This thesis presents a geometric approach to studying kinematics, dynamics and controls of open-chain multi-body systems with non-zero momentum and multi-degree-of-freedom joints subject to holonomic and nonholonomic constraints. Some examples of such systems appear in space robotics, where mobile and free-base manipulators are developed. The proposed approach introduces a unified framework for considering holonomic and nonholonomic, multi-degree-of-freedom joints through: (i) generalization of the product of exponentials formula for kinematics, and (ii) aggregation of the dynamical reduction theories, using differential geometry. Further, this framework paves the ground for the input-output linearization and controller design for concurrent trajectory tracking of base-manipulator(s). In terms of kinematics, displacement subgroups are introduced, whose relative configuration manifolds are Lie groups and they are parametrized using the exponential map. Consequently, the product of exponentials formula for forward and differential kinematics is generalized to include multi-degree-of-freedom joints and nonholonomic constraints in open-chain multi-body systems. As for dynamics, it is observed that the action of the relative configuration manifold corresponding to the first joint of an open-chain multi-body system leaves Hamilton's equation invariant. Using the symplectic reduction theorem, the dynamical equations of such systems with constant momentum (not necessarily zero) are formulated in the reduced phase space, which present the system dynamics based on the internal parameters of the system. In the nonholonomic case, a three-step reduction process is presented for nonholonomic Hamiltonian mechanical systems. The Chaplygin reduction theorem eliminates the nonholonomic constraints in the first step, and an almost symplectic reduction procedure in the unconstrained phase space further reduces the dynamical equations. Consequently, the proposed approach is used to reduce the dynamical equations of nonholonomic open-chain multi-body systems. Regarding the controls, it is shown that a generic free-base, holonomic or nonholonomic open-chain multi-body system is input-output linearizable in the reduced phase space. As a result, a feed-forward servo control law is proposed to concurrently control the base and the extremities of such systems. It is shown that the closed-loop system is exponentially stable, using a proper Lyapunov function. In each chapter of the thesis, the developed concepts are illustrated through various case studies.

The Lagrangian dynamics of two-dimensional incompressible fluid flows is considered, with emphasis on transport processes in atmospheric and oceanic flows. The dynamical-systems-based approach is adopted; the Lagrangian motion in such systems is studied with the aid of Kolmogorov-Arnold-Moser (KAM) theory, and results relating to stable and unstable manifolds and lobe dynamics. Some nontrivial extensions of well-known results are discussed, and some extensions of the theory are developed. In problems for which the flow field consists of a steady background on which a time-dependent perturbation is superimposed, it is shown that transport barriers arise naturally and play a critical role in transport processes. Theoretical results are applied to the study of transport in measured and simulated oceanographic and atmospheric flows. Two particular problems are considered. First, we study the Lagrangian dynamics of the zonal jet at the perimeter of the Antarctic Stratospheric Polar Vortex during late winter/early spring within which lies the "ozone hole". In this system, a robust transport barrier is found near the core of a zonal jet under typical conditions, which is responsible for trapping of the ozone-depleted air within the ozone hole. The existence of such a barrier is predicted theoretically and tested numerically with use of a dynamically-motivated analytically-prescribed model. The second, oceanographic, application considered is the study of the surface transport in the Adriatic Sea. The surface flow in the Adriatic is characterized by a robust threegyre background circulation pattern. Motivated by this observation, the Lagrangian dynamics of a perturbed three-gyre system is studied, with emphasis on intergyre transport and the role of transport barriers. It is shown that a qualitative change in transport properties, accompanied by a qualitative change in the structure of stable and unstable manifolds occurs in the perturbed three-gyre system when the perturbation strength exceeds a certain threshold. This behavior is predicted theoretically, simulated numerically with use of an analytically prescribed model, and shown to be consistent with a fully observationally-based model.

