Neste trabalho, nós abordamos alguns resultados de T. Fukuda e de N. Dutertre e T. Fukui sobre a topologia das singularidades de Morin. Em particular, apresentamos uma nova prova para o Teorema de Dutertre-Fukui [2, Theorem 6.2], para o caso em que N = Rn, usando a Teoria de Morse para variedades com bordo. Baseados nas propriedades de um n-campo de vetores gradiente (∇ f1; : : : ∇fn) de uma aplicação de Morin f : M → Rn, com dim M ≥ n, na segunda parte deste trabalho, nós introduzimos o conceito de n-campos de Morin para n-campos de vetores que não são necessariamente gradientes. Nós também generalizamos o resultado de T. Fukuda [3, Theorem 1], que estabelece uma equivalência módulo 2 entre a característica de Euler de uma variedade diferenciável M e a característica de Euler dos conjuntos singulares de uma aplicação de Morin definida sobre M, para o contexto dos n-campos de Morin. / In this work, we revisit results of T. Fukuda and N. Dutertre and T. Fukui on the topology of Morin maps. In particular, we give a new proof for Dutertre-Fukui\'s Theorem [2, Theorem 6.2] when N = Rn, using Morse Theory for manifolds with boundary. Based on the properties of a gradient n-vector field (∇ f1; : : : ∇ fn) of a Morin map f : M → Rn, where dim M ≥ n, in the second part of this work, we introduce the concept of Morin n-vector field for n-vector fields V = (V1; : : : ; Vn) that are not necessarily gradients. We also generalize the result of T. Fukuda [3, Theorem 1], which establishes a module 2 equivalence between Euler\'s characteristic of a manifold M and Euler\'s characteristic of the singular sets of a Morin map defined on M, to the context of Morin n-vector fields.

Neste trabalho, nós abordamos alguns resultados de T. Fukuda e de N. Dutertre e T. Fukui sobre a topologia das singularidades de Morin. Em particular, apresentamos uma nova prova para o Teorema de Dutertre-Fukui [2, Theorem 6.2], para o caso em que N = Rn, usando a Teoria de Morse para variedades com bordo. Baseados nas propriedades de um n-campo de vetores gradiente (∇ f1; : : : ∇fn) de uma aplicação de Morin f : M → Rn, com dim M ≥ n, na segunda parte deste trabalho, nós introduzimos o conceito de n-campos de Morin para n-campos de vetores que não são necessariamente gradientes. Nós também generalizamos o resultado de T. Fukuda [3, Theorem 1], que estabelece uma equivalência módulo 2 entre a característica de Euler de uma variedade diferenciável M e a característica de Euler dos conjuntos singulares de uma aplicação de Morin definida sobre M, para o contexto dos n-campos de Morin. / In this work, we revisit results of T. Fukuda and N. Dutertre and T. Fukui on the topology of Morin maps. In particular, we give a new proof for Dutertre-Fukui\'s Theorem [2, Theorem 6.2] when N = Rn, using Morse Theory for manifolds with boundary. Based on the properties of a gradient n-vector field (∇ f1; : : : ∇ fn) of a Morin map f : M → Rn, where dim M ≥ n, in the second part of this work, we introduce the concept of Morin n-vector field for n-vector fields V = (V1; : : : ; Vn) that are not necessarily gradients. We also generalize the result of T. Fukuda [3, Theorem 1], which establishes a module 2 equivalence between Euler\'s characteristic of a manifold M and Euler\'s characteristic of the singular sets of a Morin map defined on M, to the context of Morin n-vector fields.

