Στη παρούσα διπλωματική μοντελοποιείται το σύστημα σφαίρας ράβδου. Εξάγεται το μοντέλο στο χώρο κατάστασης και υλοποιείται γραμμικοποίηση εισόδου κατάστασης και εισόδου εξόδου. Βρίσκονται προσεγγιστικοί νόμοι ελέγχου για το μη γραμμικό σύστημακαθώς παρουσιάζει ιδιομορφία. / This diploma thesis includes the analysis of the nonlinear system of a ball-beam and the design of different control laws. Initially, we present the physical system and we derive the mathematical model from the lagrange equation.The nonlinear system fails to be stable with the classic linear control laws and we try to stabilize it by input-state and inputoutput linearization. The ball beam system fails to be controlled by full state linearization and we proposed some approximations for inputoutput linearization. We describe in detail how we can derive the approximate control laws and through simulation we are capable of choosing the best suitable control law. We propose a switch-controller for the nonlinear system which is vital for systems with undefined relative degree and are not input state linearizable.

Cette thèse est consacrée à l’étude du phénomène de Newhouse et des bifurcations en dynamique holomorphe à plusieurs variables. Elle comporte trois Théorèmes principaux. Le premier de ces trois résultats est un Gap Lemma complexe. En dynamique réelle, le Gap Lemma de Newhouse donne un critère sur le produit des épaisseurs de deux ensembles de Cantor dynamiques pour prouver que leur intersection est non vide. On en donne une généralisation partielle au cas des ensembles de Cantor dynamiques dans C. Plus précisément, on introduit une notion d’épaisseur pour un ensemble de Cantor dynamique planaire et on fournit un critère sur le produit de deux épaisseurs afin d’obtenir une intersection entre deux ensembles de Cantor dynamiques. On montre également que l’épaisseur est une quantité qui varie continûment, ce qui permet d’obtenir des intersections persistantes d’ensembles de Cantor dynamiques. Le second Théorème de cette thèse démontre l’existence du phénomène de Newhouse dans l’espace des automorphismes polynomiaux de degré d pour n’importe quel degré d ≥ 2 dans C^{3}. Au contraire de la situation dans C^{2}, le degré est ici connu et optimal. Le point clef de la preuve est l’introduction dans le domaine complexe d’un outil issu de la dynamique réelle : le blender de Bonatti et Diaz. On formalise le concept de blender complexe et on donne un automorphisme polynomial de C^{3} de degré 2 possédant un blender. Puis, on l’utilise afin de construire successivement des tangences persistantes et des sous-ensembles résiduels d’automorphismes ayant une infinité de puits. Enfin, le dernier résultat porte sur les bifurcations d’endomorphismes holomorphes de P^{2}(C) très particuliers, appelés exemples de Lattès, semi-conjugués à une application affine sur un tore. Dujardin a conjecturé que ces derniers étaient accumulés par des ouverts de bifurcations. On montre que tout exemple de Lattès de degré suffisamment élevé est accumulé par de telles bifurcations robustes. Ceci implique en particulier que tout exemple de Lattès possède un itéré dans l’adhérence de l’intérieur du lieu de bifurcation. La démonstration est basée sur l’obtention d’intersections persistantes entre l’ensemble postcritique et un ensemble hyperbolique répulsif contenu dans l’ensemble de Julia. La preuve est divisée en deux parties : on donne tout d’abord un toy-model qui permet d’obtenir des intersections persistantes entre l’ensemble limite d’un certain type d’IFS, appelé IFS correcteur, et une courbe. Ensuite, dans un second temps, on perturbe l’exemple de Lattès pour créer simultanément un IFS correcteur dans l’ensemble de Julia et une courbe bien orientée dans l’ensemble postcritique / In this PhD thesis, we study Newhouse’s phenomenon and bifurcations in the context of dynamics in several complex variables. We prove three main Theorems. The first one is a complex Gap Lemma. In real dynamics, Newhouse’s Gap Lemma gives a criterion on the product of the thicknesses of two dynamical Cantor sets K and L to show that K ∩ L is not empty. We show a partial generalization of this result for dynamical Cantor sets in C. A relevant notion of thickness in this case is defined and we give some criterion on the product of two thicknesses to show that two dynamical Cantor sets in C must intersect. We also show that the thickness varies continuously, which generates persistent intersections of dynamical Cantor sets. In the second Theorem, we show that there exists a polynomial automorphism f of C^{3} of degree 2 such that for every automorphism g sufficiently close to f, g admits a tangency between the stable and unstable laminations of some hyperbolic set. As a consequence, for each d ≥ 2, there exists an open set of polynomial automorphisms of degree at most d in which the automorphisms having infinitely many sinks are dense. In contrary to the case of C^{2}, the degree is known. To prove these results, we give a complex analogous to the notion of blender introduced by Bonatti and Diaz. In particular, we use a blender to produce robust tangencies. In the third and last result, we study the phenomenon of robust bifurcations in the space of holomorphic maps of P^{2}(C). We prove that any Lattès example of sufficiently high degree belongs to the closure of the interior of the bifurcation locus. This gives a partial answer to a conjecture of Dujardin. In particular, every Lattès map has an iterate with this property. To show this, we design a method creating robust intersections between the limit set of a particular type of iterated functions system in C^{2} with a well-oriented complex curve. Then we show that any Lattès map of sufficiently high degree can be perturbed so that the perturbed map exhibits this geometry