La première partie de cette thèse concerne l'étude du problème de Cauchy pour l'équation de KdV quasi-linéaire.On établit un théorème d'existence locale obtenu grâce à des propriétés structurelles et des techniques de jauge qui permettent de compenser les pertes de dérivées apparentes dans les estimations a priori.Dans la seconde partie, les propriétés de stabilité orbitale co-périodique et modulationnelle sont explorées numériquement en exploitant des critères algébriques tous établis à partir d'une même intégrale d'action et de ses dérivées secondes. Notre méthode utilise des quadratures numériques suivies de différences finies afin de calculer la matrice hessienne de l'intégrale d'action. Le comportement asymptotique de cette matrice nous pousse à prêter beaucoup d'attention à l'étude des ondes de grande période ou de faible amplitude. Les résultats numériquesprésentés fournissent de nombreuses informations en lien avec des questions ouvertes.On effectue également des simulations directes sur le système d' ÉDP original pour étudier à la fois le comportement des ondes périodiques sous différents types de perturbations, et les solutions de problèmes de Cauchy avec donnée initiale discontinue. Pour ces derniers, on s'attend à observer des chocs dispersifs, dont la compréhension est basée sur le problème de Gurevich-Pitaevskii, où les équations modulées à la Whitham sont utilisées pour approcher la zone oscillante des chocs. On compare des simulations directes aux solutions idéales du problème de Gurevich-Pitaevskii, en commençant par la célèbre équation de KdV / The first part of this manuscript presents a well-posedness result for a quasilinear version of the KdV equation.The proof takes advantage of structural properties and gauge techniques to deal with apparent loss of derivativesin a priori estimates.In the second part, we investigate the modulational and orbital coperiodic stability of periodic waves by computingalgebraic criteria involving the same abbreviated action integral and its second order derivatives. Our methoduses numerical integrations followed by finite differences to compute the Hessian matrix of the action integral.We pay attention to the asymptotic behavior of this matrix in the large period and small amplitude limits. Thenumerical results about stability give some new insight on several analytical open questions.Finally, direct numerical computations are done on the original system of PDEs to study the behavior of periodictraveling waves under various kinds of perturbations and the solutions of Cauchy problem with discontinuousinitial data. For the latter, we expect dispersive shock waves to arise. The building block for understandingdispersive shocks is known as the Gurevich-Pitaevskii problem, in which modulated equations 'a la Whitham'are used as an approximate model for the oscillatory zone. We compare direct numerical simulations to idealizedsolutions of Gurevich-Pitaevskii problems, starting with the famous KdV equation

Higher-dimensional Hamiltonian systems usually exhibit a mixed phase space in which regular and chaotic motion coexist. While regular trajectories are confined to regular tori, chaotic trajectories can be transported through a web of so called resonance channels which disrupt the regular structures. The focus of this thesis are time-discrete 4D symplectic maps which represent the lowest dimensional system for which the chaotic transport can circumvent regular tori. While the dynamics of 2D maps are well established, many fundamental questions are open for maps of dimension four and higher due to this property. In particular, the mechanism of the power-law trapping is unknown for these maps. In this thesis, the organization and hierarchy of the regular structures of 4D maps is uncovered and the slow chaotic transport close to these structures is examined. Specifically, this transport is shown to be organized by a set of overlapping resonance channels. The transport across these channels is found to be governed by partial transport barriers. For the transport along a channel a stochastic process including a drift is conjectured. Based on each of these two types of chaotic transport a possible mechanism for the power-law trapping in higher-dimensional systems is proposed.

No description available.

Cette thèse établit l'existence d'une variante de l'homologie de Floer de type Morse-Bott. Étant donnés une variété torique (W²ⁿ, ω, µ) et un hamiltonien H : W × S ¹ → ℝ invariant par l’action du tore de dimension n Tⁿ, , les orbites de H sont stables par l’action torique. Cette dernière admettant des points fixes dans W, elle n’est pas libre, pareillement pour celle induit sur les lacets de W et il est, a priori, impossible de construire une théorie de Morse-Bott équivariante au niveau de C∞(S¹, W)/Tⁿ. Nous remédions à ce problème en adoptant la construction de Borel : nous choisissons un espace E contractile muni d’une action libre du tore regardons l’homologie de Morse-Bott en dimension infinie de l’espace (C∞(S¹, W) × E)/Tⁿ où Tⁿ agit cette fois de manière diagonale sur le produit.L’homologie obtenue est un invariant pour les variétés symplectiques toriques et nous le calculons dans le cas d’une variété fermée. / This thesis establishes the existence of a version of Floer homology in a Morse-Bottcontext. Given a toric manifold (Wⁿ, ω, µ) and a hamiltonian H : W × S¹ → ℝ invariant bythe action of the torus Tⁿ, the periodical orbits of H are stable by the toric action.The latter admits fix points in W and hence it not free, neither one induced on the spaceof the loops of W and it is, a priori, impossible to establish a equivariant infinite-dimensionalMorse-Bott theory on C∞(S¹, W)/Tⁿ. We deal with this problem using Borel’s construction : we choose a space contractible E witha free action from the torus and look at the infinite-dimensional Morse-Bott homology of thespace (C∞(S¹, W) × E)/Tⁿ where Tⁿ act in a diagonal way on the product.We obtain an invariant for symplectic toric manifold and computes it for a closed manifold.

