Les interactions entre les processus tectoniques et l’érosion ont été peu étudiées à des échelles de temps courtes (< 1000 ans). Cependant, les séismes peuvent activement contribuer à l’érosion des chaînes de montagne en déclenchant de nombreux glissements de terrain. Des études récentes ont également montré que ces grands événements érosifs pourraient engendrer des changements de contraintes suffisants à proximité des failles actives pour modifier la sismicité régionale. Dans cette thèse, cette problématique a été abordée via une approche numérique. Dans un premier temps, le développement d’un modèle simple de glissements de terrain prenant en compte la topographie des versants a permis de démontrer le rôle des paramètres mécaniques (cohésion et friction), et de la forme des versants sur la distribution de taille des glissements de terrain. Ce modèle a été validé à l’aide de cas naturels de glissements de terrain co-sismiques. Dans un deuxième temps, le rôle de la forme finie des versants sur la probabilité de grands glissements de terrain a été démontrée en se basant sur des données. Enfin, dans un troisième temps, le potentiel effet d’un grand évènement érosif sur la sismicité a été exploré à l’aide d’un modèle numérique de cycle sismique dans lequel ont été implémentées des variations temporelles de la contrainte normale sur la faille. Les résultats mettent en évidence le rôle du volume de sédiments, mais aussi de leur temps d’export. En particulier, les paysages caractérisés par une hauteur unstable des versants importante pourraient, en favorisant de grands glissements de terrain, induire une érosion assez importante et rapide pour modifier de façon significative la sismicité régionale. / Interactions between tectonic processes and erosion have been poorly investigated at short time-scales (<1000 years). However, earthquakes can largely contribute to the erosion of mountain belts by triggering widespread landsliding. Moreover, recent studies have shown that such large erosional events could induce stress changes in the fault environment efficient enough to influence regional seismicity. In this thesis, this problematic is tackled through a numerical approach. Firstly, the development of a simple mechanical model accounting for the complexity and variability of natural hillslopes allowed to demonstrate the role of mechanical parameters (cohesion and friction), and of hillslope shape in the probability density function of landslide sizes. This model has been validated using natural cases of co-seismic landsliding. Secondly, the role of unstable hillslope height on large landslide probability has been demonstrated based on natural data, and the exponential distribution of this unstable height has ben shown. Finally, the potential effect of a large erosional event on seismicity has been explored with a numerical model of seismic cycle, in which has been implemented temporal normal stress variations. The results emphasize the role of eroded sediment volume, but also of the export time of sediments away from the mountain belt. In landscape with high unstable hillslopes, large landslides are favored and in turn, could induce fast an important enough erosion to modify regional seismicity.

Esta pesquisa apresenta o projeto, construção e testes, tanto de laboratório como de campo de um sismógrafo de engenharia para o monitoramento dos níveis de vibração e pressão acústica, resultantes do processo de desmonte de rocha utilizando explosivos. Desenvolveram-se filtros e amplificadores com características que atendam às especificações impostas pelo guia intitulado \"ISEE Performance Specifications for Blasting Seismographs\" (ISEE, 2011), bem como, foram utilizados sensores (geofones e microfone) desenvolvidos e fabricados por terceiros, mas que atendam às características impostas pelo guia. A interconexão entre a etapa analógica com a digital foi realizada através da utilização de módulos de conversão A/D com tecnologia Sigma-Delta e resolução de 24-bits. Todas as etapas de aquisição, processamento e armazenamento de dados são controladas através de um microcontrolador ARM Cortex-M de 32-bits, o qual provê os mais diversos e modernos periféricos. Os testes de laboratório demonstraram a eficácia dos circuitos analógicos, pois apresentaram resposta plana na banda de passagem, onde os filtros passa-baixa, do tipo Butterworth, proporcionaram uma atenuação de 36 dB/oitava a partir da frequência de corte de 500 Hz, enquanto os filtros passa-alta, do tipo passivo, proporcionaram uma atenuação de 6 dB/oitava abaixo da frequência de corte de 2 Hz. Os testes de operação confirmaram a fácil e rápida operação do conjunto sismográfico, enquanto os testes de campo demonstraram a praticidade de sua operação e confiabilidade e coerência dos resultados. Concluiu-se que o sistema é exequível, atendendo às