L’objectif de cette thèse est la recherche de nouvelles techniques de génération de contenu numérique pour des applications de jeu vidéo. Le manque de variété de terrains, d’objets et de détails affecte fortement le réalisme des paysages de synthèse.Dans ce contexte, un des principaux goulots d’étranglements est la modélisation des ressources graphiques permettant de créer les scènes. Afin de simplifier et d’accélérer cette tâche, nous présentons des méthodes permettant de générer automatiquement du contenu graphique pour créer de grands paysages à la fois complexes et originaux.Notre première approche permet de créer et d’éditer rapidement des variétés d’objets à partir d’un modèle initial fourni par un graphiste, sous la contrainte d’une représentation avec très peu de triangles. Nous présentons également une méthode de génération procédurale des variétés d’objets. Ensemble, ces méthodes permettent de créer aussi bien des variétés de formes naturelles que des ouvrages d’arts tels que des routes, des ponts et des tunnels capables de s’adapter automatiquement au relief d’un paysage.Nous proposons une autre méthode, s’appuyant sur une simulation physique et thermique, pour créer des paysages hivernaux évoluant au cours du temps en fonction des conditions climatiques. Cette approche permet de suivre l’évolution du manteau neigeux ainsi que l’épaisseur de la glace qui se forme en surface d’un lac. / The goal of this thesis is the search for new techniques for generating digital content for video game applications. The lack of variety of objects and details strongly affects the realism of synthetic landscapes. In this context, a major bottleneck is the creation of graphical assets to create the scenes. To simplify and accelerate this task, we present methods to automatically generate graphical content with a view to creating large, convincing and realistic landscapes.We present a first category of method to create and edit quickly a vast variety of objects from an initial model provided by a graphic designer, under the constraint of low polygonal modeling. We also present a procedural method for generating of varieties of objects. Together, these methods can create many varieties of natural forms as well as roads, bridges and tunnels that can automatically adapt to the landform features of an input terrain.We propose another method, based on a physical simulation and heat transfer simulation to create winter landscapes that evolve over time depending on the weather conditions. This approach allows us to follow the evolution of the snowpack and the thickness of the ice that forms on the surface of a lake.