Neste trabalho calculamos a classe de Euler de uma folheação umbílica em um ambiente com forma de curvatura apropriada. Combinamos o teorema de Hopf-Milnor e o número de Euler de uma folheação, definido por Connes, para mostrar como a geometria da folheação influencia na topologia da variedade folheada, bem como na topologia da folheação. Além disso, exibimos uma lista de invariantes topológicos para campos vetoriais unitários em hipersuperfícies fechadas do espaço Euclidiano, e mostramos como estes invariantes podem ser empregados como obstruções a certas folheações com geometria prescrita. / In this work we compute the Euler class of an umbilic foliation on a manifold with suitable curvature form. We combine the Hopf-Milnor theorem and the Euler number of a foliation, defined by Connes, in order to show how the geometry of the foliation influences the topology of the foliated space as well as the topology of the foliation. Besides, we exhibit a list of topological invariants for unit vector fields on closed Euclidean hypersurfaces, and show how these invariants may be employed as obstructions to certain foliations with prescribed geometry.

Topology-related issues are becoming increasingly important in Computer Graphics. This research examines the use of topological analysis for solving two important problems in 3D Graphics: surface parameterization, and vector field design on surfaces. Many applications, such as high-quality and interactive image synthesis, benefit from the solutions to these problems. Surface parameterization refers to segmenting a 3D surface into a number of patches and unfolding them onto a plane. A surface parameterization allows surface properties to be sampled and stored in a texture map for high-quality and interactive display. One of the most important quality measurements for surface parameterization is stretch, which causes an uneven sampling rate across the surface and needs to be avoided whenever possible. In this thesis, I present an automatic parameterization technique that segments the surface according to the handles and large protrusions in the surface. This results in a small number of large patches that can be unfolded with relatively little stretch. To locate the handles and large protrusions, I make use of topological analysis of a distance-based function on the surface. Vector field design refers to creating continuous vector fields on 3D surfaces with control over vector field topology, such as the number and location of the singularities. Many graphics applications make use of an input vector field. The singularities in the input vector field often cause visual artifacts for these applications, such as texture synthesis and non-photorealistic rendering. In this thesis, I describe a vector field design system for both planar domains and 3D mesh surfaces. The system provides topological editing operations that allow the user to control the number and location of the singularities in the vector field. For the system to work for 3D meshes surface, I present a novel piecewise interpolating scheme that produces a continuous vector field based on the vector values defined at the vertices of the mesh. I demonstrate the effectiveness of the system through several graphics applications: painterly rendering of still images, pencil-sketches of surfaces, and texture synthesis.

Βασικό αντικείμενο της εργασίας είναι ο έλεγχος και η ευστάθεια ομάδων αποτελούμενων από κινούμενα ρομπότ. Για το σκοπό αυτό καταγράφονται και παρουσιάζονται, αναλυτικά, μέθοδοι και τρόποι που εξυπηρετούν προς την κατεύθυνση αυτή. Η εργασία χωρίζεται σε τέσσερα κεφάλαια, από τα οποία, τα τρία πρώτα έχουν θεωρητικό χαρακτήρα, σε αντίθεση με το τέταρτο κεφάλαιο που είναι πρακτικού περιεχομένου. Το πρώτο κεφάλαιο αποτελεί, κατά μία έννοια, εισαγωγή στο θέμα του ελέγχου ρομπότ, καθώς παρουσίαζεται σε αυτό μία μέθοδος με την οποία επιτυγχάνεται ο έλεγχος και ο σχεδιασμός κίνησης για ένα και μόνο ρομπότ, σε περιβάλλον εμποδίων. Με τον τρόπο αυτό δίνεται μία βάση και ένα θεωρητικό πλαίσιο, για την περαιτέρω μελέτη, που παρουσιάζεται στα επόμενα κεφάλαια και αφορά ομάδες από κινούμενα ρομπότ. Στο δεύτερο κεφάλαιο γίνεται η παρουσίαση μίας μεθόδου με την οποία μπορεί να καθοριστεί ένας σχηματισμός αποτελούμενος από ρομπότ, ικανός να εκτελέσει διάφορες επιθυμητές κινήσεις και κατόπιν, αφού εξασφαλιστεί αυτή η ικανότητα, να κατασκευάστεί ένα κατάλληλο σύστημα ελέγχου για την πραγματοποιήση των κινήσεων αυτών. Στο τρίτο κεφάλαιο, που ολοκληρώνει και το θεωρητικό μέρος της εργασίας αυτής, γίνεται η καταγραφή μιας μεθόδου για την εξέταση της ευστάθειας σχηματισμών ρομπότ κατά την εκτέλεση κινήσεων στο χώρο, σε περιβάλλον εμποδιών. Η μέθοδος αυτή συναντάται με τον αγγλικό όρο, Leader-to-Formation Stability (LFS) και σχετίζεται με τον βαθμό διατήρησης της μορφής του σχηματισμού και των σφαλμάτων σχηματισμού εντός