necessidades de monitoramento de um processo de desmonte de rochas utilizando explosivos a um preço relativamente baixo, abrindo a possibilidade de utilizá-lo em monitoramentos permanentes em situações onde isto seja necessário. / This research presents the design, construction and laboratory and field testing of an engineering seismograph for monitoring vibration and acoustic pressure levels during rock blasting. Filters and amplifiers with characteristics that meet the specifications of ISEE Performance Specifications for Blasting Seismographs (ISEE, 2011) have been developed. Third part sensors (geophones and microphones) were selected to attend the characteristics suggested by the guide. The interconnection between the analog and the digital stages was accomplished with A/D conversion modules with Sigma- Delta technology and 24-bit resolution. All data acquisition, processing and storage steps are controlled by a 32-bit ARM Cortex-M microcontroller, which provides several and modern peripherals. Laboratory tests confirmed the effectiveness of the analog circuits that presented flat response between 2 and 500Hz. The low-pass filters developed are type Butterworth with an attenuation factor of 36 dB/octave for frequencies above 500 Hz. The high-pass filters are of passive type with rejection factor of 6 dB/octave below 2 Hz. The operation of the system presented to be easy and fast. Field tests demonstrated its friendliness and the results showed to be consistent. It was concluded that the system is feasible and applicable to monitor rock-blasting process. Its relatively low price opens up the possibility of using it for permanent monitoring in situations where this might be necessary.

No topo do sistema de nappes Andrelândia, borda sul do cráton do São Francisco, ocorrem nappes formadas predominantemente por rochas metasedimentares com metabásicas e metaultramáficas subordinadas, que registram metamorfismo de fácies granulito de alta pressão no Ediacarano. São as nappes Três Pontas - Varginha, Pouso Alto e as klippen Aiuruoca e Carvalhos. Na Klippe Carvalhos predominam paragnaisses a rutilo, cianita, granada e ortoclásio pertítico, que estão colocados sobre micaxistos em fácies anfibolito da Nappe Liberdade. A assembléia mineral dos paragnaisses sugere uma progressão metamórfica saindo do campo de estabilidade da estaurolita (inclusa em granada), passando pela quebra de muscovita (ausente nos litotipos com menor retrogressão) e chegando na quebra parcial de biotita com geração de granada + ortoclásio + fundido. Durante a retrogressão essas reações foram novamente cruzadas em sentido contrário, sendo que a granada foi parcialmente a totalmente consumida por intercrescimentos vermiformes e/ou esqueletais de biotita + quartzo. Na porção leste da klippe e nas proximidades de zonas de cisalhamento é comum a ocorência de silimanita + biotita substituindo parcialmente granada e substituições diretas de cianita por silimanita. Rochas metabásicas, boudinadas dentro dos paragnaisses, apresentam paragênese reliquiar de granada + clinopiroxênio + quartzo ± plagioclásio. Nessas rochas a retrogressão está registrada em coronas de intercrescimentos de hornblenda + plagioclásio que substituem parcial a totalmente a granada. Localmente essas coronas são seguidas por uma fina e descontínua corona de minerais opacos granulares, possivelmente ilmenita. Na hidratação os cristais de clinopiroxênio, ricos em microexsoluções de quartzo e/ou feldspato, foram parcial a totalmente substituídos por hornblenda. E em locais com retrogressão mais intensa, próximos a zonas de cisalhamento, ocorre ortopiroxênio associado a clinopiroxênio. Em sua porção sudoeste, a klippe está em contato com gnaisses Paleoproterozóicos conhecidos como Migmatitos Alagoa. As rochas básicas intercaladas nesses gnaisses, em geral, registram metamorfismo de fácies anfibolito. Porém próximo ao contato com a klippe, ocorre um corpo com composição granítica e ortopiroxênio ígneo (charnockito), que apresenta coronas de granada + clinopiroxênio + quartzo + plagioclásio entre os cristais de ortopiroxênio e plagioclásio, evidenciando um metamorfismo progressivo chegando ao fácies granulito de alta pressão. Essas coronas podem estar relacionadas a superimposição do metamorfismo de alta pressão, sofrido pelas rochas da klippe no Ediacarano, no embasamento mais antigo. O pico metamórfico calculado para os paragnaisses da klippe através do termômetro de Zr em rutilo e do barômetro GASP é de 850 ºC e 16 Kbar. Esses dados corroboram com os cálculos termométricos realizados através da reintegração de feldspatos ternários (plagioclásio antipertítico) que chegam a temperaturas de 870 ± 50ºC. Em rochas metabásicas os resultados dos cálculos termobarométricos são 850ºC e 15 ± 2 Kbar. Datações U-Pb (ID-TIMS) de monazita colocam o pico metamórfico em 