A análise modal experimental tem contribuído de forma decisiva para caracterização e solução de problemas de engenharia, relacionados à vibração estrutural. Uma das áreas fundamentais da análise modal experimental é a identificação de sistemas, cujo objetivo é determinar as propriedades dinâmicas de uma estrutura, descritas através das freqüências naturais, fatores de amortecimento e modos de vibrar do sistema em análise. Neste trabalho é realizado um estudo sobre as técnicas paramétricas de identificação de sistemas no domínio do tempo utilizando o modelo auto-regressivo de média móvel vetorial (ARMAV) e o modelo auto-regressivo vetorial (ARV). Em ambos os modelos, os procedimentos de identificação dos parâmetros auto-regressivos, responsáveis pela dinâmica do sistema, são estimados utilizando a aproximação dos mínimos quadrados. A partir desses coeficientes um modelo em espaço de estado do sistema é construído, a fim de estimar os parâmetros modais do sistema dinâmico. A ordem do modelo ARMAV, necessária para determinar as características dinâmicas do sistema, é estimada através do critério de informação Bayesiana (BIC). Para o caso do procedimento baseado no modelo ARV, onde apenas as respostas do sistema são consideradas no processo de identificação, uma nova técnica é proposta para solucionar o problema da identificação da ordem do modelo dinâmico. Essa técnica, baseada na estabilidade das freqüências naturais estimadas em várias identificações, contribuiu também para automação do procedimento de identificação. O desempenho dos algoritmos de identificação utilizando o modelo ARMAV, e o modelo ARV juntamente com a nova metodologia desenvolvida, é verificado através de aplicações a dados provenientes de simulações numéricas e de um ensaio experimental realizado em uma placa de alumínio. / The experimental modal analysis has contribued in a decisive way to characterization and solution of engineering problems, related to structural vibration. One of the fundamental areas of the experimental modal analysis is the mechanical systems identification, whose objective is to identify the dynamic properties of a structure, described through the natural frequencies, damping ratios and mode shapes of the system in analysis. In this work a study is accomplished on the parametric techniques of systems identification in time domain using the Auto-Regressive Moving Average Vector (ARMAV) and the Auto-Regressive Vector (ARV) models. In these models, the procedures of the auto-regressive parameters identification that describes the dynamics of the system are estimated using the least square approach. Trough these coefficients a model in state space is built, in order to identify the modal parameters of the dynamic system. The order of the ARMAV model, necessary to determine the dynamic characteristics of the system, is estimated through Bayesian Information Criterion (BIC). For the procedure based on the model ARV, where only the system responses are considered in the identification process, a new technique is proposed to solve the identification problem of the order of the dynamic model. This technique, based on the stability of the natural frequencies in several identifications, also contributed to automation of the identification procedure. The performance of these identification algorithms using the ARMAV model, and the ARV model together with the new developed methodology, is verified using data from numerical simulations and from an experimental test accomplished in an aluminum plate.

Os polinômios possuem características e propriedades que os tornam bastante importantes, seja modelando problemas da natureza e do cotidiano ou servindo como ferramenta de resolução de problemas ou, ainda, para alcançar resultados matemáticos mais avançados. O Currículo do Estado de São Paulo sugere uma sequência de conteúdos para serem trabalhados, levando o aluno a um aprendizado dos polinômios tanto do ponto de vista teórico quanto de aplicações. O ensino de polinômios é feito em espiral do 7º ano do Ensino Fundamental até o 3º ano do Ensino Médio, isto é, seu conteúdo é trabalhado gradativamente no decorrer dos anos escolares, sempre sendo retomado e aprofundado de acordo com o tempo escolar adequado. Este trabalho tem como objetivo contribuir com a formação de professores de Matemática do Ensino Básico apresentando uma sólida teoria sobre os polinômios no que diz respeito a definição, propriedades, operações algébricas, funções polinomiais, traçado de gráfico de polinômios e, já em um nível mais avançado, derivada e integral de polinômios. Além disso, revisamos os conceitos de espaços vetoriais, independência linear, base, projeções e ortogonalidade. A teoria apresentada é então utilizada no estudo de aproximações de funções por polinômios. Entre as formas de aproximação, apresentamos o polinômio de Taylor, a Interpolação Polinomial e o ajuste polinomial pelo Método dos Mínimos Quadrados. Ao longo do texto apresentamos aplicações no cotidiano como o cálculo do polinômio que descreve uma corrida de táxi, a fórmula 95 para aposentadoria e a curva de lucro de uma sorveteria em função do preço de seus sorvetes. / Polynomials have characteristics and properties that make them very important, modelling nature and daily problems or serving as a tool to solve problems, or even to achieve more advanced mathematical results. The curriculum of São Paulo state suggests a sequence of contents to be worked, leading the student to learning about polynomials from both the theoretical and the applications point of views. The polynomials teaching is done in a spiral way from the 7th year of elementary school to the 3rd year of high school, that is, its contents are gradually worked during the school years, always being resumed and deepened in accordance with the appropriate school time. This work aims to contribute to the training of basic education Mathematics teachers introducing them a solid theory of polynomials concerning about definition, properties, algebraic operations, polynomial functions, polynomial graphics and already at a more advanced level, derivative and integral of polynomials. In addition, we review the concepts of vector spaces, linear independence, base, projections and orthogonality. The presented theory is then used in the study of function approximations by polynomials. Among the forms of approach, we present the Taylor polynomial, the polynomial interpolation and polynomial fit by the least square method. Throughout the text we present applications in daily life such as the calculation of the polynomial that describes a taxi ride, the 95 formula for retirement and the the profit curve of an ice cream shop due to the price of their ice cream.