Higher-dimensional Hamiltonian systems usually exhibit a mixed phase space in which regular and chaotic motion coexist. While regular trajectories are confined to regular tori, chaotic trajectories can be transported through a web of so called resonance channels which disrupt the regular structures. The focus of this thesis are time-discrete 4D symplectic maps which represent the lowest dimensional system for which the chaotic transport can circumvent regular tori. While the dynamics of 2D maps are well established, many fundamental questions are open for maps of dimension four and higher due to this property. In particular, the mechanism of the power-law trapping is unknown for these maps. In this thesis, the organization and hierarchy of the regular structures of 4D maps is uncovered and the slow chaotic transport close to these structures is examined. Specifically, this transport is shown to be organized by a set of overlapping resonance channels. The transport across these channels is found to be governed by partial transport barriers. For the transport along a channel a stochastic process including a drift is conjectured. Based on each of these two types of chaotic transport a possible mechanism for the power-law trapping in higher-dimensional systems is proposed.

In this work we study the magnetic field modeling of realistic non-axisymmetric plasma equilibrium configurations and the heat flux patterns on the plasma facing components of tokamak divertor discharges. We start by establishing the relation between generic magnetic configurations and Hamiltonian dynamical systems. We apply the concept of magnetic helicity, used to establish topological bounds for the magnetic field lines in ideal plasmas, and to understand the self-consistency of reconnected magnetic surfaces in non-axisymmetric configurations. After this theoretical discussion, we present some results on magnetohydrodynamic equilibrium and the use of analytical solutions to the Grad-Shafranov equation for describing real tokamak discharges based on the experimental diagnostics and realistic boundary conditions. We also compare the equilibrium reconstruction of a DIII-D discharge obtained with a numerical reconstruction routine, developed as part of this research, and the EFIT code used by several tokamak laboratories around the world. The magnetic topology and plasma profiles obtained with our method are in considerable agreement with the numerical reconstruction performed with the other code. Then, we introduce a simplified description of the generic non-axisymmetric magnetic field created by known sources and implement it numerically for describing the magnetic field due to external coils in tokamak devices. After that, we use this routines to develop a numerical procedure to adjust a suitable set of non-linear parameters of internal filamentary currents, which are intended to model the plasma response based on the magnetic field measurements outside the plasma. Finally, these methods are used to model the magnetic field created by a slowly rotating plasma instability in a real DIII-D discharge. The plasma response modeling is based on the magnetic probe measurements and allow us to calculate the magnetic field in arbitrary locations near the plasma edge. Using this information we determine the non-axisymmetric plasma edge through the magnetic invariant manifolds routine developed during this work. The intersection of the calculated invariant manifold with the tokamak chamber agrees considerably well with the heat flux measurements for the same discharge at the divertor plates, indicating the development of a rotating manifold due to the internal asymmetric plasma currents, giving quantitative support to our simplified description of the magnetic field and the plasma edge definition through the invariant manifolds. / Neste trabalho estuda-se a modelagem do campo magnético em configurações realistas de plasmas em equilíbrio não-axissimétrico e o fluxo de calor nos componentes em contato com o plasma em descargas de tokamaks com desviadores poloidais. Começa-se estabelecendo a relação entre configurações magnéticas arbitrárias e sistemas dinâmicos Hamiltonianos. Então aplicamos o conceito de helicidade magnética, que é usado para estabelecer limitações topológicas sobre as linhas de campo magnético em plasmas ideais, assim como para compreender a auto-consistência das superfícies magnéticas reconectadas em configurações não-axissimétricas. Após esta discussão teórica, apresentam-se alguns resultados sobre o equilíbrio magnetohidrodinâmico e o uso de soluções analíticas à equação de Grad-Shafranov para descrever descargas reais em tokamaks, com base em diagnósticos experimentais e condições de contorno realistas. Também realiza-se uma comparação entre a reconstrução do equilíbrio de uma descarga do DIII-D, obtida mediante uma rotina numérica desenvolvida para esta pesquisa, com a obtida mediante o código EFIT, usado amplamente em diversos tokamaks. Após isso, apresenta-se uma descrição simplificada do campo magnético não-axissimétrico, criado por fontes determinadas, e a sua implementação para descrever o campo magnético devido às correntes externas em tokamaks. Então, usam-se estas rotinas para desenvolver um procedimento numérico que ajusta um conjunto adequado de parâmetros não-lineares de correntes filamentares internas, com as quais pretende-se modelar a resposta do plasma com base nas medidas de campo magnético fora do plasma. Finalmente, estes métodos são utilizados para modelar o campo magnético criado por uma instabilidade com rotação lenta numa descarga do DIII-D. Com base nas medidas das sondas magnéticas é possível modelar os campos criados em regiões arbitrárias próximas da borda do plasma. Usando esta informação é possível determinar a borda não-axissimétrica do plasma mediante as invariantes magnéticas calculadas com a utilização de uma rotina desenvolvida durante este trabalho. A intersecção da superfície invariante com a câmara do tokamak coincide satisfatoriamente com as medidas de fluxo de calor nas placas do divertor para a mesma descarga, indicando o desenvolvimento de uma variedade giratória criada pelas correntes de plasma não-axissimétricas, e sustentando quantitativamente a nossa descrição simplificada do campo magnético, assim como a definição da borda do plasma mediante as invariantes magnéticas.

