UAVs employed for low altitude jobs are more liable to collide with the urban structures on their way to the goal point. In this thesis, the problem of reactive obstacle avoidance is addressed by an innovative partial integrated guidance and control (PIGC) approach using the Six-DOF model of real UAV unlike the kinematic models used in the existing literatures. The guidance algorithm is designed which uses the collision cone approach to predict any possible collision with the obstacle and computes an alternate aiming direction for the vehicle. The aiming direction of the vehicle is the line of sight line tangent to the safety ball surrounding the obstacle. The point where the tangent touches the safety ball is the aiming point. Once the aiming point is known, the obstacle is avoided by directing the vehicle (on the principles of pursuit guidance) along the tangent to the safety ball. First, the guidance algorithm is applied successfully to the point mass model of UAV to verify the proposed collision avoidance concept. Next, PIGC approach is proposed for reactive obstacle avoidance of UAVs. The reactive nature of the avoidance problem within the available time window demands simultaneous reaction from the guidance and control loop structures of the system i.e, in the IGC framework (executes in single loop). However, such quick maneuvers cause the faster dynamics of the system to go unstable due to inherent separation between the faster and slower dynamics. On the contrary, in the conventional design (executes in three loops), the settling time of the response of different loops will not be able to match with the stringent time-to-go window for obstacle avoidance. This causes delay in tracking in all the loops which will affect the system performance adversely and hence UAV will fail to avoid the obstacle. However, in the PIGC framework, it overcomes the disadvantage of both the IGC design and the conventional design, by introducing one more loop compared to the IGC approach and reducing a loop compared to the conventional approach, hence named as Partial IGC. Nonlinear dynamic inversion technique based PIGC approach utilizes the faster and slower dynamics of the full nonlinear Six-DOF model of UAV and executes the avoidance maneuver in two loops. In the outer loop, the vehicle guidance strategy attempts to reorient the velocity vector of the vehicle along the aiming point within a fraction of the available time-to-go. The orientation of the velocity vector is achieved by enforcing the angular correction in the horizontal and vertical flight path angles and enforcing turn coordination. The outer loop generates the body angular rates which are tracked as the commanded signal in the inner loop. The enforcement of the desired body rates generates the necessary control surface deflections required to stir the UAV. Control surface deflections are realized by the vehicle through the first order actuator dynamics. A controller for the first order actuator model is also proposed in order to reduce the actuator delay. Every loop of the PIGC technique uses nonlinear dynamic inversion technique which has critical issues like sensitiveness to the modeling inaccuracies of the plant model. To make it robust against the parameter inaccuracies of the system, it is reinforced with the neuro-adaptive design in the inner loop of the PIGC design. In the NA design, weight update rule based on Lyapunov’s theory provides online training of the weights. To enhance fast and stable training of the weights, preflight maneuvers are proposed. Preflight maneuvers provide stabilized pre-trained weights which prevents any misapprehensions in the obstacle avoidance scenario. Simulation studies have been carried out with the point mass model and with the Six-DOF model of the real fixed wing UAV in the PIGC framework to test the performance of the nonlinear reactive guidance scheme. Various simulations have been executed with different number and size of the obstacles. NA augmented PIGC design is validated with different levels of uncertainties in the plant model. A comparative study in NA augmented PIGC design was performed between the pre-trained weights and zero weights as used for weight initialization in online training. Various comparative study shows that the NA augmented PIGC design is quite effective in avoiding collisions in different scenarios. Since the NDI technique involved in the PIGC design gives a closed loop solution and does not operate with iterative steps, therefore the reactive obstacle avoidance is achieved in a computationally efficient manner.

