This thesis describes the development of a robotic platform for evaluation of gaze stabilization algorithms built for the Sensorimotor Systems Laboratory at the University of British Columbia. The primary focus of the work was to measure the performance of a biomimetic vestibulo-ocular reflex controller for gaze stabilization using cerebellar feedback. A flexible robotic system was designed and built in order to run reproducible test sequences at high speeds featuring three dimensional linear movement and rotation around the vertical axis. On top of the robot head a 1 DOF camera head can be independently controlled by a stabilization algorithm implemented in Simulink. Vestibular input is provided by a 3-axis accelerometer and a 3-axis gyroscope. The video feed from the camera head is fed into a workstation computer running a custom image processing program which evaluates both the absolute and relative movement of the images in the sequence. The absolute angles of tracked regions in the image are continuously returned, as well as the movement of the image sequence across the sensor in full 3 DOF camera rotation. Due to dynamic downsampling and noise suppression algorithms very good performance was reached, enabling retinal slip estimation at 720 degrees per second. Two different controllers were implemented, one adaptive open loop controller similar to Dean et al.’s work[12] and one reference implementation using closed loop control and optimal linear estimation of reference angles. A sequence of tests were run in order to evaluate the performance of the two algorithms. The adaptive controller was shown to offer superior performance, dramatically reducing the movement of the image for all test sequences, while also offering better performance as it was tuned over time.

A satellite in orbit about a planet needs some means of attitude control in order to, for instance, get as much sun into its solar-panels as possible. It is easy to understand that, for example, a spy satellite has to point at a certain direction without the slightest trembling to get a photo of a certain point on the earth. This type of mission must not exceed an error in attitude of more then about 1/3600 degrees. But, since high accuracy equals high cost, it is also easy to understand why a research satellite measuring solar particles (or radiation) in space does not need high accuracy at all. A research vessel of this sort can probably do with less accuracy then 1 degree. The first part of this report tries to explain some major aspects of satellite space-flight. It continues to focus on the market for small satellites, i.e. satellites weighing less than 500 kg. The second part of this final thesis work deals with the development of a program that simulates the movement of a satellite about a large celestial body. The program, called AOSP, consists of user-definable packages. Sensors and estimation filters are used to predict the satellites current position, velocity, attitude and angular velocity. The purpose of the program, which is written in MATLAB, is to easily determine the pointing accuracy of a satellite when using different sensors and actuators.

This report handles the preliminary design of a control system that includes both attitude control and boost control functionality for sounding rockets. This is done to reduce the weight and volume for the control system. A sounding rocket is a small rocket compared to a satellite launcher. It is used to launch payloads into suborbital trajectories. The payload consists of scientific experiments, for example micro-gravity experiments and astronomic observations. The boost guidance system controls the sounding rocket during the launch phase. This is done to minimize the impact dispersion. The attitude control system controls the payload during the experiment phase. The system that is developed in this report is based on the DS19 boost guidance system from Saab Ericsson Space AB. The new system is designed by extending DS19 with software and hardware. The new system is therefore named DS19+. Hardware wise a study of the mechanical and electrical interfaces and also of the system budgets for gas, mass and power for the system are done to determine the feasibility for the combined system. Further a preliminary design of the control software is done. The design has been implemented as pseudo code in MATLAB for testing and simulations. A simulation model for the sounding rocket andits surroundings during the experiment phase has also been designed and implemented in MATLAB. The tests and simulations that have been performed show that the code is suitable for implementation in the real system.

