Em Computação Gráfica, campos vetoriais possuem diversas aplicações desde a síntese e mapeamento de texturas à animações de fluidos, produzindo efeitos amplamente utilizados na indústria do entretenimento. Para produzir tais campos, é preferível o uso de ferramentas de design em vez de simulações numéricas não só devido ao menor custo computacional mas, principalmente, por prover liberdade ao artista ao sintetizar o campo de acordo com a sua necessidade. Atualmente, na literatura, existem bons métodos de design de campos vetoriais em superfícies de objetos tridimensionais porém, o design no interior desses objetos ainda é pouco estudado, principalmente quando o campo de interesse possui propriedades específicas. O objetivo deste trabalho é desenvolver uma técnica para sintetizar campos vetoriais, com características do movimento de fluidos incompressíveis, no interior de domínios. Em uma primeira etapa, o método consiste na interpolação dos vetores de controle, com uma certa propriedade desejada, em todo o domínio. Posteriormente, o campo obtido é modificado para respeitar a geometria do contorno. / Vector fields are important to an wide range of applications on the field of Computer Graphics, from the synthesis and mapping of textures to fluid animation, producing effects widely used on the entertainment industry. To produce such fields, design tools are prefered over numerical simulations not only for its lower computational cost, but mainly by providing freedom to the artist in the creation process. Nowadays, good methods of vector field design over surfaces exist in literature, however there is only a few studies on the synthesis of vector fields of the interior of objects and even fewer when specific properties of the field are required. This work presents a technique to synthesize vector fields with properties of imcompressible fluids motion in the interior of objects. On a first step, the method consists in interpolating control vectors with a certain desired property throughout the whole domain and later the resulting field is modified to properly fit the boundary geometry of the object.

With the increased performance and reduced cost of cameras, the robotics community has taken great interest in estimation and control algorithms that fuse camera data with other sensor data.In response to this interest, this dissertation investigates the algorithms needed for robust guidance, navigation, and control of fixed-wing and multirotor aircraft applied to target estimation and circumnavigation.This work begins with the development of a method to estimate target position relative to static landmarks, deriving and using a state-of-the-art EKF that estimates static landmarks in its state.Following this estimator, improvements are made to a nonlinear observer solving part of the SLAM problem.These improvements include a moving origin process to keep the coordinate origin within the camera field of view and a sliding window iteration algorithm to drastically improve convergence speed of the observer.Next, observers to directly estimate relative target position are created with a circumnavigation guidance law for a multirotor aircraft.Taking a look at fixed-wing aircraft, a state-dependent LQR controller with inputs based on vector fields is developed, in addition to an EKF derived from error state and Lie group theory to estimate aircraft state and inertial wind velocity.The robustness of this controller/estimator combination is demonstrated through Monte Carlo simulations.Next, the accuracy, robustness, and consistency of a state-of-the-art EKF are improved for multirotors by augmenting the filter with a drag coefficient, partial updates, and keyframe resets.Monte Carlo simulations demonstrate the improved accuracy and consistency of the augmented filter.Lastly, a visual-inertial EKF using image coordinates is derived, as well as an offline calibration tool to estimate the transforms needed for accurate, visual-inertial estimation algorithms.The imaged-based EKF and calibrator are also shown to be robust under various conditions through numerical simulation.