Cette recherche vise à comprendre la relation existante entre l’innovation de services et l’internationalisation, à savoir, comment les entreprises obtiennent des avantages compétitifs sur les marchés internationaux grâce à l'innovation dans le secteur des services aux entreprises.Nous avons testé la relation entre l'innovation et la performance internationale, avons évalué l'impact de l'innovation par rapport à d'autres avantages internationaux. Symétriquement, nous avons également vérifié dans quelle mesure le processus d'internationalisation peut être un puissant moteur d'innovation pour les entreprises de services. Après le développement d'un modèle théorique, nous avons procédé à une enquête téléphonique auprès de 807 entreprises de services exportatrices. Les répondants cible de l'enquête étaient des cadres supérieurs de sociétés de services internationalisés en France. 51 réponses exploitables ont été reçues. Les données recueillies ont été analysées par Modélisation des Équations Structurelles (SEM), en utilisant la méthode Partial Least Square. Le modèle testé montre que l'innovation de service a une influence positive sur le développement international et que la compétence internationale, obtenue sur les marchés étrangers, stimule la dynamique de l'innovation dans les entreprises de services. Le modèle proposé met en évidence les capacités de R & D (organisationnelle), relationnelles, les TIC, la compétence internationale, l’innovation de service et l’expérience internationale comme facteurs qui influent les résultats des entreprises internationalisées, ou plus précisément, la performance international. / This research deals with service innovation and internationalization: how firms perform on international markets and get an edge thanks to innovation on service concept or service process. We tested the relationship between innovation and international performance, assessed the impact of innovation compared to other international advantages. Symmetrically, we also checked how far the internationalization process can be a powerful driver of innovation for service firms. After the development of a theoretical model, data were collected from a telephone survey. The target respondents of the survey were senior executives of internationalized service companies in France. Out of the 807 companies which were contacted, 51 usable responses were received. The data collected were analyzed by Structural Equation Modeling (SEM), using the Partial Least Square method. The tested model shows that service innovation has a positive influence on international development and that the international competence, obtained in foreign markets, drives the dynamics of innovation in services company. The model proposed highlights the capabilities for R & D (organizational), relational, ICT, international competence, service and international experience as factors that impact the final results of internationalized companies, or more specifically, the international performance.