επιτρεπτών ορίων. Στο τέταρτο κεφάλαιο, γίνεται η παρουσίαση ενός προγράμματος σε γλώσσα Matlab, με το οποίο επιτυγχάνεται η προσομοίωση κινήσεων ενός ή πολλών ρομπότ στο επίπεδο, σε περιβάλλον εμποδίων. Το πρόγραμμα συναντάται εξ ολοκλήρου και στο συνοδευτικό CD της εργασίας. / Basic object of this work is the control and the stability of teams constituted of moving robots. For this aim they are recorded and are presented, analytically, methods and ways that they serve to this direction. The work is separated in four chapters, from which, the three first have theoretical character, contrary to the fourth chapter that is of practical content. The first chapter constitutes, at a significance, import in the subject of robot control , as is presented in this, a method with which are achieved the control and the planning of movement for one and alone robot, in environment of obstacles. With this way is given a base and a theoretical frame, for the further study, that is presented in the next capitals and concerns teams of moving robots. In the second chapter comes the presentation of a method with which it can be determined a formation of robots, that is capable to execute various, desirable movements and then, after is ensured this faculty, is been constructed a suitable system of control for the realisation of this movements. In the third chapter, that it completes also the theoretical part of this work, comes the recording of a method for the examination of stability of formations of robots, at the implementation of movements in the space, in environment of obstacles. This method is met with the English term, Leader-to-Formation Stability (LFS) and is related with the degree of maintenance of form of the formation and faults of formation inside permissible limits. In the fourth chapter, comes the presentation of a program in Matlab language , with which is achieved the simulation of movements of one or many robots on the surface, in environment of obstacles. The program is met entirely also in the accompanying CD of this work.

Submitted by DANIELE ALESSANDRA REGHINI GAZETTA null (daniellygaze@hotmail.com) on 2016-01-15T17:36:23Z No. of bitstreams: 1 diss-daniele.pdf: 783553 bytes, checksum: e593f1ebb872fff02a080d05283744d5 (MD5) / Rejected by Ana Paula Grisoto (grisotoana@reitoria.unesp.br), reason: Solicitamos que realize uma nova submissão seguindo as orientações abaixo: No campo “Versão a ser disponibilizada online imediatamente” foi informado que seria disponibilizado o texto completo porém no campo “Data para a disponibilização do texto completo” foi informado que o texto completo deverá ser disponibilizado apenas 6 meses após a defesa. Caso opte pela disponibilização do texto completo apenas 6 meses após a defesa selecione no campo “Versão a ser disponibilizada online imediatamente” a opção “Texto parcial”. Esta opção é utilizada caso você tenha planos de publicar seu trabalho em periódicos científicos ou em formato de livro, por exemplo e fará com que apenas as páginas pré-textuais, introdução, considerações e referências sejam disponibilizadas. Se optar por disponibilizar o texto completo de seu trabalho imediatamente selecione no campo “Data para a disponibilização do texto completo” a opção “Não se aplica (texto completo)”. Isso fará com que seu trabalho seja disponibilizado na íntegra no Repositório Institucional UNESP. Por favor, corrija esta informação realizando uma nova submissão. Agradecemos a compreensão. on 2016-01-15T19:12:27Z (GMT) / Submitted by DANIELE ALESSANDRA REGHINI GAZETTA null (daniellygaze@hotmail.com) on 2016-01-16T16:43:56Z No. of bitstreams: 2 diss-daniele.pdf: 783553 bytes, checksum: e593f1ebb872fff02a080d05283744d5 (MD5) daniele-dissert.pdf: 585710 bytes, checksum: 222237614b39411bc9b9a3e82ad6ab17 (MD5) / Approved for entry into archive by Juliano Benedito Ferreira (julianoferreira@reitoria.unesp.br) on 2016-01-18T16:33:44Z (GMT) No. of bitstreams: 1 gazetta_dar_me_sjrp.pdf: 783553 bytes, checksum: e593f1ebb872fff02a080d05283744d5 (MD5) / Made available in DSpace on 2016-01-18T16:33:44Z (GMT). No. of bitstreams: 1 gazetta_dar_me_sjrp.pdf: 783553 bytes, checksum: e593f1ebb872fff02a080d05283744d5 (MD5) Previous issue date: 2016-01-06 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / O principal resultado dessa dissertação é o Teorema de Poincaré-Bendixson para campos de vetores planares suaves por partes, que nos diz quais são os tipos de conjuntos limite. Estudaremos também detalhes a respeito dos conceitos de conjuntos minimais e caóticos em campos de vetores planares suaves por partes. / The main result of this work is the Poincaré - Bendixson Theorem for planar piecewise smooth vector fields, which tell us what kind of limit sets arise in this context. We will also study details about the concepts of minimal and chaotic sets in planar piecewise smooth vector fields.

