This thesis describes the theory of model predictive control and application of the theory to synchronous drives. It shows explicit and on-line solutions and compares the results with classical vector control structure.

This thesis deals with the design of a three-wheeled omni-directional robot control. The model of control is designed for robot´s omni-directional platform driven by maxon motor with the intelligent positioning controller EPOS. The design of control contains: - installation of the coordinated systems and transformation from one of them into another - design of system´s kinematical model - creation of classes for control and communication with EPOS - creation of the simulative program - planning of the mobile robot´s path - verification that the system is working The solution was based on continuous accelerated motion and the maximal acceleration of wheels was concerned, so that the slip would be suppressed. The function of the model was partly verified.

This thesis deals with modelling of continuous casting of steel. This process of steel manufacturing has achieved dominant position not only in the Czech Republic but also worldwide. The solved casted bar cross-section shape is circular, because it is rarely studied in academical works nowadays. First part of thesis focuses on creating numerical model of thermal field, using finite difference method with cylindrical coordinates. This model is then employed in optimization part, which represents control problem of abrupt step change of casting speed. The main goal is to find out, whether the computation of numerical model and optimization both can be parallelized using spatial decomposition. To achieve that, Progressive Hedging Algorithm from the field of stochastic optimization has been used.

The aim of the presented thesis is to create a compact publication which deals with properties, solution and examination of behavior of dynamical systems as models of mechanical structures. The opening portion of the theoretical part leads the reader through the subject of description of dynamical systems, offers solution methods and investigates solution stability. As the introduction proceeds, possible forms of structure loading, damping and response are presented. Following chapters discuss extensively the possible approaches to system behavior observation and identification of nonlinear and chaotic phenomena. The attention is also paid to displaying methods and color spaces as these are essential for the examination of complex and sensitive systems. The theoretical part of the thesis ends with an introduction to fractal geometry. As the theoretical background is laid down, the thesis proceeds with an application of the knowledge and shows the approach to numerical simulation and study of models of real structures. First, the reader is introduced to the single pendulum model, as the simplest model to exhibit chaotic behavior. The following double pendulum model shows the obstacles of observing systems with more state variables. The models of free rod and cantilever serve as examples of real structure models with many degrees of freedom. These models show even more that a definite or at least sufficiently relevant monitoring of behavior of such deterministic systems is a challenging task which requires sophisticated approach.

Dans le cadre du développement d’un outil semi-analytique de pré-dimensionnement de structures sandwich soumises à des impacts à vitesse intermédiaire (<20m.s-1), nous proposons la détermination d’une solution efficace, basée sur les séries de Fourier avec des conditions aux limites générales. Les équations gouvernantes qui permettent de décrire la réponse transitoire élastique de plaques stratifiées orthotropes avec prise en compte d’une loi non linéaire de contact hertzien sont développées en utilisant un schéma de discrétisation temporelle explicite. Pour les conditions aux limites générales, la solution en séries de Fourier est complétée par une série mixte de polynômes-cosinus, qui permet d’aboutir à la solution, tout en permettant à la série de satisfaire les équations d’équilibres ainsi que les conditions limites, de façon exacte en augmentant le nombre de termes de la série. Afin de tenir compte des phénomènes physiques locaux lors de l’impact de structure sandwich, la plasticité et la rupture locale de la plaque anti-perforation sont introduites dans une formulation modifiée du contact de Hertz et l’écrasement de l’âme du sandwich est ajouté dans l’équation d’équilibre du projectile. Les solutions obtenues par cette méthode sont en accord avec les résultats par modélisation éléments finis de plaques composites multicouches impactées par un projectile. Une campagne expérimentale d’impact de type « box corner » sur des plaques sandwich de 1m², a servi de référence expérimentale et permis la validation de ce modèle complet. Finalement, le couplage de ce modèle à un optimiseur basé sur les techniques de plans d’expériences et de surfaces de réponses (métamodèles), nous a permis de choisir la meilleure structure d’absorption d’énergie (matériaux et géométrie) pour des structures plaques soumises à des impacts de 7kJ. Un test sur un véhicule réel avec la configuration structurelle choisie, nous a permis de valider l’outil final de pré-dimensionnement et de confirmer la qualité des résultats numériques obtenus par ce modèle semi-analytique. / A semi-analytical tool for the design of sandwich structures under intermediate speed loadings impact (<20m.s-1) is proposed by using an efficient solution based on the Fourier series with general boundary conditions. The governing equations, which describe dynamic elastic response of orthotropic laminates and include the non linear Hertzian contact law, are derived by means of explicit time discretization. For the general boundary conditions, the Fourier series solution is supplemented with mixed polynomial-cosine series, which allows derivation of the classical solution by letting the series satisfy exactly the governing differential equation and the boundary conditions with increased values of terms series. To take local physical behavior during sandwich structure impact into account, local plasticity and failure of the protection plate are introduced in a modified form of the Hertzian contact and the compression of the foam is added in the equilibrium equation of the projectile. The solutions obtained with this new method are close to those found by finite element simulations for impact on multilayers composite structures. An experimental campaign with one square meter sandwich structures impacted by corner box projectile is then used to validate the whole model. Finally, the best sandwich structure for energy absorption under a 7kJ impact (material and geometry) is chosen by coupling the model with an optimizer based on the metamodel approach. This solution is applied to a real vehicle and the results confirm the quality of the design of the structure.