In this work we study the magnetic field modeling of realistic non-axisymmetric plasma equilibrium configurations and the heat flux patterns on the plasma facing components of tokamak divertor discharges. We start by establishing the relation between generic magnetic configurations and Hamiltonian dynamical systems. We apply the concept of magnetic helicity, used to establish topological bounds for the magnetic field lines in ideal plasmas, and to understand the self-consistency of reconnected magnetic surfaces in non-axisymmetric configurations. After this theoretical discussion, we present some results on magnetohydrodynamic equilibrium and the use of analytical solutions to the Grad-Shafranov equation for describing real tokamak discharges based on the experimental diagnostics and realistic boundary conditions. We also compare the equilibrium reconstruction of a DIII-D discharge obtained with a numerical reconstruction routine, developed as part of this research, and the EFIT code used by several tokamak laboratories around the world. The magnetic topology and plasma profiles obtained with our method are in considerable agreement with the numerical reconstruction performed with the other code. Then, we introduce a simplified description of the generic non-axisymmetric magnetic field created by known sources and implement it numerically for describing the magnetic field due to external coils in tokamak devices. After that, we use this routines to develop a numerical procedure to adjust a suitable set of non-linear parameters of internal filamentary currents, which are intended to model the plasma response based on the magnetic field measurements outside the plasma. Finally, these methods are used to model the magnetic field created by a slowly rotating plasma instability in a real DIII-D discharge. The plasma response modeling is based on the magnetic probe measurements and allow us to calculate the magnetic field in arbitrary locations near the plasma edge. Using this information we determine the non-axisymmetric plasma edge through the magnetic invariant manifolds routine developed during this work. The intersection of the calculated invariant manifold with the tokamak chamber agrees considerably well with the heat flux measurements for the same discharge at the divertor plates, indicating the development of a rotating manifold due to the internal asymmetric plasma currents, giving quantitative support to our simplified description of the magnetic field and the plasma edge definition through the invariant manifolds. / Neste trabalho estuda-se a modelagem do campo magnético em configurações realistas de plasmas em equilíbrio não-axissimétrico e o fluxo de calor nos componentes em contato com o plasma em descargas de tokamaks com desviadores poloidais. Começa-se estabelecendo a relação entre configurações magnéticas arbitrárias e sistemas dinâmicos Hamiltonianos. Então aplicamos o conceito de helicidade magnética, que é usado para estabelecer limitações topológicas sobre as linhas de campo magnético em plasmas ideais, assim como para compreender a auto-consistência das superfícies magnéticas reconectadas em configurações não-axissimétricas. Após esta discussão teórica, apresentam-se alguns resultados sobre o equilíbrio magnetohidrodinâmico e o uso de soluções analíticas à equação de Grad-Shafranov para descrever descargas reais em tokamaks, com base em diagnósticos experimentais e condições de contorno realistas. Também realiza-se uma comparação entre a reconstrução do equilíbrio de uma descarga do DIII-D, obtida mediante uma rotina numérica desenvolvida para esta pesquisa, com a obtida mediante o código EFIT, usado amplamente em diversos tokamaks. Após isso, apresenta-se uma descrição simplificada do campo magnético não-axissimétrico, criado por fontes determinadas, e a sua implementação para descrever o campo magnético devido às correntes externas em tokamaks. Então, usam-se estas rotinas para desenvolver um procedimento numérico que ajusta um conjunto adequado de parâmetros não-lineares de correntes filamentares internas, com as quais pretende-se modelar a resposta do plasma com base nas medidas de campo magnético fora do plasma. Finalmente, estes métodos são utilizados para modelar o campo magnético criado por uma instabilidade com rotação lenta numa descarga do DIII-D. Com base nas medidas das sondas magnéticas é possível modelar os campos criados em regiões arbitrárias próximas da borda do plasma. Usando esta informação é possível determinar a borda não-axissimétrica do plasma mediante as invariantes magnéticas calculadas com a utilização de uma rotina desenvolvida durante este trabalho. A intersecção da superfície invariante com a câmara do tokamak coincide satisfatoriamente com as medidas de fluxo de calor nas placas do divertor para a mesma descarga, indicando o desenvolvimento de uma variedade giratória criada pelas correntes de plasma não-axissimétricas, e sustentando quantitativamente a nossa descrição simplificada do campo magnético, assim como a definição da borda do plasma mediante as invariantes magnéticas.