Orientador: Paulo Ricardo da Silva / Banca: Luis Fernando Mello / Banca: João Carlos Ferreira Costa / Resumo: Nesta dissertação estudamos critérios para determinar a existência, a não existência e a unicidade de ciclos limites de campos de vetores planares. Mais especificamente, estudamos equações de Lienard Äx + f(x; _ x) _ x + g(x) = 0; onde f e g satisfazem determinadas hip¶oteses. Em particular estudamos a equa»c~ao de van der Pol Äx + "(x2 ¡ 1) _ x + x = 0; a qual é conhecida da teoria dos circuitos elétricos. Provamos a existência e a unicidade de ciclos limites para estas equações. Por fim estudamos a equação de van der Pol com o parâmetro" " 1 e o fenômeno canard que ocorre ao considerarmos um parâmetro adicional ®: As técnicas utilizadas s~ao as usuais de Análise Assintótica. / Abstract: In this work we study the existence, the non existence and the uniqueness of limit cycles of planar vector felds. More specifically, we study Lienard equations Äx+f(x; _ x) _ x+g(x) = 0; where f and g satisfy some hypothesis. In particular we study the van der Pol equation Äx + "(x2 ¡ 1) _ x + x = 0; which is knew of the circuit theory. We prove the existence and the uniqueness of limit cycles for these equations. In the last part we study the van der Pol equation with the parameter " " 1 and the canard phenomenon which appears when we consider an additional parameter ®: The techniques employed are the usual in the Asymptotic Analysis. / Mestre

Ce travail de thèse porte principalement sur l'utilisation du calcul moulien et de la technique d'arborification introduits par Jean Ecalle dans les années 70 et leurs applications à l'étude des systèmes dynamiques discrets ou continus.L'une des contributions est une étude systématique des conditions sous lesquelles l'arborification permet de restaurer la convergence de séries formelles via l'introduction d'une notion d'invariance d'un moule sous arborication. Ces résultats permettent de donner une preuve détaillée du théorème de Brjuno de linéarisation analytique des champs de vecteurs telle qu'elle est proposée par Jean Ecalle dans son article "Singularités non abordables par la géométrie". Ces résultats ont été obtenus en collaboration avec Dominique Manchon (Université de Clermont Ferrand) et Jacky Cresson.La puissance du calcul moulien est ensuite illustrée par la résolution presque complète de la conjecture de Jarque-Villadelprat sur les centres isochrones Hamiltoniens. Cette conjecture stipule qu'il n'existe pas de champs de vecteurs polynomiaux du plan de degré pair qui soit hamiltonien. L'examen de la structure algébrique de la correction, introduite dans les années 90 par G. Gallavotti et généralisée ensuite par Jean Ecalle et Bruno Vallet, et son calcul explicite via le calcul moulien, nous ont permis d'obtenir des conditions explicites d'obstructions à l'isochronisme. L'aspect algébrique et combinatoire de ces objets et méthodes conduisent naturellement à une classication des conditions de centre via une notion de complexité. L'arborication quand à elle permet l'unification de nombreuses approches et une simplication de divers travaux, notamment ceux de J.C.Butcher autour de la structure algébrique des méthodes de Runge-Kutta qui a induit ce que les numériciens appellent des B-séries. En étudiant la structure algébrique de l'opérateur de substitution associé à un difféomorphisme, en particulier celui relié à une méthode de Runge-Kutta et celui associé à la solution de l'équation diérentielle sous-jacente, on présente le codage de