Lors d’une tâche de pointage manuel, la présence de corrections rapides, adaptées, automatiques et même réflexes (Franklin et Wolpert, 2008) suite à une perturbation par saut de curseur a pu être observée dans de nombreuses études. Ici, nous avons souhaité déterminer si ces corrections étaient purement réflexes où si elles étaient amorcées seulement lorsque la perturbation mettait en péril l’atteinte de la cible ; ces corrections ont-elles aussi un aspect fonctionnel ? Dans une première expérience nous avons fait varier la taille des cibles (5 ou 30 mm de diamètre) et des sauts du curseur (5, 15 ou 25 mm) de manière à obtenir certaines combinaisons où la cible pourrait être atteinte sans qu’aucune correction du mouvement pour contrecarrer l’effet du saut du curseur ne soit nécessaire. Des corrections réduisant l’erreur d’environ 65% ont été observées dans toutes les conditions. Dans une seconde expérience, les participants devaient atteindre une très grande cible (arc de 30°) et un saut de curseur de 15 mm était introduit pour certains essais peu de temps après l’amorce du mouvement. Les participants ont modifié leur mouvement dans le sens opposé à celui de la perturbation, et cela même s’ils n’avaient pas détecté consciemment le saut. Cependant, ces corrections étaient moins rapides et plus petites (42% de l’amplitude du saut de curseur) que celles observées lors de la première expérience. Nos résultats supportent le fait que l’amorce des corrections pour des erreurs de trajectoire induites expérimentalement soit de nature réflexe. Un deuxième processus serait alors responsable du déroulement de ces corrections ; ce deuxième processus est basé, entre autres, sur les caractéristiques de la cible. / Cursor-jump experiments have suggested the existence of quick, efficient, automatic and even reflexive (Franklin and Wolpert, 2008) online correction processes in manual aiming movements. In the present study, we wanted to determine whether corrections for a cursor jump are purely automatic/reflexive or whether they are functional in that they occur only when they are required for the target to be reached. In a first experiment, we used different target sizes (5 mm to 30 mm) and cursor-jump amplitudes (5 mm to 25 mm) so that for some target size/cursor-jump combinations, no correction would be needed to reach the target. In all cases, we observed a correction for the cursor-jump. This correction reduced the error induced by the cursor jump by 60-70%, regardless of target size. In a second experiment, we asked participants to point at a large wedge (30° of circular arc). For some trials, a cursor-jump translated the location of the cursor laterally by 15 mm soon after movement initiation. Participants never consciously detected the cursor-jump but clearly modified the trajectory of their movement in the direction opposite to that of the cursor-jump. These corrections were smaller than those observed in the first experiment (42% of the cursor-jump). Our results indicate that the initiation of a correction for a cursor-jump is more reflexive than it is functional. A second correction process would tailor the movement's initial impulse based on the target characteristics.

Lors d’une tâche de pointage manuel, la présence de corrections rapides, adaptées, automatiques et même réflexes (Franklin et Wolpert, 2008) suite à une perturbation par saut de curseur a pu être observée dans de nombreuses études. Ici, nous avons souhaité déterminer si ces corrections étaient purement réflexes où si elles étaient amorcées seulement lorsque la perturbation mettait en péril l’atteinte de la cible ; ces corrections ont-elles aussi un aspect fonctionnel ? Dans une première expérience nous avons fait varier la taille des cibles (5 ou 30 mm de diamètre) et des sauts du curseur (5, 15 ou 25 mm) de manière à obtenir certaines combinaisons où la cible pourrait être atteinte sans qu’aucune correction du mouvement pour contrecarrer l’effet du saut du curseur ne soit nécessaire. Des corrections réduisant l’erreur d’environ 65% ont été observées dans toutes les conditions. Dans une seconde expérience, les participants devaient atteindre une très grande cible (arc de 30°) et un saut de curseur de 15 mm était introduit pour certains essais peu de temps après l’amorce du mouvement. Les participants ont modifié leur mouvement dans le sens opposé à celui de la perturbation, et cela même s’ils n’avaient pas détecté consciemment le saut. Cependant, ces corrections étaient moins rapides et plus petites (42% de l’amplitude du saut de curseur) que celles observées lors de la première expérience. Nos résultats supportent le fait que l’amorce des corrections pour des erreurs de trajectoire induites expérimentalement soit de nature réflexe. Un deuxième processus serait alors responsable du déroulement de ces corrections ; ce deuxième processus est basé, entre autres, sur les caractéristiques de la cible. / Cursor-jump experiments have suggested the existence of quick, efficient, automatic and even reflexive (Franklin and Wolpert, 2008) online correction processes in manual aiming movements. In the present study, we wanted to determine whether corrections for a cursor jump are purely automatic/reflexive or whether they are functional in that they occur only when they are required for the target to be reached. In a first experiment, we used different target sizes (5 mm to 30 mm) and cursor-jump amplitudes (5 mm to 25 mm) so that for some target size/cursor-jump combinations, no correction would be needed to reach the target. In all cases, we observed a correction for the cursor-jump. This correction reduced the error induced by the cursor jump by 60-70%, regardless of target size. In a second experiment, we asked participants to point at a large wedge (30° of circular arc). For some trials, a cursor-jump translated the location of the cursor laterally by 15 mm soon after movement initiation. Participants never consciously detected the cursor-jump but clearly modified the trajectory of their movement in the direction opposite to that of the cursor-jump. These corrections were smaller than those observed in the first experiment (42% of the cursor-jump). Our results indicate that the initiation of a correction for a cursor-jump is more reflexive than it is functional. A second correction process would tailor the movement's initial impulse based on the target characteristics.