Cette thèse contient deux parties distinctes, reliées par le thème de l’étude géométrique du problème à trois corps. La première partie présente un point de vue sur les enjeux et les perspectives liés à la diffusion des mathématiques, et illustre ce point de vue à l’aide de deux projets de diffusion « grand public » : une exposition virtuelle autour de la mécanique céleste et du problème à trois corps, et un duo de contes mathématiques pour enfants, l’un sur la forme de la lune, et l’autre sur l’enlacement de courbes fermées. La présentation de ces projets est suivie d’une analyse a priori et d’une étude des observations recueillies lors de différentes expérimentations auprès de publics variés. La deuxième partie est consacrée à l’étude – théorique et numérique – de l’enlacement des trajectoires de quelques systèmes dynamiques sur la 3-sphère, et en particulier de certaines instances du problème à trois corps. On y présente d’abord le problème à trois corps restreint, plan, circulaire, en s’intéressant tout particulièrement au cas où une des deux primaires disparait. On se ramène ainsi à un flot sur la 3-shpère dont on connaît explicitement des sections de Birkhoff en disque ou en anneau, et on met en lumière des éléments qui tendent à montrer le caractère lévogyre de ce flot. On explore ensuite, à l’aide de simulations numériques, la possibilité que le système reste lévogyre sur un domaine assez éloigné de ce cas dégénéré. Enfin, on s’intéresse aux flots sur la 3-sphère qui admettent une section de Birkhoff en disque et on traduit la notion d’enlacement de mesures invariantes pour le flot en termes d’enroulement de mesures invariantes pour le difféomorphisme de premier retour. / This thesis contains two distinct parts, connected by the subject of the geometric study of the three body problem.The first part presents a point of view about the stakes and prospects of the popularization of mathematics, and it illustrates this point of view with two projects of popularization for a general public : a virtual exhibition about celestial mechanics and the three body problem, and a pair of mathematical tales for children, one about the shape of the moon, and the other about the linking number of two closed curves. The presentation of these projects is followed by an initial analysis and by a study of the observations collected during different experimentations towards various publics. The second part is devoted to the theoretical and computational study of the linking number of trajectories from a few dynamical systems on the 3-sphere, and in particular from some cases of the restricted three body problem. We first present the planar, circular, restricted three body problem, with a particular attention to the case where one of the two heavy bodies vanishes. We thus restrict ourselves to a flow on the 3-shpere for which disk-like or annular-like Birkhoff sections are explicitely known, and we bring to light evidences of the right-handedness of this flow. Then we investigate, with the help of computer simulations, the possibility for the system to stay right-handed over a domain rather distant from this degenerate case. Finally, we consider the flows on the 3-sphere which admit a disk-like Birkhoff section, and we translate the notion of linking for measures that are invariant by a flow into the notion of winding for measures that are invariant by the first return map on the disk.

Nous proposons dans ce mémoire de thèse une méthodologie permettant la résolution du problème de la décomposition de Hodge-Helmholtz discrète sur maillages polyédriques. Le défi de ce travail consiste à respecter les propriétés de la décomposition au niveau discret. Pour répondre à cet objectif, nous menons une étude bibliographique nous permettant d'identifier la nécessité de la mise en oeuvre de schémas numériques mimétiques. La description ainsi que la validation de la mise en oeuvre de ces schémas sont présentées dans ce mémoire. Nous revisitons et améliorons les méthodes de décomposition que nous étudions ensuite au travers d'expériences numériques. En particulier, nous détaillons le choix d'un solveur linéaire ainsi que la convergence des quantités extraites sur un ensemble varié de maillages polyédriques et de conditions aux limites. Nous appliquons finalement la décomposition de Hodge-Helmholtz à l'étude de deux écoulements turbulents : un écoulement en canal plan et un écoulement turbulent homogène isotrope. / We propose in this thesis a methodology to compute the Helmholtz-Hodge decomposition on discrete polyhedral meshes. The challenge of this work isto preserve the properties of the decomposition at the discrete level. In our literature survey, we have identified the need of mimetic schemes to achieve our goal. The description and validation of our implementation of these schemes are presented inthis document. We revisit and improve the methods of decomposition we then study through numerical experiments. In particular, we detail our choice of linear solvers and the convergence of extracted quantities on various series of polyhedral meshes and boundary conditions. Finally, we apply the Helmholtz-Hodge decomposition to the study of two turbulent flows: a turbulent channel flow and a homogeneous isotropic turbulent flow.

We consider a simple one-dimensional random dynamical system with two driving vector fields and random switchings between them. We show that this system satisfies a one force - one solution principle and compute its unique invariant density explicitly. We study the limiting behavior of the invariant density as the switching rate approaches zero and infinity and derive analogues of classical probabilistic results such as the central limit theorem and large deviations principle.

