Ce mémoire accentue des aspects du programme de recherche pour un futur collisionneur linéaire des électrons et positrons permettant de faire de la physique de précision à l'echelle de TeV où l'apparition des phénomènes au-delà du Modèle Standard de la physique de particules est attendue. La proposition la plus mature pour une telle machine est l'International Linear Collider (ILC) conçue pour des énergies dans le centre de masse entre 90 GeV et 1 TeV. Les résultats obtenus avec des expériences de précision précédentes suggèrent l'existence du boson de Higgs ayant une masse d'environ 120 GeV. En assumant des paramètres nominaux pour les faisceaux et la luminosité, l'ILC est prometteur d'atteindre une précision de 2-3% sur la section efficace de la Higgs-strahlung et d'environ 30 MeV sur la masse du boson de Higgs. Les détecteurs qui seront opérés au sein de l'ILC comprendront des calorimètres à haute granularité. Ce nouveau type de calorimètre constitue l'outil principal pour atteindre une résolution en énergie des jets de 30%/\sqrt{E}. Le calorimètre électromagnétique sera composé par tungstène comme matériel absorbant et il est actuellement favorisé d'employer des diodes de silicium comme matériel actif. Le document décrit des détails du programme de R&D pour ce calorimètre par rapport à la mécanique et du développement de l'électronique frontale qui sera integrée dans les couches du calorimètre. En plus, l'état actuel du développement des galettes de silicium est abordé. Les résultats obtenus dans les campagnes de test en faisceau avec un premier prototype confirment les paramètres appliqués dans les études de la ''Letter of Intent'' publiée par le groupe de concept ILD en 2009.

This thesis focuses on the theory, design, simulation and implementation of several digital controllers for periodic signals on a laser scanning galvanometer. A model for the galvanometer was obtained and veri ed using closed loop identi cation techniques. Using this model, controllers were designed and simulated using MATLAB and then implemented on a custom FPGA control processor with a focus on tracking performance. The types of controllers used were: an Iterative Learning Controller, an RST pole placement controller, an Adaptive Feed-forward cancellation controller, a combined Iterative Learning and Adaptive Feed-forward cancellation controller and a simple PID controller. The simulated results were better than the experimental results because of system noise and modelling uncertainties but the relative performance between each of the controllers was similar for both the simulation and experimental setup. The experimental results achieved were very good with one controller reaching errors under 50 rad. / Graduate / 0537 / t_Torres_bonet@hotmail.com

An electron-positron linear collider is an option for future large particle accelerator projects. Such a collider would focus on precision tests of the Higgs boson properties. This thesis describes three studies related to the optimisation of highly granular calorimeters and one study on the sensitivity of Higgs couplings at CLIC. Photon reconstruction algorithms were developed for highly granular calorimeters of a future linear collider detector. A sophisticated pattern recognition algorithm was implemented, which uses the topological properties of electromagnetic showers to identify photon candidates and separate them from nearby particles. It performs clustering of the energy deposits in the detector, followed by topological characterisation of the clusters, with the results being considered by a multivariate likelihood analysis. This algorithm leads to a significant improvement in the reconstruction of both single photons and multiple photons in high energy jets compared to previous reconstruction software. The reconstruction and classification of tau lepton decay products was studied. Utilising highly granular calorimeters, the high resolution of energy and invariant mass of the tau decay products enabled a high classification rate. A hypothesis test was performed for expected decay final states. A multivariate analysis was trained to classify decay final states with a machine learning method. The performance of tau decay classification is used for the electromagnetic calorimeter optimisation at the ILC or CLIC. A proof-of-principle analysis using the correlation between the polarisations of the tau pair from a boson decay as a signature to differentiate the Higgs boson from the Z boson is presented. Sensitivity of Higgs couplings at CLIC was studied using the double Higgs production process. Algorithms were developed for signal event selection. The event selection relies on the jet reconstruction and the flavour tagging. A multivariate analysis is performed to select signal events. An attempt at extracting Higgs trilinear self-coupling and quartic coupling was conducted.

The estimated position of an industrial robot’s end-effector is crucial for its performance. Contemporary methods for doing the estimation is limited in certain aspects, and alternative methods are in high demand. This work builds on a method previously introduced where an Inertial Measurement Unit (IMU) device is combined with the robot’s system via sensor fusion. The IMU must be calibrated before its signal is used in sensor fusion and this work implements and builds on current cutting-edge methods for calibration. Sensor fusion is a crucial part of the method and here a complementary filter is used. The finished estimation is then used with Iterative Learning Control (ILC) to investigate if the accuracy can be further improved and also test its viability. Results from ILC show that the IMU can indeed be used to estimate the end-effector's trajectory but that sensor fusion is mandatory. Further research could be done to allow the estimation to be done online instead of offline and ILC could be tested more extensively.