This thesis focuses on decentralized deadbeat output regulation of discrete-time nonlinear plants that are composed of multiple agents. These agents interact, via scalar-valued signals, in a known structured way represented with a graph. This work is motivated by applications where it is infeasible and/or undesirable to introduce control action within each plant agent; instead, control agents are introduced to interact with certain plant agents, where each control agent focuses on regulating a specific plant agent, called its target. Then, two analyses are carried out to determine if regulation is achieved: targeting analysis is used to determine if control laws can be found to regulate all target agents, then growing analysis is used to determine the effect of those control laws on non-target plant agents. The strength of this novel approach is the intuitively-appealing notion of each control agent focusing on the regulation of just one plant agent. This work goes beyond previous research by generalizing the class of allowable plant dynamics, considering not only arbitrary propagation times through plant agents, but also allowing for non-symmetrical influence between the agents. Moreover, new necessary and sufficient algebraic conditions are derived to determine when targeting succeeds. The main contribution of this work, however, is the development of new easily-verifiable conditions necessary for targeting and/or growing to succeed. These new conditions are valuable due to their simplicity and scalability to large systems. They concern the positioning of control agents and targets as well as the propagation time of signals through the plant, and they help significantly with design decisions. Various graph structures (such as queues, grids, spiders, rings, etc.) are considered and for each, these conditions are used to develop a control scheme with the minimum number of control agents needed.

In this thesis we are going to study the energy shaping problem on controlled Lagrangian systems with degree of underactuation less than or equal to two. Energy shaping is a method of stabilization by designing a suitable feedback control force on the given controlled Lagrangian system so that the total energy of the feedback equivalent system has a non-degenerate minimum at the equilibrium. The feedback equivalent system can then be stabilized by a further dissipative force. Finding a feedback equivalent system requires solving a system of PDEs. The existence of solutions for this system of PDEs is guaranteed, under some conditions, in the case of one degree of underactuation. Higher degrees of underactuation, however, requires a more careful study on the system of PDEs, and we apply the formal theory of PDEs to achieve this purpose in the case of two degrees of underactuation. The thesis is divided into four chapters. First, we review the basic notion of energy shaping and state the results for the case of one degree of underactuation. We then devise a general scheme to solve the energy shaping problem with degree of underactuation equal to one, together with some examples to illustrate the general procedure. After that we review the tools from the formal theory of PDEs, as a preparation for solving the problem with two degrees of underactuation. We derive an equivalent involutive system of PDEs from which we can deduce the existence of solutions which suit the energy shaping requirement.