Butcher comme une traduction particulière de l'arborification directe de l'opérateur de substitution. Notons que ce phénomène est large et permet d'inclure les travaux plus récents sur l'approche par trajectoires rugueuses des solutions d'équations différentielles stochastiques.Une seconde partie de la thèse concerne la recherche des groupes de symétries de Lie des tissus du plan en suivant une approche d'Alain Hénaut (Université de Bordeaux). Ce travail nous a permis de préciser la relation entre la dimension de ces groupes de symétries et le caractère linéarisable ou hexagonale des tissus du plan. Dans le cas des arrangements de droites, on obtient ainsi une relation profonde entre le module de dérivations de Saito associé à l'arrangement et le groupe de symétrie du tissu associé. / This thesis work mainly focuses on the use of the mould calculus and the technic of arborification which had been introduced both by J.Ecalle in the seventies and theirs applications to the study of continuous or discrete systems.One of the contributions is the systematic study of conditions under which the arborification allows to reestablish the convergence of formal series via introduction of a notion of invariance of mould under arborification. These results allow to give a detailed proof of Brjuno Theorem of analytic linearizability of vector fields as it is proposed by J.Ecalle in his article "Singularité non abordable par la géométrie". These results were obtained jointly with Dominique Manchon (University of Clermont Ferrand) and Jacky Cresson.The power of the mould calculus is then illustrated by an almost complete resolution of the Jarque-Villadelprat's conjecture about Hamiltonian Isochronous centers. This conjecture states that there is not existing polynomial vector fields in the plane of odd degree which are Hamiltonian. The study of the algebraic structure of the correction, introduced in the nineties by G.Gallavotti and then generalized by J.Ecalle and B.Vallet and its explicit computation via mould calculus, enables us to obtain explicit conditions of obstruction to isochronicity. The algebraic and combinatoric aspect of these objects and methods brings naturally to the classification of center conditions through a notion of complexity. The arborification allows to the unification of different approaches and a simplicification of different works, especially those of J.C.Butcher about algebraic structures of Runge-kutta methods, who had introduced that is called B-series by numerical mathematicians. Studying the algebraic structure of the substitution operator associated to a diffeomorphism, especially the one related to a Runge-Kutta method and the one which is associated to the solution of the underlying differential equations, we present the Butcher's encoding as a special translation of a direct arborification of the substitution automorphism. We can conclude that this phenomenon is wide and allows to include more recent studies on the approach by rough path of stochastic differential equations.A second part of this thesis involves the research of Lie group of symmetries of planar webs following Hénaut's approach (University of Bordeaux).This work allows to precise the relation between the dimension of the groups of symmetries and the linearizability or hexagonal character of planar webs. In the the case of line arrangement, we obtain a depthful relation between the modulus of derivations of Saito associated to the line arrangement and the group of symmetries of the associated web.