Os polinômios possuem características e propriedades que os tornam bastante importantes, seja modelando problemas da natureza e do cotidiano ou servindo como ferramenta de resolução de problemas ou, ainda, para alcançar resultados matemáticos mais avançados. O Currículo do Estado de São Paulo sugere uma sequência de conteúdos para serem trabalhados, levando o aluno a um aprendizado dos polinômios tanto do ponto de vista teórico quanto de aplicações. O ensino de polinômios é feito em espiral do 7º ano do Ensino Fundamental até o 3º ano do Ensino Médio, isto é, seu conteúdo é trabalhado gradativamente no decorrer dos anos escolares, sempre sendo retomado e aprofundado de acordo com o tempo escolar adequado. Este trabalho tem como objetivo contribuir com a formação de professores de Matemática do Ensino Básico apresentando uma sólida teoria sobre os polinômios no que diz respeito a definição, propriedades, operações algébricas, funções polinomiais, traçado de gráfico de polinômios e, já em um nível mais avançado, derivada e integral de polinômios. Além disso, revisamos os conceitos de espaços vetoriais, independência linear, base, projeções e ortogonalidade. A teoria apresentada é então utilizada no estudo de aproximações de funções por polinômios. Entre as formas de aproximação, apresentamos o polinômio de Taylor, a Interpolação Polinomial e o ajuste polinomial pelo Método dos Mínimos Quadrados. Ao longo do texto apresentamos aplicações no cotidiano como o cálculo do polinômio que descreve uma corrida de táxi, a fórmula 95 para aposentadoria e a curva de lucro de uma sorveteria em função do preço de seus sorvetes. / Polynomials have characteristics and properties that make them very important, modelling nature and daily problems or serving as a tool to solve problems, or even to achieve more advanced mathematical results. The curriculum of São Paulo state suggests a sequence of contents to be worked, leading the student to learning about polynomials from both the theoretical and the applications point of views. The polynomials teaching is done in a spiral way from the 7th year of elementary school to the 3rd year of high school, that is, its contents are gradually worked during the school years, always being resumed and deepened in accordance with the appropriate school time. This work aims to contribute to the training of basic education Mathematics teachers introducing them a solid theory of polynomials concerning about definition, properties, algebraic operations, polynomial functions, polynomial graphics and already at a more advanced level, derivative and integral of polynomials. In addition, we review the concepts of vector spaces, linear independence, base, projections and orthogonality. The presented theory is then used in the study of function approximations by polynomials. Among the forms of approach, we present the Taylor polynomial, the polynomial interpolation and polynomial fit by the least square method. Throughout the text we present applications in daily life such as the calculation of the polynomial that describes a taxi ride, the 95 formula for retirement and the the profit curve of an ice cream shop due to the price of their ice cream.

Orientador: Douglas Domingues Bueno / Resumo: Os fenômenos associados aos sistemas aeroelásticos definem uma importante classe de problemas envolvida no projeto de aeronaves. Algumas análises podem ser realizadas utilizando a formulação no domínio da frequência, porém, para alguns problemas específicos a análise no domínio do tempo mostra-se mais conveniente, especialmente para projeto de controladores e inclusão de não linearidades. Em particular, forças aerodinâmicas não estacionárias são tipicamente obtidas no domínio da frequência reduzida. Tais formulações não permitem de maneira direta, através de uma transformada inversa, obter modelos matemáticos no domínio do tempo e, portanto, é necessário o uso de um método de aproximação, como o de Roger-Abel. No entanto, uso deste método de aproximação apresenta algumas lacunas com relação ao significado físico e escolha dos parâmetros de atraso. Desta forma, o presente texto explora a influência dos estados de atraso demonstrando que é responsável pela correção da fase entre o movimento e as forças aerodinâmicas resultantes e, também, propõe uma forma de avaliação da qualidade da aproximação obtida. A partir da aproximação das cargas aerodinâmicas se obtém o modelo matemático do sistema aeroelástico, e através de simulações numéricas computacionais, tem-se a resposta do sistema aeroelástico no domínio do tempo devido à cargas de rajada $1-cosseno$. A partir da análise da resposta à rajada é possível avaliar condições em que a rajada se apresenta de maneira mais crítica para... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The phenomena associated with the aeroelastic systems define an important class of problems involved in aircraft design. Some analyzes may be performed in the frequency domain, however, for some specific problems time domain analysis is more convenient, especially for controller design and the inclusion of nonlinearities. In particular, non-stationary aerodynamic forces are typically obtained in the reduced frequency domain. Such formulations do not allow, by means of an inverse transform, to obtain mathematical models in the time domain, and therefore it is necessary to use an approximation method, such as that of Roger-Abel. However, the use of this approximation method presents some gaps with respect to the physical meaning and choice of lag parameters. In this way, the present text explores the influence of the lag states demonstrating that it is responsible for the correction of the phase between the movement and the resulting aerodynamic forces and also proposes a method to evaluate the quality of the approximation achieved. From the approximation of the aerodynamic loads the mathematical model of the aeroelastic system is obtained, and through computational numerical simulations, has the response of the aeroelastic system in the time domain due to the 1-cosine gust load. From the analysis of the response to the gust, it is possible to evaluate conditions in which the gust is presented in a more critical way for the study system. / Mestre