618 ± 2.2Ma. E datações K-Ar em anfibolio de 582.9 ± 14.8 Ma não são coerentes com resfriamento, em uma trajetória de exumação rápida, evidenciada pela preservação das paragêneses de pico metamórfico. Os metasedimentos presentes na Klippe Carvalhos apresentam composição variada, desde metasedimentos pelíticos com altas razões A/CNK até metasedimentos imaturos, ricos em feldspato, como metagraywackes e metarcósios. Apesar do alto grau metamórfico, os metasedimentos presentes na klippe apresentam padrões de ETR muito semelhantes aos de rochas sedimentares pós-arqueanas. Os granada-biotita-plagioclásio gnaisses da klippe, possíveis metarenitos imaturos, apresentam uma composição química aparentemente sem perda considerável de líquidos silicáticos gerados por fusão parcial. Isso provavelmente é resultado de baixas taxas de fusão parcial (<10%), que não permitem a conexão e extração dos líquidos. Essas baixas taxas de fusão parcial provelmente estão relacionadas às pequenas quantidades de muscovita nessas composições. Portanto, os granada-biotita-plagioclásio gnaisses provavelmente não foram composições férteis para geração magmas. Provavelmente os metapelitos foram as principais fontes de magma dentro da klippe, devido a quantidade elevada de muscovita nessas composições, que permitem uma geração considerável de líquidos através da quebra de muscovita, em temperaturas inferiores a 850ºC. / At the top of Andrelândia Nappes System, southern border of São Francisco craton, occur nappes formed dominantly by metasedimentary rocks with subordinated metabasics and metaultramafics which record metamorphism of high pressure granulite facies in the Ediacaran. These nappes are Três Pontas - Varginha, Pouso Alto and Klippen Airuoca and Carvalhos. In Carvalhos Klippe are predominant rutile, kyanite, garnet and pertitic orthoclase bearing paragneisses, which are placed over micaschists in amphibolite facies of Liberdade Nappe. The mineral assemblage of paragneisses suggests a metamorphic progression starting from stability field of estaurolite (as inclusion inside garnet), passing by muscovite breakdown (absent in lithotypes with less retrogresion) and reaching parcial breakdown of biotite, forming garnet + orthoclase + melt. During retrogression these reactions were crossed again in the opposite way, with granet being partially to totally consumed by vermiforms and/or eskeletals intergrowths of biotite + quartz. In the eastern portion of the Klippe and near shear zones are very common the substitution of garnet by sillimanite + biotite or kyanite by sillimanite. Metabasic rocks, boudinated inside paragneisses, exhibit relicts of garnet + clinopyroxene + quartz ± plagioclase. In these rocks retrogression is recorded in intergrowth coronas of hornblende + plagioclase which substitute garnet partially to totally. Locally these coronas followed by a thin and descontinuous corona formed by granular opaque minerals, probably ilmenite. During hidratation reactions, clinopyroxene crystals, rich in microexsolutions of quartz and/or feldspar, were partial to totally replaced by hornblende. Where retrogression were more intense, nearby shear zones, occur orthopyroxene associated with clinopyroxene. In its southwestern portion is in contact with Paleoproterozoic gneisses known as Alagoa Migmatites. The basic rocks, intercalated with these gneisses, usually record amphibolite facies metamorphism. However, close to the contact with klippe, occur a body with granitic composition and igneous orthopyroxene (charnockite), which presents coronas of garnet + clinopyroxene + quartz + plagioclase, between orthopyroxene and plagioclase crystals, showing a progressive metamorphism reaching high pressure granulite facies. These coronas can be related to a superimposed metamorphism of high pressure in the older embasement. The metamorphic peak calculated for the paragneisses of klippe using Zr-inrutile thermometer and the GASP barometer is 850ºC and 16Kbar. These data are compatible with thermometric calculations done by ternary feldspar reintegration (antiperthitic plagioclase), which reachs temperatures of 870±50ºC. In metabasic rocks, the results of themobarometric calculations are 850ºC and 15±2Kbar. U-Pb dating (ID-TIMS) of monazite put the metamorphic peak in 618±2.2Ma and K-Ar dating in amphibole of 582.9±14.8Ma are not coherent with cooling in a fast exhumation pathway, showed by preservation of metamorphic peak paragneisses. The metasediments present in Carvalhos Klippe show variated composition, including pelitic metasediments with high A/CNK ratios and imature metasediments, rich in feldspar, like metagraywackes and metarkoses. In spite of high metamorphic grade, the metasediments present in the klippe show ETR patterns very similar to the post-archean rocks. The garnet-biotite-plagioclase gneisses of Klippe, probably imature metarenites, show a chemical composition aparently without considerable loss of silicatic melts, formed by partial melt. This probably results from low partial melt rates (<10%), which dont allow the conection and extraction of the liquids. The low partial melt rates are probably related to small amounts of muscovite in these compositions. Therefore, the garnet-biotiteplagioclase gneisses probably were not fertile compositions to form magmas. Probably the metapelites were the main sources of magma inside the klippe, due to high amounts of muscovite in these compositions, which allow a considerable generation of liquids through the muscovite breakdown, in temperatures below 850ºC.