Saskatchewan Ministry of Highways and Infrastructure (MHI) is responsible for maintaining approximately 26,100 km of two lane equivalent highways network. Most highways in Saskatchewan are constructed primarily of granular materials. Granular materials serve various purposes in a pavement structure. In particular, granular materials distribute stress within the road structure and reduce the stress applied to the subgrade. Granular materials also mitigate pumping of subgrade fines into surfacing materials, as well as provide drainage for the pavement structure.<p>As a result of the rapid deterioration of roadways and the increasing highway traffic, a significant portion of the Saskatchewan highway system is in need of rehabilitation in the next couple of decades. However, increasing costs associated with road construction as well as budget constraints render many conventional rehabilitation solutions untenable in many applications. In addition, the depletion of quality aggregate also exists in many areas of Saskatchewan. Given that much of Saskatchewan granular pavement system will be in need of strengthening in the next few decades, there is a need to apply new cost-effective and aggregate-preserving pavement rehabilitation technologies such as cold in-place recycling and base strengthening.<p>The goal of this research is to improve the engineering design and performance of recycled and stabilized granular base systems under Saskatchewan field state conditions. The specific objectives of this research are to characterize the conventional laboratory behaviour, moisture sensitivity, and mechanistic behaviour of various granular base strengthening systems in the laboratory, to characterize the structural responses of various granular base strengthening systems in the field, and to evaluate the pavement thickness design and responses of various granular base pavement structures.<p>This research is based on a cold in-place recycling and base stabilization project undertaken by Saskatchewan MHI in fall 2006. Control Section (C.S.) 15-11 between km 5.0 and km 8.0 was selected as a typical thin granular pavement under primary weight loadings that required strengthening. Unstabilized granular base, cement stabilized granular base, and cement with asphalt emulsion stabilized granular base were constructed and evaluated in this research. Materials employed on C.S. 15-11 were sampled and prepared for the various laboratory tests performed in this research. Conventional tests performed included sieve analysis, Atterberg limits, sand equivalent, standard proctor compaction, and California bearing ratio strength and swell test. Advanced mechanistic and moisture sensitivity testing included indirect tensile strength, moisture capillary rise and surface conductivity, unconfined compressive strength, and rapid triaxial frequency sweep testing.<p>The cement and cement with emulsion asphalt stabilization of the granular base were found to improve the conventional, mechanical and moisture susceptibility properties of in situ C.S. 15-11 granular base materials. The cement stabilization applied on C.S. 15-11 provided a high degree of improvement relative to the cement with emulsion stabilization. The cement stabilization was found to be relatively easy to apply in construction, whereas the cement with emulsion stabilization was more difficult, particularly due to the problems associated with cold temperatures during late season construction.<p>The rapid triaxial tester (RaTT) was found to be a practical and useful apparatus to characterize the mechanistic constitutive behaviours of granular materials. The C.S. 15- 11 in situ unstabilized base was found to have the poorest mechanistic behaviour among all three granular bases on C.S. 15-11, as expected. Cement stabilization improved the mechanistic behaviour of the in situ material significantly by providing the highest mean dynamic modulus, lowest mean Poissons ratio, lowest mean radial microstrain, and the lowest mean phase angle. The cement with emulsion asphalt stabilization also provided a considerable improvement on mechanistic behaviour of C.S. 15-11 granular base materials. However, the degree of improvement was less than the cement stabilization system.<p>Non-destructive falling weight deflection measurements taken across the field test sections showed that the stabilization systems yielded a significant improvement of primary structural response profiles across the C.S. 15-11 test sections after stabilization. The cement stabilization system was found to yield the most significant structural improvements among all the test sections constructed on the C.S. 15-11. The deflection measurements taken in 2007 after hot mix asphalt paving further identified that the unstabilized system is more sensitive to the freeze-thaw effects relative to cement stabilization and cement with emulsion stabilization systems.<p> This research also showed that the Saskatchewan MHI structural design system is not applicable to the design of stabilized granular base systems. Evaluation of the thickness design for C.S. 15-11 showed the unstabilized and the cement with asphalt emulsion stabilized test section met the criterion of fatigue cracking, but failed to meet the criterion of structural rutting in MHI design system. However, the cement stabilized section met both fatigue cracking and rutting criteria. The structural evaluation revealed that mechanistic pavement response analysis and validation are necessary in the thickness design of stabilized granular systems such as C.S. 15-11, where traditional MHI design system is not applicable. This research employed finite element modeling and linear elastic pavement modeling software to determine the maximum shear stresses within granular base under typical Saskatchewan stress state conditions. The maximum shear stress values were found to locate on top of granular base courses under the applied circular loading edges ranging from 177 kPa to 254 kPa. These maximum shear stresses within the C.S. 15-11 test section granular base courses under field stress states were compared to maximum shear stresses occurring within samples measured by rapid triaxial testing performed in this research. The comparison showed that the ranges of shear stresses applied in the laboratory RaTT testing were close to shear stresses of granular bases in the field computed from modeling. Therefore, this research showed a good correlation of lab RaTT testing and field results for granular pavements.<p>In summary, this research met the objectives of mechanistically evaluating various granular base stabilization systems in Saskatchewan by means of various laboratory testing, non-destructive field testing, as well as mechanistic modeling and analysis. This research provided valuable data and showed considerable potential for improving design, construction, and QA/QC of conventional and stabilized granular base systems in Saskatchewan.