傳統的主成分分析(principal component analysis)法，只能分析二式二向的資料(2-mode 2-way data)，若是要處裡三向三式的資料(3-mode 3-way data)或是更多維的資料，則必須用其它的方法。例如將某一向資料取平均數，再做分析。此法雖然可行，但卻忽略三向資料間可能潛藏的相關性。且社會科學的研究日趨複雜，三向資料也就更常見到，而我們可能也對三向資料間彼此的關聯感到興趣。因此在1960、1970年代，學者開始研究將主成分分析的模型加以擴展成適合分析三向資料的模型。本文除了介紹三向資料主成分分析所使用的Tucker3模型及其參數估計法外，也以28家股票上市公司為實例，探討資本結構影響因素於五年間（1989~1993年）在不同公司群組間的變化情形。

給定兩個有限離散型條件分配，我們可以去探討有關相容性及唯一性的問題。Tian et al.(2009)提出一個統合的方法，將相容性的問題轉換成具限制條件的線性方程系統(以邊際機率為未知數)，並藉由 l_2-距離測量解之誤差，進而求出最佳解來。他們也提出了電腦數值計算法在檢驗相容性及唯一性時的準則。 由於 Tian et al.(2009)的方法是把邊際機率和為 1 的條件放置在線性方程系統中，從理論的觀點來看，我們認為該條件在此種做法下未必會滿足。因此，本文中將邊際機率和為 1 的條件從線性方程系統中抽離出來，放入限制條件中，再對修正後的問題求最佳解。 我們提出了兩個解決問題的方法：(一) LRG 法；(二) 干擾參數法。LRG 法是先不管機率值在 0 與 1 之間的限制，在邊際機率和為 1 的條件下，利用 Lagrange 乘數法導出解的公式，之後再利用 Rao-Ghangurde 法進行修正，使解滿足機率值在 0 與 1 之間的要求。干擾參數法是在 Lagrange 乘數法公式解中有關廣義逆矩陣的計算部份引進了微量干擾值，使近似的逆矩陣及解可快速求得。理論證明，引進干擾參數所增加的誤差不超過所選定的干擾值，易言之，由干擾參數法所求出的解幾近最佳解。故干擾參數法在處理相容性問題上，是非常實用、有效的方法。從進一步分析Lagrange 乘數法公式解的過程中，我們也發現了檢驗條件分配"理論"相容的充分條件。 最後，為了驗證 LRG 法與干擾參數法的可行性，我們利用 MATLAB 設計了程式來處理求解過程中的運算，並以 Tian et al.(2009)文中四個可涵蓋各種情況的範例來解釋說明處理的流程，同時將所獲得的結果和 Tian et al. 的結果做比較。 / Given two finite discrete conditional distributions, we could study the compatibility and uniqueness issues. Tian et al.(2009) proposed a unified method by converting the compatibility problem into a system of linear equations with constraints, in which marginal probability values are assumed unknown. It locates the optimum solution by means of the error of l_2 - discrepancy. They also provided criteria for determining the compatibility and uniqueness. Because the condition of sum of the marginal probability values being equal to one is in Tian et al.s’linear system, it might not be fulfilled by the optimum solution. By separating this condition from the linear system and adding into constraints, we would look for the optimum solution after modification. We propose two new methods: (1) LRG method and (2) Perturbation method. LRG method ignores the requirement of the probability values being between zero and one initially, it then uses the Lagrange multipliers method to derive the solution for a quadratic optimization problem subject to the sum of the marginal probability values being equal to 1. Afterward we use the Rao-Ghangurde method to modify the computed value to meet the requirement. The perturbation method introduces tiny perturbation parameter in finding the generalized inverse for the optimum solution obtained by the Lagrange multipliers method. It can be shown that the increased error is less than the perturbation value introduced. Thus it is a practical and effective method in dealing with compatibility issues. We also find some sufficient conditions for checking the compatibility of conditional distributions from further analysis on the solution given by Lagrange multipliers method. To show the feasibilities of LRG method and Perturbation method, we use MATLAB to device a program to conduct them. Several numerical examples raised by Tian et al.(2009) in their article are applied to illustrate our methods. Some comparisons with their method are also presented.