Micrositing é o campo do posicionamento estratégico dos aerogeradores na área do parque eólico visando a con guração mais promissora em termos econômicos ou de produção. Dado que em terrenos complexos as características do vento variam na área do parque eólico de forma não-linear, emprega-se a modelagem numérica do vento por CFD para extrapolar os dados medidos para toda a região. O presente trabalho consiste no desenvolvimento de uma metodologia de micrositing em terrenos complexos capaz de auxiliar no projeto do layout e seleção do tipo e altura de eixo do aerogerador que maximiza o fator de capacidade (FC) utilizando softwares livres de código aberto. A metodologia consiste na simulação do vento para várias direções de incidência, assimilação das medições, convers ão de velocidade em densidade de potência, ponderação por frequência de ocorrência de cada direção, sobreposição, seleção das coordenadas dos aerogeradores e cálculo do FC para diversas con gurações de tipo e altura de eixo dos aerogeradores. Veri cação, validação e seleção das constantes do modelo de turbulência é realizada anteriormente às simulações Veri cou-se que o modelo k- produziu um escoamento horizontalmente homog êneo e que o melhor desempenho na validação foi obtido com a escolha de constantes para escoamentos atmosféricos. A metodologia foi demonstrada em uma região de terreno complexo em que o FC do parque eólico proposto apresentou caráter convergente com o re no progressivo da malha, porém oscilatório em termos do número de direções simuladas. Por m, obteve-se FC brutos superiores a 40% para as cinco melhores con gurações e de aproximadamente 52% no melhor caso, indicando bom potencial eólico. A metodologia foi capaz de preencher uma lacuna na literatura cientí ca de micrositing ao possibilitar o planejamento do layout, tipo de aerogerador e altura de eixo, bem como a estimativa da produção e FC brutos da usina em terrenos complexos. Além disso, a estrutura de trabalho com o uso de recursos computacionais livres e de código aberto reforça o caráter de desenvolvimento contínuo, compartilhamento e transparência da metodologia. / Micrositing is the eld concerned with the strategic positioning of wind turbines in the wind farm area aimed at the most promissing con guration economically- or yield-wise. Given the wind characteristics vary non-linearly across the wind farm area in complex terrain, numerical wind modeling with CFD is employed to extrapolate the measured data to the whole site. The present work consists of the development of a micrositing methodology in complex terrain capable of assisting the layout project and selection of wind turbine type and hub height that maximizes the capacity factor (CF) using free and open-source software. The methodology consists of simulating the wind for a number of incoming directions, assimilation of measurements, conversion of wind speed into power density, weighing by frequency of occurrence of each direction, overlapping, selection of wind turbine coordinates and CF calculation for a number of wind turbine types and hub heights. Veri cation, validation and selection of turbulence model constants is performed previous to the simulations It was veri ed that the k- model is able to sustain horizontally-homogeneous ow and that the classic atmospheric ow constants performed best in the validation step. The methodology was demonstrated in a complex terrain region for which the proposed wind farm CF showed converging behavior with progressive mesh re nement, however oscillating with the number of wind directions simulated. Ultimately, CF greater than 40% were obtained with the ve best performing con gurations and approximately 52% in the best case scenario, suggesting good wind potential. The methodology was capable of lling a major gap in the scienti c literature of micrositing for allowing the layout planning, selection of wind turbine type and hub height, as well as gross production estimates and CF for the wind farm in complex terrain. Additionally, the free and open-source-based framework strengthens the continuous development, sharing and transparency of the methodology.