Made available in DSpace on 2016-08-03T16:15:35Z (GMT). No. of bitstreams: 1 Emelyn Mariana.pdf: 3487909 bytes, checksum: 2ab7cd06be64c07f115c6d048ac016f2 (MD5) Previous issue date: 2012-03-07 / The present work aims to study the black rebellion in the years before slavery and its consequences, both social and educational. The fact of the Province of Sao Paulo has become a major coffee exporter made of it a strong enslaver center. No one can deny the influence of four centuries of slavery, nor its effects on the nation. Slavery was abolished on May 13, 1888, and this measure has launched in the streets a crowd of free blacks without any future prospects. They were not prepared to live in freedom, the society was not organized to receive them as free workers and pay for their work. Many people thought of them as lazy, loafer and riotous. They were never treated as equals, but as a mediocre and inferior race, whose immorality and excesses reach an irreversible point, if not controlled. Given this situation, it was necessary to draw up plans to curb excesses and the fury of the great mass of freedmen loose in the streets, it became an extreme urgency to use several means in order to maintain the social control, inculcating in the black people minds the harm caused by the riots, the duty of work, the abandonment of the vices. Therefore, intellectuals, politicians and major exporters (who represented the economic power of the time) started to use the various media for propagation of republican values, newspapers, political conferences, newsletters and, also, the educational system. Through reading books, educational magazine articles, addition of new disciplines to the school curriculum and even the action of the teacher in the classroom aimed at the docility of the people habits. The Republicans who took political power in the country were not only concerned in educating the few, who had access to schooling, but also, though example, educate and calm down the lazy and loafer blacks who could not attend school. Thence resulting in a great concern about the establishment of rules, organization, respect and punishments in the newly restructured school environment (AU) / O presente trabalho tem como objetivo o estudo da rebeldia negra nos anos antecedentes a escravidão e suas conseqüências, tanto social como educacional. O fato da Província de São Paulo ter se tornado uma grande exportadora de café fez dela um forte centro escravocrata. Não se pode negar a influência de quatro séculos de escravidão, nem tão pouco seus efeitos sobre a nação. Em 13 de maio de 1888 fora decretada a abolição, e esta medida lançou nas ruas uma multidão de negros livres sem qualquer perspectiva de futuro. Não foram preparados para viver em liberdade, a sociedade não estava organizada para recebê-los como trabalhadores livres e pagar por seu trabalho. Ao olhar de muitos eram tidos como preguiçosos, vadios e desordeiros. Nunca foram tratados como iguais, mas sim como uma raça medíocre e inferior, onde a imoralidade e os excessos chegam a um ponto irreversível, caso não sejam controlados. Diante dessa situação, fazia-se necessário traçar planos para conter os excessos e o furor da grande massa de libertos soltos pelas ruas, torna-se de extrema urgência a utilização de meios diversos a fim de manter o controle social, inculcando na mente da população negra os malefícios causados pelas revoltas, o dever de trabalhar, o abandono dos vícios. Para tanto, os intelectuais, políticos e os grandes exportadores (que representavam o poder econômico da época), passam a utilizar-se de diversos meios para propagação dos valores republicanos, jornais, conferências políticas, boletins e também o sistema educacional. Por meios de livros de leitura, artigos em revistas educacionais, adição de novas disciplinas no currículo escolar e até mesmo a ação do professor em sala de aula visavam a docilização dos costumes do povo. Os republicanos que assumiram o poder político do país não estavam apenas preocupados em educar os poucos que tinham acesso à escolarização, mas também, através do exemplo, educar e acalmar os ânimos dos negros vadios e preguiçosos que não podiam freqüentar a escola. Daí resulta tamanha preocupação com o estabelecimento de regras, organização, respeito e punições no ambiente escolar recém reestruturado (AU)

Notre travail est présenté en trois parties indépendantes. Tout d'abord, nous proposons trois heuristiques d'apprentissage actif pour les réseaux de neurones profonds : Nous mettons à l'échelle le `query by committee' , qui agrège la décision de sélectionner ou non une donnée par le vote d'un comité. Pour se faire nous formons le comité à l'aide de différents masques de dropout. Un autre travail se base sur la distance des exemples à la marge. Nous proposons d'utiliser les exemples adversaires comme une approximation de la dite distance. Nous démontrons également des bornes de convergence de notre méthode dans le cas de réseaux linéaires. L’usage des exemples adversaires ouvrent des perspectives de transférabilité d’apprentissage actif d’une architecture à une autre. Puis, nous avons formulé une heuristique d'apprentissage actif qui s'adapte tant au CNNs qu'aux RNNs. Notre méthode sélectionne les données qui minimisent l'énergie libre variationnelle. Dans un second temps, nous nous sommes concentrés sur la distance de Wasserstein. Nous projetons les distributions dans un espace où la distance euclidienne mimique la distance de Wasserstein. Pour se faire nous utilisons une architecture siamoise. Également, nous démontrons les propriétés sous-modulaires des prototypes de Wasserstein et comment les appliquer à l'apprentissage actif. Enfin, nous proposons de nouveaux outils de visualisation pour expliquer les prédictions d'un CNN sur du langage naturel. Premièrement, nous détournons une stratégie d'apprentissage actif pour confronter la pertinence des phrases sélectionnées aux techniques de phraséologie les plus récentes. Deuxièmement, nous profitons des algorithmes de déconvolution des CNNs afin de présenter une nouvelle perspective sur l'analyse d'un texte. / Our work is presented in three separate parts which can be read independently. Firstly we propose three active learning heuristics that scale to deep neural networks: We scale query by committee, an ensemble active learning methods. We speed up the computation time by sampling a committee of deep networks by applying dropout on the trained model. Another direction was margin-based active learning. We propose to use an adversarial perturbation to measure the distance to the margin. We also establish theoretical bounds on the convergence of our Adversarial Active Learning strategy for linear classifiers. Some inherent properties of adversarial examples opens up promising opportunity to transfer active learning data from one network to another. We also derive an active learning heuristic that scales to both CNN and RNN by selecting the unlabeled data that minimize the variational free energy. Secondly, we focus our work on how to fasten the computation of Wasserstein distances. We propose to approximate Wasserstein distances using a Siamese architecture. From another point of view, we demonstrate the submodular properties of Wasserstein medoids and how to apply it in active learning. Eventually, we provide new visualization tools for explaining the predictions of CNN on a text. First, we hijack an active learning strategy to confront the relevance of the sentences selected with active learning to state-of-the-art phraseology techniques. These works help to understand the hierarchy of the linguistic knowledge acquired during the training of CNNs on NLP tasks. Secondly, we take advantage of deconvolution networks for image analysis to present a new perspective on text analysis to the linguistic community that we call Text Deconvolution Saliency.