CoordenaÃÃo de AperfeiÃoamento de Pessoal de NÃvel Superior / Conselho Nacional de Desenvolvimento CientÃfico e TecnolÃgico / FundaÃÃo de Amparo à Pesquisa do Estado do Amazonas / Esta tese està composta de quatro partes distintas. Na primeira parte, vamos dar uma nova caracterizaÃÃo da esfera euclidiana como a Ãnica variedade Riemanniana compacta com curvatura escalar constante e admitindo um campo de vetores conforme nÃo trivial que à tambÃm Ricci conforme. Na segunda parte, provaremos algumas propriedades dos quase sÃlitons de Ricci, as quais permitem estabelecer condiÃÃes de rigidez desses objetos, bem como caracterizar as estruturas de quase sÃlitons de Ricci gradiente na esfera euclidiana. ImersÃes isomÃtricas tambÃm serÃo consideradas; classificaremos os quase sÃlitons de Ricci imersos em formas espaciais, atravÃs de uma condiÃÃo algÃbrica sobre a funÃÃo sÃliton. AlÃm disso, vamos caracterizar, atravÃs de uma condiÃÃo sobre o operador de umbilicidade, as hipersuperfÃcies n-dimensionais de uma forma espacial, com curvatura mÃdia constante, tendo duas curvaturas principais distintas e com multiplicidades p e n - p. Na terceira parte, provaremos um resultado de rigidez e algumas fÃrmulas integrais para uma mÃtrica m-quasi-Einstein generalizada compacta. Na Ãltima parte, vamos apresentar uma relaÃÃo entre a curvatura gaussiana e o Ãngulo de contato de superfÃcies imersas na esfera euclidiana tridimensional,a qual permite concluir que a superfÃcie à plana, se o Ãngulo de contato for constante. AlÃm disso, deduziremos que o toro de Clifford à a Ãnica superfÃcie compacta com curvatura mÃdia constante tendo tal propriedade. / This thesis is composed of four distinct parts. In the first part, we shall give a new characterization of the Euclidean sphere as the only compact Riemannian manifold with constant scalar curvature carrying a conformal vector eld non-trivial which is also Ricci conformal. In the second part, we shall prove some properties of almost Ricci solitons, which allow us to establish conditions for rigidity of these objects, as well as characterize the structures of gradient almost Ricci soliton in Euclidean sphere. Isometric immersions also will be considered, we shall classify almost Ricci solitons immersed in space forms, through algebraic condition on soliton function. Furthermore, we characterize under a condition of the umbilicity operator, n-dimensional hypersurfaces in a space form with constant mean curvature, admitting two distinct principal curvatures with multiplicities p and n - p. In the third part, we prove a result of rigidity and some integral formulae for a compact generalized m-quasi-Einstein metric. In the last part, we present a relation between the Gaussian curvature and the contact angle of surfaces immersed in Euclidean three-dimensional sphere, which allows us to conclude that such a surface is at provided its contact angle is constant. Moreover, we deduce that Clifford tori are the unique compact surfaces with constant mean curvature having such property.