京都大学 / 0048 / 新制・課程博士 / 博士(医学) / 甲第22643号 / 医博第4626号 / 新制||医||1044(附属図書館) / 京都大学大学院医学研究科医学専攻 / (主査)教授 髙折 晃史, 教授 斎藤 通紀, 教授 生田 宏一 / 学位規則第4条第1項該当 / Doctor of Medical Science / Kyoto University / DFAM

The aim of this diploma thesis is to implement the PLC control on existing four wheeled mobile robot from the laboratory A1/731a. For this solution has to be designed and made electronic equipment which will be gathering and processing the data from sensors. This data will be sent to the PLC which will be controlling the robot according to this data. The final solution will be practically demonstrated.

No description available.

The thermal management of electric machines is investigated with the application of techniques to a Switched Reluctance Machine and a high-speed Switched Reluctance Machine. Two novel concepts for said management of a Switched Reluctance Machine are proposed and developed: Inter-Laminate Cooling and a Continuous Toroidal Winding. The Inter-Laminate Cooling concept is developed with application to an iron core inductor which serves as a proxy for the electric machine. The experimental results confirmed the capability of the method, expressed by the effectiveness, which defines the performance measure of the applied cooling method; a concept which itself is equally applicable to other cooling methods that may be applied to any electric machine. The effectiveness also describes the gain in allowable input power to the machine which is realized to reach the same thermal limit versus the case without Inter-Laminate Cooling. The Inter-Laminate Cooling was not applied in experimental test to a Switched Reluctance Machine due to the present economic and fabrication limitations. The Continuous Toroidal Winding concept, originally conceived to permit the consideration of a fluid capillary core type of winding to enhance machine cooling, is developed to allow for peripheral cooling of the machine windings and end windings. The Continuous Toroidal Winding version of the Switched Reluctance Machine is investigated for both its thermal and electrical performance in the context of a machine that is equivalent electromagnetically to its conventional counterpart. The Continuous Toroidal Winding Switched Reluctance Machine was found to perform thermally as tested, in a manner superior to that of the conventional machine where the Toroidal machine was simulated and researched at an equivalent level of operation to the conventional machine. The electrical performance of the Toroidal Switched Reluctance Machine although supportive of the simulation analysis used to develop the machine, was not fully conclusive. This may have been due to problematic iron cores used in the construction of the experimental machines. The application of the Inter-Laminate Cooling method to a Switched Reluctance Machine is considered on an analytical basis for the special case of a High Speed Switched Reluctance Machine and found to be of net positive benefit as the machine’s iron losses are dominant over its copper losses. Application of the Inter-Laminate Cooling method to a lower speed machine, whilst beneficial, is not sufficient to significantly impact the temperature of the machine’s windings such that it would offset the loss of specific torque and power. As such, Inter-Laminate Cooling is only applicable where the net benefit is positive overall; in that the gain in input power realized is sufficient to overcome the loss of specific power and torque which will occur due to the increased machine volume. The “effectiveness” and “gain” approach for the evaluation of cooling methods applied to electric machines is a concept which should be adopted to aid in the comparative understanding of the performance of myriad different cooling methods being applied to electric machines both in research and practice, of which there is only minimal understanding. / Thesis / Doctor of Philosophy (PhD)

Yes / An adaptive iterative learning control(ILC) approach is proposed for a class of multi-input multi-output (MIMO) uncertain nonlinear systems without prior knowledge about system control gain matrices. The Nussbaum-type gain and the positive definite discrete matrix kernel are proposed for dealing with selection of the unknown control gain and learning of the repeatable uncertainties, respectively. Asymptotic convergence for a trajectory tracking within a finite time interval is achieved through repetitive tracking. Simulations are carried out to show the validity of the proposed control method.