A indústria brasileira de fertilizantes encontra-se submetida a um sistema de tributação que pode anular a concorrência do produto nacional em relação ao importado, em função da configuração geográfica da oferta doméstica e do fato do produto importado desfrutar de benefícios tarifários. Tais benéficos são justificados pela grande dependência que a agricultura brasileira tem deste importante insumo e, a localização do consumidor em relação aos principais portos de entrada do produto e da indústria nacional é uma informação estratégica para o mercado e para a viabilidade de projetos de investimentos domésticos. O presente estudo analisou os custos logísticos que incidem sobre os principais fertilizantes importados através da utilização de uma nova metodologia: o uso de um modelo digital de terreno. O modelo foi gerado interpolando-se indicadores de preços construídos a partir das variáveis que atuam na formação dos preços dos fertilizantes importados por meio de três métodos diferentes. O produto do estudo é um modelo digital que descreve o comportamento do preço do fertilizante importado de uma forma contínua sobre a superfície. Este modelo foi usado para analisar a área de abrangência do fertilizante importado de cada um dos principais portos e elaborar simulações a partir da manipulação das variáveis do modelo. / The Brazilian fertilizer industry is subject to a tax system that can cancel the competition of the national product with regard to imported, depending on the geographic configuration of the domestic supply and the fact that the imported products take advantage of tariff benefits. Such benefits are justified by the large dependence of the Brazilian agriculture has this important input. Therefore, the location of the consumer market in relation to the main ports of entry of the input and the domestic industry is a strategic information to the market and the viability of domestic investment projects. This study analyzed the logistics costs imposed on the main imported fertilizers by using a new methodology: the use of a digital terrain model. The model was generated interpolating price indicators constructed from the variables that act in the formation of prices of imported fertilizers by three different methods. The product of the study is a digital model that describes the behavior of the imported fertilizer price in a continuous manner over the surface. This model was used to analyze the coverage area of the imported fertilizer for each of the main ports and prepare simulations from the manipulation of model variables.

L’Anti-Atlas marocain est une vaste province géologique composée d’un socle précambrien et d’une couverture sédimentaire tardi-néoprotérozoïque à paléozoïque. Plus de 200 occurrences cuprifères sont répertoriées dans cette couverture. Avec l’augmentation de la demande mondiale en cuivre depuis les années 2000, ces minéralisations, considérées non rentables dans les années 1980, sont désormais d’intérêt économique majeur pour les compagnies minières. Outre cet intérêt économique, ces occurrences restent un mystère scientifique du point de vue de leur genèse. En effet, les quelques études existantes sur ces objets ne permettent pas d’établir un modèle métallogénique clair expliquant la formation de ces concentrations à cuivre. Notre étude est centrée sur la boutonnière de Bou Azzer-El Graara (Anti-Atlas central). Elle propose de réaliser une synthèse des minéralisations de ce secteur basée sur quatre axe : (1) une étude de terrain à l’échelle des objets minéralisés, (2) une caractérisation minéralogique et texturale des minéralisations, (3) une approche statistique appliquée aux bases de données roche totale de ces occurrences, (4) une étude des inclusions fluides des minéraux de gangue associés au cuivre. Les résultats ont montré que l’ensemble des minéralisations de la couverture avait une texture en stockwork et une minéralogie identique auto-similaire à toute les échelles d’observation, et ce indépendamment de la morphologie des corps. Ce stockwork est contemporain de zones plissées et faillées. Il est contemporain du mouvement de failles du socle Précambrien rejouant au Varisque et induisant