Le but de cette thèse est d’étudier, à l’aide d’outils combinatoires simples, différentes structures géométriques construites à partir de l’action d’un polynôme ou d’une fraction rationnelle. Nous considérerons d’abord la structure de l'ensemble des solutions séparatrices d’un champ de vecteurs polynomial ou rationnel. Nous allons établir plusieurs modèles combinatoires de ces cartes planaires, ainsi qu’une formule fermée énumérant les différentes structures topologiques dans le cas polynomial. Puis nous parlerons de revêtements ramifiés de la sphère que nous modéliserons, via un objet combinatoire nommée carte équilibrée, à partir d’une idée originale de W.Thurston. Ce modèle nous permettra de démontrer (géométriquement) de nombreuses propriétés de ces objets, et d’offrir une nouvelle approche et de nouvelles perspectives au problème d’Hurwitz, qui reste encore aujourd’hui un problème ouvert. Et enfin nous aborderons le sujet de la dynamique holomorphe via les primitives majeures dont l’utilité est de permettre de paramétrer les systèmes dynamiques engendrés par l’itération de polynômes. Cette approche nous permettra de construire une bijection entre les suites de parking et les arbres de Cayley, ainsi que d’établir une formule fermée liée à l’énumération d’un certain type d’arbres relié à la fois aux primitives majeures et aux revêtements ramifiés polynomiaux. / The main topic of this thesis is to study, thanks to simple combinatorial tools, various geometric structures coming from the action of a complex polynomial or a rational function on the sphere. The first structure concerns separatrix solutions of polynomial or rational vector fields. We will establish several combinatorial models of these planar maps, as well as a closed formula enumerating the different topological structures that arise in the polynomial settings. Then, we will focus on branched coverings of the sphere. We establish a combinatorial coding of these mappings using the concept of balanced maps, following an original idea of W. Thurston. This combinatorics allows us to prove (geometrically) several properties about branched coverings, and gives us a new approach and perspective to address the still open Hurwitz problem. Finally, we discuss a dynamical problem represented by primitive majors. The utility of these objects is to allow us to parameterize dynamical systems generated by the iterations of polynomials. This approach will enable us to construct a bijection between parking functions and Cayley trees, and to establish a closed formula enumerating a certain type of trees related to both primitive majors and polynomial branched coverings.

We discuss two topics in this talk. First we study compact Ricci-flat four dimensional manifolds without boundary and obtain point wise restrictions on curvature( not involving global quantities such as volume and diameter) which force the metric to be flat. We obtain the same conclusion for compact Ricci-flat K¨ahler surfaces with similar but weaker restrictions on holomorphic sectional curvature. Next we study the reaction ODE associated to the evolution of the Riemann curvature operator along the Ricci flow. We analyze the behavior of this ODE near algebraic curvature operators of certain special type that includes the Riemann curvature operators of various(locally) symmetric spaces. We explicitly show the existence of some solution curves to the ODE connecting the curvature operators of certain symmetric spaces. Although the results of these two themes are different, the underlying common feature is the reaction ODE which plays an important role in both.

Orientador: Tiago de Carvalho / Resumo: Nesta tese abordaremos aspectos qualitativos e dinâmicos de problemas envolvendo campos de vetores suaves por partes, também conhecidos como campos descontínuos. Primeiramente, apresentamos aplicações da teoria de campos de vetores descontínuos em modelos de tratamento intermitente de Câncer e Vírus da Imunodeficiência Humana onde exibimos a existência de singularidades típicas e órbitas periódicas. Ainda no contexto de aplicações, revisitamos um modelo predador-presa descontínuo de modo a concluir que o mesmo tem um comportamento caótico através da existência de uma órbita de Shilnikov. Posteriormente, respondemos questões sobre existência de conjuntos minimais e caóticos para campos de vetores descontínuos na esfera bidimensional. Em seguida, partimos ao estudo de bifurcação de ciclos limites em campos de vetores descontínuos tri e bidimensionais. No primeiro caso, perturbamos um campo descontínuo tangente a uma folheação por toros de modo a gerar uma quantidade finita ou infinita de ciclos limites. No segundo caso, estudamos uma família de campos descontínuos apresentando uma dobra-dobra invisível de costura, sua ciclicidade e a relação entre os coeficientes de Lyapunov desta família e sua regularização. Além disso, estudamos campos vetoriais suaves por partes Hamiltonianos contendo uma dobra-dobra invisível de costura donde apresentamos uma fórmula explícita para o cálculo dos cinco primeiros coeficientes de Lyapunov, além de explorar os diagramas de bifurcação gerados pe... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: In this work we discuss qualitative and dynamic features of problems involving piecewise smooth vector fields, also known as discontinuous vector fields. Firstly, we present applications of discontinuous vector field theory in Human Immunodeficiency Virus and Cancer intermittent treatment models where we exhibit typical singularities and periodic orbits. Moreover, we revisit a discontinuous predator-prey model in order to conclude that it has a chaotic behavior through the existence of a Shilnikov orbit. Next, we answer questions about the existence of minimal and chaotic sets in the bidimensional sphere for discontinuous vector fields. Subsequently, we investigate the creation of limit cycles in three and two-dimensional discontinuous vector fields. In the first case, we perturb a discontinuous vector field tangent to a foliation composed by topological nested tori to generate a finite or infinite number of limit cycles. In the second case, we analyze a family of discontinuous vector fields containing a crossing invisible fold-fold, their cyclicity and the relation between the Lyapunov coefficients of this family and their regularization. Also, we study general piecewise Hamiltonian vector fields presenting a crossing invisible fold-fold where we give an explicit formula for the computation of the five first Lyapunov coefficients in addition to the investigation of the bifurcation diagrams. / Doutor