The aeration step is the most energy consuming process in the wastewater treatment plant, i.e. making the energy usage in this step more efficient is of great concern both in Sweden and world wide. There are some examples of previous studies investigating ways to make the ae- ration control more efficient, though most of these have focused on for example ammonium feedback control rather than blower control which is the main focus of this study. Bromma wastewater treatment plant installed three new blowers in december 2016 functioning as suppliers of air to the aeration step in the bioreactor. Since there are still three old blowers operating at the WWTP, there is a need to control two different types of blowers efficiently. This is challenging since the two blower types have different capacities, efficiency and maxi- mum/minimum air flows and a control strategy that optimizes the operation of these two blower types combined needs to take this into account. Operational data for the blowers was used to generate a second grade polynome for each blower type which gives the efficiency as a function of produced air flow. These polynomes were further utilized to build a script in MATLAB that chooses the most efficient number of blowers operating and at what air flows for a certain total aeration need. The least square method was used to calibrate a model for calculating energy consumption for the simulated control strate- gy. Calculations for energy consumption from the current control strategy and another strategy proposed by the blower deliverer Sulzer were made in order to decide whether the optimized control strategy was an improvement or not. The simulation results and the calculations for energy consumption indicates that the current control strategy at Bromma WWTP is almost as effective as the optimized control strategy. Both strategies sets the new blowers at the first places in the queue. The optimized strategy appears to be more efficient for flows that requires both new and old blowers operating. From the calculations of energy consumption, it was shown that the control strategy from Sulzer de- mands an energy consumption on levels in between the one for the current control strategy and the optimized control strategy. / Luftningssteget är den mest energikrävande processen i ett avloppsreningsverk. Det finns därför incitament till att effektivisera energianvändningen då en minskad elförbrukning är positivt både ur ett ekonomiskt perspektiv och ur ett resursmässigt perspektiv. Energibesparingar från luftningssteget har undersökts tidigare genom att främst studera optimering av syreregleringen och luftregulatorn. Det här projektet syftar till att uppnå en minskad effektförbrukning på Bromma reningsverk genom att optimera blåsmaskinsregulatorn, ett mer outforskat forskningsfält.  På Bromma reningsverk installerades den 16 december 2016 tre nya blåsmaskiner som ska försörja luftningssteget i den biologiska reningen med luft. Det innebär att det finns två olika typer av blåsmaskiner som är i drift på Bromma: den gamla modellen (HST9000) och den nya modellen (HST40). Då dessa två olika typer av blåsmaskiner har olika kapacitet och verkningsgrad är det viktigt att blåsmaskinsregulatorn använder en styrstrategi som ställer dessa maskiner i kö på ett optimalt energieffektivt sätt. Det är även viktigt att i så stor utsträckning som möjligt låta maskinerna generera luftflöden nära sin högsta verkningsgrad.  Driftinformation för blåsmaskinerna användes för att med hjälp av beräkningar i MATLAB kunna välja ut det effektivaste antalet maskiner i drift, avgöra vilken typ av maskiner som ska användas samt vilket luftflöde respektive maskin ska generera vid ett specifikt luftflödesbehov. Målet var att hitta en optimal styrstrategi för Bromma reningsverk, samt att undersöka om det fanns möjligheter till energibesparingar jämfört med nuvarande implementerade styrstrategi. Effektförbrukningsberäkningar gjordes för både den simulerade optimerade styrstrategin och den nuvarande. Ytterligare en styrstrategi, föreslagen av blåsmaskinsleverantören Sulzer, undersöktes också ur ett energiförbrukningsperspektiv för jämförelse.  Resultatet av simuleringen och effektberäkningen indikerar att den nuvarande styrningen i princip är lika energieffektiv som den simulerade optimala styrningen. I båda fallen kopplas de nya maskinerna in i första hand. Dock visar resultatet på att den simulerade styrningen är effektivare vid flöden där det krävs att de gamla blåsmaskinerna sätts i drift. Sulzers föreslagna styrstrategi är mer energieffektiv än nuvarande styrning, men inte lika effektiv som den optimerade styrstrategin.

This thesis focuses on robotic 3D vision for application in Bin Picking. The new method based on Conformal Geometric Algebra (CGA) is proposed and tested for identification of spheres in Pointclouds created with 3D scanner. The speed, precision and scalability of this method is compared to traditional descriptors based method. It is proved that CGA maintains the same precision as the traditional method in much shorter time. The CGA based approach seems promising for the use in the future of robotic 3D vision for identification and localization of spheres.

This document discusses a problem of tooth detection on jaw 3D polygonal model. It describes known methods that can be used to reach expected results, such as their advantages and disadvantages. Considering this, I choose one solution that is closely described with all theory needed for its implementation.