la circulation de saumures profondes minéralisant le socle précambrien comme la couverture néoprotérozoïque à cambrienne de cette boutonnière. / The Anti-Atlas belt is a large geological province. It is composed by a Precambrian basement and a Neoproterozoic to Paleozoic sedimentary cover. More than 200 copper occurrences are localized in this cover. Since the 2000s, with the increase of global copper demand, these mineralizations have a great economic interest for mining company. Besides economic interests, the scientific understanding of these mineralizations in this area are not clear. It does not exist a global model to explain the formation of these deposits. Our study is focus on the Bou Azzer-El Graara inlier (central Anti-Atlas). We proposed to realize a synthesis of copper deposits in this area based on four axes: (1) a field study at the ore bodies’ scale, (2) a mineralogical and textural characterization of these mineralizations, (3) a statistical approach applied to rock total data bases of these deposits, (4) a study of fluid inclusions associated to the ore gangue minerals. Results showed that the whole of mineralizations in the Neoproterozoic to Cambrian cover have a same stockwork texture and a same mineralogy at all scales of observations and that, independently of the ore bodies morphology. This stockwork is synchronous of folded and faulted zones. It is too synchronous of Precambrian basement faults movements during the Variscan compression. These movements are link to deep brines circulations responsible of copper mineralizations localized in the Precambrian basement and in the Neoproterozoic to Cambrian cover of this inlier.

O presente trabalho apresenta a aplicação das fórmulas de Vincenty nos cálculos das correções do terreno e do efeito indireto, que desempenham papel relevante na construção de cartas geoidais. Implementa-se um programa de processamento que realiza a integração numérica sobre o modelo digital do terreno, discretizado em células triangulares de Delaunay. O sistema foi desenvolvido com a linguagem de programação FORTRAN, para a execução de intensos algoritmos numéricos usando compiladores livres e robustos. Para o cálculo do efeito indireto, considera-se a redução gravimétrica efetuada com base no segundo método de condensação de Helmert, face ao pequeno valor de efeito indireto no cálculo do geóide, em função da mudança que este produz no potencial da gravidade devido ao deslocamento da massa topográfica. Utiliza-se, o sistema geodésico SIRGAS 2000 como sistema de referência para o cômputo das correções. Simplificando o exame dos resultados alcançados, distingue-se o processamento e desenvolvimento do trabalho em etapas como a escolha de ferramentas geodésicas para máxima precisão dos resultados, elaboração de subrotinas e comparação de resultados com cálculos anteriores. Os resultados encontrados foram de geração sadia e satisfatória e podem ser perfeitamente empregados no cálculo do geóide em qualquer área do globo. / An application of Vincentys formulas has been presented for computing terrain corrections and indirect effect, that have important hole in geoidal maps generation. A software is implemented, that performs numerical integration over a digital terrain model discretized in Delaunay triangular cells. The system had been implemented in FORTRAN Programming Language, as a natural choice for implementation of intensive numerical algorithms, using free and robust compilers. To calculate the indirect effect is used the gravimetric reductions, based on Helmert Second Condensation Method, because of small indirect effect values in calculation of the geoid, depending on the gravity potential change due to displacement of topographical masses. The Geodetic System SIRGAS 2000 is adopted as the reference system to compute the corrections. Simplifying the analysis of the obtained results, the processing and development of the study in stages like choice of geodetic tools for maximum accuracy of results, preparation of subroutines and compare results with previous calculations. The results observed were sound satisfactory and support conveniently geoid generation in any part of globe.

