorithms because they do not allow random access to its elements. Instead, they access elements through a serializing traversal of the list. Our design of the pList, which consists of a collec- tion of distributed lists (base containers), provides almost random access to its base containers. The degree of parallelism supported can be tuned by setting the number of base containers. Thus, a key feature of the pList is that it offers the advantages of a classical list while enabling scalable parallelism. We evaluate the performance of the stapl pList on an IBM Power 5 cluster and on a CRAY XT4 massively parallel processing system. Although lists are generally not considered good data structures for parallel processing, we show that pList methods and pAlgorithms, and list related algorithms such as list ranking and ET technique operating on pLists provide good scalability on more than 16, 000 processors. We also show that the pList compares favorably with other dynamic data structures such as the pVector that explicitly support random access.