On étudie l'équation de Hamilton-Jacobi évolutive du premier ordre, couplée avec une donnée initiale lipschitzienne. Le but est de comparer les solutions de viscosité et les solutions variationnelles pour cette équation, deux notions de solutions faibles qui coïncident en dynamique hamiltonienne convexe. Pour travailler dans un cadre pertinent pour les deux types de solutions, on doit d’abord construire une solution variationnelle sans hypothèse de compacité sur la variété ou le hamiltonien étudiés. On retrace dans ce cas la construction historique des solutions variationnelles, en détaillant les propriétés de la famille génératrice obtenue par la méthode des géodésiques brisées. Il en découle des estimées permettant d’obtenir la solution de viscosité à partir de la solution variationnelle par un procédé d’itération. Après avoir vérifié que la solution variationnelle construite coïncide effectivement avec la solution de viscosité pour un Hamiltonien convexe, on caractérise les Hamiltoniens intégrables pour lesquels cette propriété persiste, en étudiant attentivement des exemples élémentaires en dimension 1 et 2. / We study the first order Hamilton-Jacobi equation associated with a Lipschitz initial condition. The purpose of this thesis is to compare two notions of weak solutions for this equation, namely the viscosity solution and the variational solution, that are known to coincide in convex Hamiltonian dynamics. In order to work in a relevant framework for both notions, we first need to build a variational solution without compactness assumption on the manifold or the Hamiltonian. To do so, we follow the historical construction, detailing properties of the generating family obtained via the broken geodesics method. Local estimates allow to prove that the viscosity solution can be obtained from the variational solution via an iterative process. We then check that this construction gives effectively the viscosity solution for a convex Hamiltonian, and characterize the integrable Hamiltonians for which this property persists by carefully studying elementary examples in dimension 1 and 2.