<p>A new method of stabilizing low-order, proper orthogonal decomposition based reduced-order models of the Navier Stokes equations is proposed. Unlike traditional approaches, this method does not rely on empirical turbulence modeling or modification of the Navier-Stokes equations. It provides spatial basis functions different from the usual proper orthogonal decomposition basis function in that, in addition to optimally representing the solution, the new proposed basis functions also provide stable reduced-order models. The proposed approach is illustrated with two test cases: two-dimensional flow inside a square lid-driven cavity and a two-dimensional mixing layer.</p> / Dissertation

Geotechnical engineers often face important discrepancies between the observed and the predicted behavior of geosystems. Two conceptual frameworks are hypothesized as possible causes: the ubiquitous spatial variability in soil properties and process-dependent terminal densities inherent to granular materials. The effects of spatial variability are explored within conduction and diffusion processes. Mixtures, layered systems, inclusions and random fields are considered, using numerical, experimental and analytical methods. Results include effective medium parameters and convenient design and analysis tools for various common engineering cases. In addition, the implications of spatial variability on inverse problems in diffusion are numerically explored for the common case of layered media. The second hypothesis states that there exists a unique terminal density for every granular material and every process. Common geotechnical properties are readily cast in this framework, and new experimental data are presented to further explore its implications. Finally, an unprecedented field study of blast densification is documented. It involves comprehensive laboratory and site characterization programs and an extensive field monitoring component. This full scale test lasts one year and includes four blasting events.

The Land Bank of Taiwan, which has been through a number of financial reforms in the last few years, was chosen as research object for this study. First, it was promoted from provincial bank to state-operated bank due to the governmental organizational reform, and then was prepared to transfer its ownership from a state-owned bank to a privately owned one. However, due to recent financial crisis, the privatization process was forced to stop. This research used three different qualitative methods, including participant observation, in-depth interviews, and focused group interview, for triangulation in order to obtain objectivity. Through the three unique qualitative methods, the researcher was able to collect valuable qualitative data from a wide variety of different dimensions such as bank managers, bank employees and customers. Major research findings include the followings. First, state owned banking system is proved to be capable of stabilizing financial unrest in this global financial turmoil and local credit card debt issues. Second, state owned banks provide better protection over their employees and customers than their privately owned counterparts. Third, the overall performance of stat owned banking system is shown to outperform those privately owned ones. To conclude, some suggestions and policy implications are raised based upon the research findings.

My dissertation studies various questions falling into the broad context of macroeconomics and international economics. The questions have macroeconomic components because they are concerned with the behavior of aggregates. Specifically, the second and third chapters of my dissertation study the causes of fluctuations in aggregate macroeconomic variables and the way policy can be coordinated internationally to reduce these fluctuations, respectively. In addition, chapters III and IV address questions that fall into the realm of international economics. They are concerned with the optimal exchange rate regime between two countries, the consequences of partial exchange rate pass-through and the effect of an increase in vertical Foreign Direct Investment (FDI) by domestic firms. The framework of my analysis is given by different versions of general equilibrium models. The second chapter of my dissertation decomposes fluctuations in aggregate observables for the UK economy during the 1980s recession. Using a modern accounting procedure, I estimate parameters that describe the economy using annual data from 1970 to 2002. Then, I simulate different versions of the model to find the distortions that are essential in driving the observed fluctuations. I find labor market distortions to be crucial in accounting for the episode, suggesting that the policies of the time were well targeted and effective. The third chapter of my dissertation studies policy coordination in a two-country framework allowing for partial pass-through. In particular, both countries are assumed to have monetary and fiscal stabilization instruments available. The optimal setting of these instruments under differing pass-through regimes is analytically derived. Fiscal policy is found to be used in a counter-cyclical fashion. In addition, the magnitude of fiscal stabilization is the largest when pass-through is partial. In the fourth chapter, I study the consequences of vertical FDI on aggregate productivity and welfare. The framework allows for heterogeneity across firms in two dimensions. It is firms that are at a disadvantage with respect to manufacturing costs that are benefiting most from moving their production process abroad. Overall, the ability to engage in vertical FDI increases productivity, lowers prices and thus increases welfare.