La compréhension des écoulements souterrains est importante pour de nombreuses applications comme l’énergie ou le stockage des déchets nucléaires. Cette thèse, effectuée en collaboration avec le Bureau de Recherches Géologiques et Minières (BRGM), est dédiée à la simulation des écoulements diphasiques compositionnels thermiques en milieux poreux et ses applications à la géothermie haute énergie et plus particulièrement au champ géothermique de Bouillante (Guadeloupe). Tout d’abord, deux formulations à variables persistantes sont comparées en termes d’implémentation et de convergence numérique. Dans ces deux formulations, les fractions molaires d’une phase absente sont étendues par celles à l’équilibre thermodynamique avec la phase présente. Il en résulte que l’ensemble des variables principales et des équations ne dépend pas de l’ensemble de phases présentes. De plus, l’équilibre thermodynamique est exprimé par une contrainte de complémentarité pour chacune des phases, ce qui permet l’utilisation de méthodes de type semi-smooth Newton pour résoudre les systèmes non-linéaires. D’autre part, cette thèse présente une nouvelle méthodologie combinant des discrétisations centrées aux noeuds (le schéma Vertex Approximate Gradient - VAG) et aux faces (le schéma Hybrid Finite Volume - HFV) sur une partition arbitraire des ensembles de mailles ou de faces, dans le but d’adapter le choix du schéma aux différentes parties du maillage. En effet, les maillages hybrides composés de différents types de mailles sont plus adaptés à la discrétisation de la géologie et de la géométrie des différents domaines d’un système géothermique. Ainsi le schéma peut être choisi localement en fonction de la géométrie de la maille et des propriétés pétrophysiques. L’analyse de convergence est effectuée dans le cadre des discrétisations Gradient pour des problèmes de diffusion du second ordre et la convergence est confirmée numériquement sur différents types de maillages hybrides 3D. Ensuite la discrétisation VAG-HFV est étendue au cas des écoulements de Darcy diphasiques non-isothermes compositionnels et est appliquée au cas test 2D représentant le plan de faille vertical du réservoir géothermique de Bouillante. Un autre aspect important de la modélisation des flux géothermiques consiste à prendre en compte les interactions entre le flux dans le milieu poreux et l’atmosphère. Puisque le couplage entre le modèle poreux et un modèle 2D surfacique ou 3D atmosphérique n’est pas réaliste en terme de coût de calcul aux échelles spatiale et temporelle géologiques, l’interaction sol-atmosphère est modélisée grâce à une condition limite prenant en compte l’équilibre de matière et d’énergie à l’interface. Ce modèle considère une couche limite atmosphérique avec transfert convectif molaire et thermique (en supposant l’évaporation de la phase liquide), une condition de débordement liquide aux surfaces d’infiltration, ainsi que le rayonnement thermique et la recharge en eau douce due aux précipitations. Cette condition limite est évaluée à l’aide d’une solution de référence couplant les écoulements non-isothermes liquide-gaz en milieu poreux et le gaz dans le milieu libre. Elle est ensuite étudiée numériquement en terme de convergence et de solution sur des cas tests géothermiques, dont le plan de faille vertical du réservoir géothermique de Bouillante. En complément est présenté le travail issu d’une collaboration lors de l’école d’été du CEMRACS 2016. Le projet consistait à ajouter un modèle de puits multi-branche thermique au code ComPASS, un