No description available.

Thèse numérisée par la Division de la gestion de documents et des archives de l'Université de Montréal.

Inscrite dans le champ de l'éducation familiale, cette thèse prend appui sur l'histoire de la petite enfance en France, pour en tirer des enseignements sur les organisations et les acteurs, parents et professionnels. Sa perspective est de tracer des pistes d'amélioration du secteur de l'accueil et de l'éducation des jeunes enfants.Par une recherche documentaire, l'approche sociohistorique permet de rapprocher et d'articuler les contextes démographiques et les faits sociaux marquants des différentes époques, depuis le XVIIe siècle, offrant ainsi une continuité aux récits : de la sauvegarde des enfants abandonnés jusqu'aux crèches hygiénistes du XIXe siècle, de l'allaitement mercenaire généralisé au XVIIIe siècle à la diversification des modèles familiaux du siècle dernier, du "sentiment de l'enfance" aux droits de l'enfant devenu "sujet". L'analyse des développements historiques fait émerger une logique dans la construction qualitative des organisations : les initiatives privées sont pérennisées et contrôlées par les autorités publiques, des normes de fonctionnement sont établies sur la base de consensus sociaux.L'histoire révèle aussi les marques des idéologies du passé, chez les professionnels de la petite enfance : sauvegarde charitable, hygiénisme. Enfin, les difficultés des parents de jeunes enfants paraissent récurrentes : isolement, pertes de repères éducatifs. Une expérience de réflexion collective autour de la qualité, d'une part, et une recherche-action locale sur la question de la parentalité, d'autre part, viennent confirmer les enseignements de l'histoire. Dans un contexte actuel qualifié de "managérial", la thèse établit des perspectives d'amélioration qualitative et de soutien à la fonction parentale : démarches curriculaires et participatives, organisation d'espaces de coéducation, comme les Lieux d'Accueil Enfants Parents et autres lieux d'information. / This doctoral thesis, situated in the field of family education, is based on the history of early childhood in France, in order to learn a lesson about the organizations and the protagonists, whether they are parents or professionals. The standpoint of this thesis is to pave the way for improvements in the host sector and in the sector of the education of young children.The sociohistorical approach, by means of a document research, makes it possible to compare and to connect the demographic contexts and the outstanding social facts during the different periods, since the 17th century. Thus this approach offers a continuity for the tales : from the safeguarding of the abandoned children to the hygienist child-care centers of the 19th century, from the paid breast-feeding - which was in general use during the 18th century – to the diversification of the family models during the 20th century, from the « feeling of childhood » to the rights of the child, regarded as a « subject ». The analysis of the historical developments shows a logic in the qualitative construction of the organizations : the private initiatives are perpetuated and controlled by the public authorities, functioning standards - based on social consensus - are promulgated. History also reveals the marks of the former ideologies, among the early childhood professionals : charity safeguarding, hygienism. Finally, the difficulties experienced by young children’s parents seem to be recurrent : isolation, loss of educational benchmarks. An experience of collective thought dedicated to quality, on the one hand, and a local research orientated towards action on the question of parenting, on the other hand, confirm the lessons of history. In a present context that may be described as « managerial », this thesis introduces standpoints for qualitative improvement and for support to the parental function : approaches aiming at a curriculum and participating approaches, organization of spaces making co-education possible – such as the spaces dedicated to host children and parents, and other spaces of information.