Development of software for electronic systems in the aviation industry is strongly regulated by pre-defined standards. The aviation industry spends significant costs of development in ensuring flight safety and showing conformance to these standards. Some safety requirements can be satisfied by performing formal verification. Formal verification is seen as a way to reduce costs of showing conformance of software with the requirements or formal specifications. Therefore, the correctness of formal specifications is critical. Writing formal specifications is at least as difficult as developing software [36]. This work proposes an approach to generate formal specifications from example data. This example data illustrates the natural language requirements and represents the ground truth about the system. This work eases the task of an engineer who has to write formal specifications by allowing the engineer to specify the example data instead. The use of a relationship model and a marking syntax and semantics are proposed that make the creation of formal specifications goal oriented. The evaluation of the approach shows that the proposed syntax and semantics capture more information than is strictly needed to generate formal specifications. The relationship model reduces the computational load and only produces formal specifications that are interesting for the engineer.

Voice user interfaces have been growing in popularity and with them an interest for open vocabulary keyword spotting. In this thesis we focus on one particular approach to open vocabulary keyword spotting, query by example keyword spotting. Three types of query by example keyword spotting approaches are described and evaluated: sequence distances, speech to phonemes and deep distance learning. Evaluation is done on a series of custom tasks designed to measure a variety of aspects. The Google Speech Commands benchmark is used for evaluation as well, this to make it more comparable to existing works. From the results, the deep distance learning approach seem most promising in most environments except when memory is very constrained; in which sequence distances might be considered. The speech to phonemes methods is lacking in the usability evaluation. / Röstgränssnitt har växt i populäritet och med dem ett intresse för öppenvokabulärnyckelordsigenkänning. I den här uppsatsen fokuserar vi på en specifik form av öppenvokabulärnyckelordsigenkänning, den s.k nyckelordsigenkänning- genom- exempel. Tre typer av nyckelordsigenkänning- genom- exempel metoder beskrivs och utvärderas: sekvensavstånd, tal till fonem samt djupavståndsinlärning. Utvärdering görs på konstruerade uppgifter designade att mäta en mängd olika aspekter hos metoderna. Google Speech Commands data används för utvärderingen också, detta för att göra det mer jämförbart mot existerade arbeten. Från resultaten framgår det att djupavståndsinlärning verkar mest lovande förutom i miljöer där resurser är väldigt begränsade; i dessa kan sekvensavstånd vara av intresse. Tal till fonem metoderna visar brister i användningsuvärderingen.

Mimesis - Imitatio in the Authentic Letters of the Apostle Paul The first part of the thesis provides the reader with a concise overview of different semantic levels of the term mimesis as found in the ancient literature written in the Greek language. Furthermore, the author focuses her attention on the use of the concept of mimesis in the Old Testament, and the New Testament writings other than Paul's authentic letters. Such a survey prepares the ground for a detailed study of the concept of mimesis in the authentic letters written by the Apostle Paul. The idea of mimesis is present in Paul's authentic letters in five explicit passages (1 Tess 1:6-7; 1 Tess 2:14; 1 Cor 4:16; 1 Cor 11:1 a Phil 3:17). Each of the passages is studied within the whole context of the respective letter, written for a group living its own particular situation. The thesis compares different exegetical solutions from several researchers. Some of the researchers understand Paul's appeal to imitation as a call to be obedient to his teaching. Other experts are more inclined to understand this imitation as an authentic representation of the Cross in the life of Jesus' followers. The thesis tries to prove that the mystery of Christ's kenosis, expressed in a very significant way in the Christological hymn contained in the Letter to the...

The problem of simulating a crowd to see how it would behave in certain situations or just to create a realistic-looking scene to be used in a movie or video game is important and complex, and there are many different methods to solve it. This project is primarily an investigation of the example-based crowd simulation method described in the article "Crowds by Example" by Lerner et al. In the article, traced video footage of crowds are used to create a data set. The simulation program continuously finds situations in the data set that resembles the current situations in the simulation and updates the simulation thereby. We implemented this for around 10 agents using Unity 3D. Example-based crowd simulations does not only, like some other types of crowd simulation methods (for example ORCA), take collision avoidance into account but also the more complex ways the human mind thinks and therefore does not always behave as one would predict. The main conclusion is that this method of simulating crowds has the potential to create more realistic simulations than other forms of crowd simulations. The downsides are that the time the program spends creating simulations can quickly get very high and to make realistic simulations a lot of video footage must be filmed and then traced.

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