La thèse se décompose en deux parties. La première concerne l'utilisation du code de CFD atmosphérique Mercure Saturne pour estimer le potentiel éolien en terrain complexe. Une campagne de mesure a été menée par EDF pour disposer de données d'entrée et de validation. Une méthodologie a été développée utilisant des profils méso-échelle comme conditions limites du code CFD. Elle utilise la classification automatique pour réduire le nombre de simulations nécessaires au calcul du potentiel. La validation du code sur le cas connu de la colline d'Askervein, la méthodologie et les comparaisons avec les mesures sur le site complexe choisi sont présentées et discutées. La seconde partie concerne l'étude des sillages avec le code Mercure Saturne. Une méthode de représentation des efforts, exercés par les pales sur le vent, utilisant des termes sources a été implémentée. Ces derniers sont calculés par la méthode BEM. Deux comparaisons en soufflerie sont proposées pour la validation / This thesis is organized in two parts. The first part presents the use of the atmospheric CFD code Mercure Saturne to estimate the wind resource in complex terrain. A measurement campaign was led by EDF to obtain data for validation. A methodology was developed using meso-scale profiles as boundary conditions. Clustering of meteorological situations was used to reduce the number of simulations needed to calculate the wind resource. The validation of the code on the Askervein hill, the methodology and comparisons with measurements from the complex site are presented. The second part presents the modeling of wakes with the Mercure Saturne code. Forces, generated by the blades on the wind, are modeled by source terms, calculated by the BEM method. Two comparisons are proposed to validate the method : the first compares the numerical model with wind tunnel measurements from a small wind turbine, the second with measurements made on porous disks in an atmospheric boundary layer wind tunnel

Aquatic robots, such as Autonomous Underwater Vehicles (AUVs), play a major role in the study of ocean processes that require long-term sampling efforts and commonly perform navigation via dead-reckoning using an accelerometer, a magnetometer, a compass, an IMU and a depth sensor for feedback. However, these instruments are subjected to large drift, leading to unbounded uncertainty in location. Moreover, the spatio-temporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting phenomena occur. To add to this, the interesting features are themselves spatio-temporally dynamic, and effective sampling requires a good understanding of vehicle localization relative to the sampled feature. Therefore, our work is motivated by the desire to enable intelligent data collection of complex dynamics and processes that occur in coastal ocean environments to further our understanding and prediction capabilities. The study originated from the need to localize and navigate aquatic robots in a GPS-denied environment and examine the role of the spatio-temporal dynamics of the ocean into the localization and navigation processes. The methods and techniques needed range from the data collection to the localization and navigation algorithms used on-board of the aquatic vehicles. The focus of this work is to develop algorithms for localization and navigation of AUVs in GPS-denied environments. We developed an Augmented terrain-based framework that incorporates physical science data, i.e., temperature, salinity, pH, etc., to enhance the topographic map that the vehicle uses to navigate. In this navigation scheme, the bathymetric data are combined with the physical science data to enrich the uniqueness of the underlying terrain map and increase the accuracy of underwater localization. Another technique developed in this work addresses the problem of tracking an underwater vehicle when the GPS signal suddenly becomes unavailable. The methods include the whitening of the data to reveal the true statistical distance between datapoints and also incorporates physical science data to enhance the topographic map. Simulations were performed at Lake Nighthorse, Colorado, USA, between April 25th and May 2nd 2018 and at Big Fisherman's Cove, Santa Catalina Island, California, USA, on July 13th and July 14th 2016. Different missions were executed on different environments (snow, rain and the presence of plumes). Results showed that these two methodologies for localization and tracking work for reference maps that had been recorded within a week and the accuracy on the average error in localization can be compared to the errors found when using GPS if the time in which the observations were taken are the same period of the day (morning, afternoon or night). The whitening of the data had positive results when compared to localizing without whitening.

As NASA prepares to return humans to the moon and establish a long-term presence on the surface, technologies must be developed to access previously unvisited terrain regardless of the condition. Among these technologies is a guidance, navigation and control (GNC) system capable of safely and precisely delivering a spacecraft, whether manned or robotic, to a predetermined landing area. This thesis presents detailed research of both terrain-relative navigation using a terrain-scanning instrument and beacon-relative radiometric navigation using beacons in lunar orbit or on the surface of the moon. The models for these sensors are developed along with a baseline sensor suite that includes an altimeter, IMU, velocimeter, and star camera. Linear covariance analysis is used to rapidly perform the trade studies relevant to this problem and to provide the navigation performance data necessary to determine which navigation method is best suited to support a 100 m 3-σ navigation requirement for landing anytime and anywhere on the moon.