Thèse numérisée par la Division de la gestion de documents et des archives de l'Université de Montréal

No description available.

La tesi si propone di indagare l’intertestualità dantesca nell’opera volgare di Matteo Maria Boiardo. Il fenomeno è già stato oggetto di studi – indirizzati soprattutto al poema cavalleresco, e in misura minore (specie negli ultimi anni) al canzoniere lirico – che si sono mossi però nell’alveo dell’impostazione strutturalista, con una considerazione della memoria poetica da un punto di vista formalista e tipologico. Questa corrente ha consentito sviluppi importanti negli studi filologici, ma porta a vedere il fatto letterario staccato dal suo contesto di riferimento. Se questo esito in Italia è stato arginato da una forte base storicista, va detto che gli studi sulle riprese poetiche hanno però vissuto una situazione particolare. Da una parte, infatti, lo strutturalismo fra anni ’60 e ’70 ha imposto anche in Italia, attraverso una serie di importanti lavori, il suo modo di trattare la questione, senza poi che il successivo approdo semiotico incidesse in maniera significativa. Dall’altra, la reazione di chi voleva agganciare il fenomeno al dato storico ha riportato il problema all’impostazione erudita della critica delle fonti, privilegiando la raccolta dati da mettere in relazione con le informazioni sulla storia della tradizione e della circolazione. L’obbiettivo di questa tesi è fare un passo avanti, nella convinzione che per lo studio di questi fenomeni di riuso sia la circolazione manoscritta che i dati testuali e formali vadano letti in una piena prospettiva semiotica: guardare ai fenomeni di tradizione e trasmissione testuale nell’ottica dei processi ricettivi, e considerare le scelte di memoria poetica come atti comunicativi, con un valore pragmatico. La ricerca ha l’intento di giungere ad una maggior comprensione del rapporto del dotto poeta umanistico con il modello dantesco, un’interpretazione più chiara delle strategie di riuso, determinate dal particolare modo di leggere la Commedia nel contesto specifico, e perciò attraverso un preciso filtro fra quelli disponibili al tempo. Accanto all’insieme di informazioni filologiche sulle attestazioni manoscritte nelle biblioteche del tempo, l’indagine qui condotta consente – anche da un punto di vista che potremmo definire attributivo – di indicare in Benvenuto da Imola l’esegeta di riferimento per Boiardo e il suo pubblico, proprio perché l’osservazione ravvicinata dei testi e dei loro legami fa emergere questa tradizione interpretativa come la più attiva nell’elaborazione boiardesca rivolta ai lettori. Il lavoro non ha preso le mosse da un afflato teorico, teso a riconcettualizzare l’intertestualità, ma da un intento di chiarificazione sui testi e alcuni loro aspetti che non sembravano però trovare una spiegazione soddisfacente all’interno del quadro metodologico diffuso. Il lavoro, allora, ha assunto poco alla volta anche una vena metodologica sorta dall’osservazione dei fenomeni in modo nuovo. E così, accanto all’indagine storico-letteraria, e in stretta relazione con essa, è stato possibile avanzare alcune proposte ermeneutiche sui meccanismi intertestuali in base alle dinamiche della comunicazione letteraria. E nelle pagine che seguono il percorso si articola attorno a nuclei diversi ma interconnessi: da una parte la riflessione generale a carattere semiotico sui fenomeni di memoria poetica, che vengono concettualizzati grazie agli apporti di discipline come la pragmatica; segue una ricognizione storica sulle modalità di lettura e ricezione del modello dantesco – e non solo – in base alla circolazione dei testi e dei loro apparati esegetici; si arriva poi al nucleo del lavoro con l’affondo diretto su opere e paratesti esegetici con le loro relazioni, che si instaurano all’interno del laboratorio d’autore e poi da lì arrivano al pubblico.