nouveau simulateur géothermique parallèle basé sur des maillages non-structurés avec la possibilité de représenter des fractures. / The study of the subsurface flows is important for various applications such as energy or nuclear waste storage. This thesis, performed in collaboration with the French Geological Survey (BRGM), is dedicated to the simulation of non-isothermal compositional two-phase flows in porous media and its applications to high-energy geothermal fields and more precisely to the Bouillante field (Guadeloupe, French West Indies). First of all, two persistent variable formulations are compared in terms of implementation and numerical convergence. In these two formulations, the choice of the principal variables is based on with the extension of the phase molar fractions by the one at thermodynamic equilibrium with the present phase. It results that the set of principal variables and equations does not depend on the set of present phases. It also has the advantage to express the thermodynamic equilibrium as complementarity constraints, which allows the use of semi-smooth Newton methods to solve the non-linear systems. Moreover, this thesis presents a new methodology to combine a node-centered discretization (the Vertex Approximate Gradient scheme - VAG) and a face-centered discretization (the Hybrid Finite Volume scheme - HFV) on arbitrary subsets of cells or faces in order to choose the best-suited scheme in different parts of the mesh. Indeed, hybrid meshes composed of different types of cells are best suited to discretize the geology and geometry of the different parts of the geothermal system. Then, the scheme is adapted locally to the type of mesh/ cells and to petrophysical properties. The convergence analysis is performed in the gradient discretization framework over second order diffusion problems and the convergence is checked numerically on various types of hybrid three-dimensional meshes. Then, the VAG-HFV discretization is extended to non-isothermal compositional liquid-gas Darcy flows and is applied on the two dimensional cross-section of the Bouillante high temperature geothermal reservoir. Another important aspect of the geothermal flows modelling consists in considering the interactions between the porous medium and the atmosphere. Since the coupling between the porous medium and the 2D surface of 3D atmospheric flows is not computationally realistic at the space and time scales of a geothermal flow, the soil-atmosphere interaction is modelled using an advanced boundary condition accounting for the matter (mole) and energy balance at the interface. The model considers an atmospheric boundary layer with convective molar and energy transfers (assuming the vaporization of the liquid phase in the atmosphere), a liquid outflow condition at seepage surfaces, as well as the heat radiation and the precipitation influx. This boundary condition is assessed using a reference solution coupling the Darcy flow to a full-dimensional gas free flow. Then, it is studied numerically in terms of solution and convergence of the Newton-min non-linear solvers on several geothermal test cases including two-dimensional simulations of the Bouillante geothermal field. In addition is presented the collaborative project which took place during the CEMRACS summer school 2016. The project consisted in adding a multibranch thermal well model into the ComPASS code, a new geothermal simulator based on unstructured meshes and adapted to parallel distributed architectures with the ability to represent fractures.