Submitted by Marlene Santos (marlene.bc.ufg@gmail.com) on 2018-06-29T19:22:20Z No. of bitstreams: 2 Tese- Alaciy José Gomes - 2016.pdf: 5745946 bytes, checksum: d980380f3722151dde3e85c3a179ecf8 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2018-07-03T15:20:24Z (GMT) No. of bitstreams: 2 Tese- Alaciy José Gomes - 2016.pdf: 5745946 bytes, checksum: d980380f3722151dde3e85c3a179ecf8 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Made available in DSpace on 2018-07-03T15:20:24Z (GMT). No. of bitstreams: 2 Tese- Alaciy José Gomes - 2016.pdf: 5745946 bytes, checksum: d980380f3722151dde3e85c3a179ecf8 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2016-05-13 / In this work we first consider regular vector fields : R3 􀀀! R3 and its orthogonal distribution of planes. We present a characterization of the normal curvature associated to and the system of implicit differential equations 2(D (dr); dr; ) + h rot( ); i hdr; dri = 0; hdr; i = 0; which define two one-dimensional singular and orthogonal foliations, which we call by principal foliations and whose leaves are the principal lines of the distribution . Next we describe the configurations of the principal foliations in a neighborhood of the generic singular points that constitutes a regular curve in R3, which are denoted by Darbouxian umbilic partially points and semi-Darbouxian. We proceed by studying the stability of the closed principal lines and we also present a Kupka- Smale genericity result. To conclude, we study the structure of the singularities of the principal foliations in a neighborhood of a singular hyperbolic point of the vector field . / Neste trabalho consideramos inicialmente campos de vetores regulares : R3 􀀀! R3 e sua distribuições ortogonais de planos . Apresentamos uma caracterização da curvatura normal associada a e do sistema de equações diferenciais implícitas, 2(D (dr); dr; ) + h rot( ); i hdr; dri = 0; hdr; i = 0; que definem duas folheações unidimensionais singulares e ortogonais, denominadas de folheações principais e cujas folhas são as linhas principais da distribuição . A seguir descrevemos as configurações das folheações principais, numa vizinhança dos pontos singulares genéricos que constituem uma curva regular em R3, denominados de pontos parcialmente umbílicos Darbouxianos e semi-Darbouxianos. Depois estudamos a estabilidade das linhas principais fechadas e apresentamos também um resultado de genericidade do tipo Kupka-Smale. Na parte final, estudamos a estrutura dos pontos singulares das folheações principais na vizinhança de um ponto singular hiperbólico do campo de vetores .

Orientadores: Marco Antonio Teixeira, Ketty Abaroa de Rezende / Dissertação (mestrado) - Universidade Estadual de Campinas, Instituto de Matematica, Estatistica e Computação Cientifica / Made available in DSpace on 2018-08-10T14:10:31Z (GMT). No. of bitstreams: 1 Martins_RicardoMiranda_M.pdf: 921623 bytes, checksum: 8098f5c4875b6b586865b92ec6e474a0 (MD5) Previous issue date: 2008 / Resumo: A semelhança entre sistemas reversíveis e Hamiltonianos foi detectada nos primórdios do século passado por Birkhoff. Neste trabalho realizamos uma análise geométrica-qualitativa da dinâmica de um campo de vetores reversível em torno de um ponto de equilíbrio elíptico em R4. Especificamente, estudamos quando um campo reversível com tal tipo de equilíbrio é "equivalente" a um sistema Hamiltoniano. Como resultado, obtemos que tal sistema é Hamiltoniano, a menos de uma seqüência de mudanças de coordenadas e reescalonamentos do tempo. Prosseguindo a análise, impomos outra simetria ao campo e passamos a considerar sistemas bireversíveis. Classificamos completamente as possíveis simetrias que tornam um sistema bireversível por involuções gerando um grupo isomorfo a D4. Para tais sistemas, obtemos resultados um pouco mais fortes que os obtidos para sistemas reversíveis / Abstract: The similarity between reversible and Hamiltonian systems has been detected at the beginning of the past century by Birkhoff. In this project, we describe a geometrical-qualitative analysis of the dynamics of a reversible vector field around a elliptical singularity in R4. Specifically, we study when such a reversible vector field is "equivalent" to a Hamiltonian system. As a result, we obtain that such systems are always Hamiltonian, up to a sequence of changes of coordinates and time rescaling. Imposing another symmetry to the vector field, we work with bireversible systems. We completely classify all the possible symmetries which makes such systems bireversible by involutions generating a group isomorphic to D4. For these systems, we have obtained stronger results than in the reversible case / Mestrado / Sistemas Dinamicos / Mestre em Matemática