La maladie coeliaque réfractaire de type II (MCRII) est une complication sévère de la maladie coeliaque caractérisée par l’émergence dans l’épithélium intestinal d’une population clonale de cellules innées lymphoïdes (IE-ILC) avec un phénotype inhabituel. Nos travaux montrent en effet que ces IE-ILC ont un phénotype mixte avec des caractéristiques à la fois de lymphocytes T (LT) et de cellules NK, puisqu’elles expriment des récepteurs NK et contiennent les chaines du complexe CD3 en intracellulaire et des réarrangements du récepteur T. En outre, des travaux précédents du laboratoire ont montré que l’interleukine 15 (IL-15), produite en excès par les entérocytes des patients MCRII, joue un rôle central en permettant la survie de ces lymphocytes anormaux et de ce fait leur accumulation progressive dans l’intestin. Le premier objectif de ma thèse a été de comprendre l’ontogénie des IE-ILC chez l’homme. Nous avons démontré qu’une population «polyclonale» d’IE-ILC, possédant des caractéristiques similaires à ceux des lymphocytes clonaux de MCRII, est présente dans l’épithélium intestinal des sujets sains. En outre, ces cellules prédominent dans l’épithélium intestinal des très jeunes enfants (<1ans) et des patients allo-greffés après une chimiothérapie. Nous avons montré que la différenciation des IE-ILC peut–être récapitulée in vitro à partir de cellules souches hématopoïétiques (CSH), en combinant un signal NOTCH et IL-15; le signal NOTCH initie un programme T qui est interrompu par l’IL-15, conduisant à la reprogrammation des cellules vers une différenciation NK. Nous avons aussi montré que l’effet de l’IL-15 résulte de l’induction de la sérine protéase Granzyme B, qui clive la protéine NOTCH en fragments dépourvus d’activité transcriptionnelle. Le deuxième objectif de mon travail a été d’identifier le site de la différenciation des IE-ILC. Thymus et épithélium intestinal expriment en effet des ligands de NOTCH ainsi que de l’IL-15. Cette partie du travail a été conduite chez la souris. Nous avons montré qu’une population d’IE-ILC similaire à celle observée chez l’homme est présente dans l’épithélium murin. L’étude de différentes souris mutantes nous a permis de démontrer sa dépendance stricte de l’IL-15. La réalisation de greffes de thymus, l’analyse de souris athymiques et le transfert de cellules de la moelle osseuse chez des souris immunodéficiences a permis d’exclure tout rôle du thymus dans la différenciation des IE-ILC, et de suggérer que ces cellules se différencient dans l’intestin avant la migration des lymphocytes T. Dans leur ensemble, ces résultats caractérisent une nouvelle population de cellules lymphoïdes innées et une voie originale de différenciation. Nos résultats éclairent un débat de longue date sur la différenciation extra-thymique des lymphocytes de l’épithélium. Nous montrons que la différenciation T peut être initiée dans l’épithélium intestinal mais que l’IL-15 bloque cette différenciation, ce qui conduit à la génération d’une population particulière de IE-ILC avec un phénotype mixte de LT et de NK. La présence des IE-ILC chez les très jeunes enfants et chez les patients greffés suggère un rôle possible dans les défenses de l’épithélium intestinal avant l’activation du système immunitaire adaptatif et la migration intraépithéliale des LT. / Refractory celiac disease type II (RCDII) is a rare but severe complication of celiac disease characterized by the appearance in gut epithelium of clonal population of innate lymphoid cells (IE-ILC) with atypical features. Our work shows that IE-ILC have mixed phenotype close both to T cells and NK cells. Indeed, IE-ILC express NK markers, intracellular CD3 chains and exhibit T cell rearrangement. Moreover, previous data from the laboratory have shown that interleukin 15 (IL-15), a cytokine overexpressed in the gut of RCDII patients, plays a key role in survival of clonal IE-ILC1 and therefore promotes their accumulation in the gut epithelium. The first objective of my thesis has been to understand the ontogeny of IE-ILC in humans. We have demonstrated that polyclonal IE-ILC sharing similar features with clonal IE-ILC are present in the gut of healthy control. In addition, IE-ILC are preponderant in the gut epithelium of young children (<1year) and of grafted patients after chemotherapy. We have shown that differentiation of IE-ILC can be recapitulated in vitro from hematopoietic stem cells (HSC) by combining both NOTCH signal and IL-15. Indeed, NOTCH signal initiates T cell program, which is blocked by IL-15, reprogramming these cells toward the NK lineage. Moreover, we have shown that Granzyme B, a serine protease induced by IL-15, cleaves the NOTCH protein into a transcriptionnally inactive peptide. The second objective of my work has been to determine the site of differentiation of IE-ILC. Thymus and gut epithelium express both NOTCH ligands and IL-15. This question has to be addressed in mouse. We have shown that the mouse gut epithelium contains the counterpart of human IE-ILC1. We first confirmed that mouse IE-ILC1 require IL-15 for their differentiation and or survival using IL-15 deficient mice. Thymus graft experiment, analysis of athymic mice (nude) and HSC transplantation in empty hosts suggested that IE-ILC1 differentiate in the gut epithelium before immigration of T cells from thymus. In summary, our results describe a novel subset of IE-ILC1 together with their novel unconventional mechanism of differentiation. Our data allow to revisit the long time controversy on extra-thymic T cell differentiation in the gut. We have demonstrated that T cell program can be initiated in the gut epithelium but IL15-induced Granzyme B blocks this program and permits the generation of unconventional IE-ILC with mixed T cell and NK cell features. Because IE-ILC1 are preponderant in the gut epithelium of young children and of patients with recent bone marrow transplantation, we suggest that IE-ILC1 can play a major role in gut defense before activation of the gut adaptative immune system activate and migration of thymus-derived T cells into the gut epithelium.