In the present work we deal with the stability of the space-time discontinuous Galerkin method applied to non-stationary, nonlinear convection - diffusion problems. Discontinuous Galerkin method is a very efficient tool for numerical solution of partial differential equations, combines the advantages of the finite element method (polynomial approximations of high order of accuracy) and the finite volume method (discontinuous approximations). After the formulation of the continuous problem its discretization in space and time is described. In the formulation of the discontinuous Galerkin method the non-symmetric, symmetric and incomplete version of discretization of the diffusion term is used and there are added penalty terms to the scheme also. In the third chapter are estimated individual terms of the previously derived approximate solution by special norms. Using the concept of discrete characteristic functions and the discrete Gronwall lemma, it is shown that the analyzed scheme is unconditionally stable. At the end, in the fourth chapter, are given some numerical experiments, which verify theoretical results from the previous chapter.

We present two possible thermodynamical approaches towards a derivation of a model, proposed by Korteweg at the beginning of the 20th century, that is suitable to describe phase transitions liquid-vapor with non-sharp interfaces. The first approach (Dunn, Serrin (1985)) is based on classical rational continuum thermodynamics. The second approach (Heida, Málek (2010)) stems from the principles of classical nonequilibrium continuum thermodynamics. We compare both approaches in favor of the second one. The considered constitutive equation for the Cauchy stress is nonlinear. Nonlinearity and higher order derivatives of the density makes the analysis of relevant problems for the Navier-Stokes- Korteweg (NSK) fluid more difficult in comparison to problems concerning Navier-Stokes equations. Special attention is devoted to the appropriate choice of the boundary conditions. We also investigate the influence of compressibility on the stability of bubbles by comparing numerical simulations for compressible NSK fluid and its incompressible variant. Instabilities observed for a compressible NSK fluid are due to the pressure that has a different meaning for incompressible fluid. Powered by TCPDF (www.tcpdf.org)

This thesis comprises the study of two moduli spaces of piecewise J-holomorphic curves. The main scheme is to consider a subdivision of the 2-sphere into a collection of small domains and to study collections of J-holomorphic maps into a symplectic manifold. These maps are coupled by Lagrangian boundary conditions. The work can be seen as finding a 2-dimensional analogue of the finite-dimensional path space approximation by piecewise geodesics on a Riemannian manifold (Q,g). For a nice class of target manifolds we consider tangent bundles of Riemannian manifolds and symplectizations of unit tangent bundles. Via polarization they provide a rich set of Lagrangians which can be used to define appropriate boundary value problems for the J-holomorphic pieces. The work focuses on existence theory as a pre-stage to global questions such as combinatorial refinement and the quality of the approximation. The first moduli space of lifted type is defined on a triangulation of the 2-sphere and consists of disks in the tangent bundle whose boundary projects onto geodesic triangles. The second moduli space of punctured type is defined on a circle packing domain and consists of boundary punctured disks in the symplectization of the unit tangent bundle. Their boundary components map into single fibers and at punctures the disks converge to geodesics. The coupling boundary conditions are chosen such that the piecewise problem always is Fredholm of index zero and both moduli spaces only depend on discrete data. For both spaces existence results are established for the J-holomorphic pieces which hold true on a small scale. Each proof employs a version of the implicit function theorem in a different setting. Here the argument for the moduli space of punctured type is more subtle. It rests on a connection to tropical geometry discovered by T. Ekholm for 1-jet spaces. The boundary punctured disks are constructed in the vicinity of explicit Morse flow trees which correspond to the limiting objects under degeneration of the boundary condition.

This paper presents problem of automatic webpages classification using association rules based classifier. Classification problem is presented, as a one of  datamining technique, in context of mining knowledges from text data. There are many text document classification methods presented with highlighting benefits of classification methods using association rules. The main goal of work is adjusting selected classification method for relation data and design draft of webpages classifier, which classifies pages with the aid of visual properties - independent section layout on the web page, not (only) by textual data. There is also ARC-BC classification method presented as a selected method and as one of intriguing classificators, that derives accuracy and understandableness benefits of all other methods.