L'objet d'étude de ce mémoire est la géométrie des courbes holomorphes entières à valeurs dans le complémentaire d'hypersurfaces génériques de l'espace projectif complexe. Les conjectures célèbres de Kobayashi et de Green-Griffiths énoncent que pour de telles hypersurfaces, de grand degré, les images de ces courbes entières doivent satisfaire certaines contraintes algébriques. En adaptant les techniques de jets développées notamment par Bloch, Green-Griffiths, Demailly, Siu, Diverio-Merker-Rousseau, pour les courbes à valeurs dans une hypersurface projective (cas dit compact), nous obtenons la dégénérescence algébrique des courbes entières f : ℂ→Pⁿ∖Xd (cas dit logarithmique), pour les hypersurfaces génériques Xd de Pⁿ de degré d ≥ (5n)² nⁿ. Comme dans le cas compact, notre preuve repose essentiellement sur l'élimination algébrique de toutes les dérivées dans des équations différentielles qui sont vérifiées par toute courbe entière non constante. L'existence de telles équations différentielles est obtenue grâce aux inégalités de Morse holomorphes et à une variante simplifiée d'une formule de résidus originalement élaborée par Bérczi à partir de la formule de localisation équivariante d'Atiyah-Bott. La borne effective d ≥ (5n)² nⁿ est obtenue par réduction radicale d'un calcul de résidus itérés de très grande ampleur. Ensuite, la déformation de ces équations différentielles par dérivation le long de champs de vecteurs obliques, dont l'existence est ici généralisée et clarifiée, nous permet d'engendrer suffisamment de nouvelles équations pour réaliser l'élimination algébrique finale évoquée ci-dessus. / The topic of this memoir is the geometry of holomorphic entire curves with values in the complement of generic hypersurfaces of the complex projective space. The well-known conjectures of Kobayashi and of Green-Griffiths assert that for such hypersurfaces, having large degree, the images of these curves shall fulfill algebraic constraints. By adapting the jet techniques developed notably by Bloch, Green-Griffiths, Demailly, Siu, Diverio-Merker-Rousseau, in the case of curves with values in projective hypersurfaces (so-called compact case), we obtain the algebraic degeneracy of entire curves f : ℂ→Pⁿ∖Xd (so called logarithmic case), for generic hypersurfaces Xd in Pⁿ of degree d ≥ (5n)² nⁿ. As in the compact case, our proof essentially relies on the algebraic elimination of all derivatives in differential equations that are satisfied by every nonconstant entire curve. The existence of such differential equations is obtained thanks to the holomorphic Morse inequalities and a simplified variant of a residue formula firstly developed by Bérczi from the Atiyah-Bott equivariant localization formula. The effective lower bound d ≥ (5n)² nⁿ is obtained by radically simplifying a huge iterated residue computation. Next, the deformation of these differential equations by derivation along slanted vector fields, the existence of which is here generalized and clarified, allows us to generate sufficiently many new differential equations in order to realize the final algebraic elimination mentioned above.