I många fall är det viktigt att kunna få ut så mycket och så bra information som möjligt ur tillgängliga mätningar. Att utvinna information om till exempel position och hastighet hos ett flygplan kallas för filtrering. I det här fallet är positionen och hastigheten exempel på tillstånd hos flygplanet, som i sin tur är ett system. Ett typiskt exempel på problem av den här typen är olika övervakningssystem, men samma behov blir allt vanligare även i vanliga konsumentprodukter som mobiltelefoner (som talar om var telefonen är), navigationshjälpmedel i bilar och för att placera upplevelseförhöjande grafik i filmer och TV -program. Ett standardverktyg som används för att extrahera den information som behövs är olineär filtrering. Speciellt vanliga är metoderna i positionerings-, navigations- och målföljningstillämpningar. Den här avhandlingen går in på djupet på olika frågeställningar som har med olineär filtrering att göra: * Hur utvärderar man hur bra ett filter eller en detektor fungerar? * Vad skiljer olika metoder åt och vad betyder det för deras egenskaper? * Hur programmerar man de datorer som används för att utvinna informationen? Det mått som oftast används för att tala om hur effektivt ett filter fungerar är RMSE (root mean square error), som i princip är ett mått på hur långt ifrån det korrekta tillståndet man i medel kan förvänta sig att den skattning man får är. En fördel med att använda RMSE som mått är att det begränsas av Cramér-Raos undre gräns (CRLB). Avhandlingen presenterar metoder för att bestämma vilken betydelse olika brusfördelningar har för CRLB. Brus är de störningar och fel som alltid förekommer när man mäter eller försöker beskriva ett beteende, och en brusfördelning är en statistisk beskrivning av hur bruset beter sig. Studien av CRLB leder fram till en analys av intrinsic accuracy (IA), den inneboende noggrannheten i brus. För lineära system får man rättframma resultat som kan användas för att bestämma om de mål som satts upp kan uppnås eller inte. Samma metod kan också användas för att indikera om olineära metoder som partikelfiltret kan förväntas ge bättre resultat än lineära metoder som kalmanfiltret. Motsvarande metoder som är baserade på IA kan även användas för att utvärdera detektionsalgoritmer. Sådana algoritmer används för att upptäcka fel eller förändringar i ett system. När man använder sig av RMSE för att utvärdera filtreringsalgoritmer fångar man upp en aspekt av filtreringsresultatet, men samtidigt finns många andra egenskaper som kan vara intressanta. Simuleringar i avhandlingen visar att även om två olika filtreringsmetoder ger samma prestanda med avseende på RMSE så kan de tillståndsfördelningar de producerar skilja sig väldigt mycket åt beroende på vilket brus det studerade systemet utsätts för. Dessa skillnader kan vara betydelsefulla i vissa fall. Som ett alternativ till RMSE används därför här kullbackdivergensen som tydligt visar på bristerna med att bara förlita sig på RMSE-analyser. Kullbackdivergensen är ett statistiskt mått på hur mycket två fördelningar skiljer sig åt. Två filtreringsalgoritmer har analyserats mer i detalj: det rao-blackwelliserade partikelfiltret (RBPF) och den metod som kallas unscented Kalman filter (UKF). Analysen av RBPF leder fram till ett nytt sätt att presentera algoritmen som gör den lättare att använda i ett datorprogram. Dessutom kan den nya presentationen ge bättre förståelse för hur algoritmen fungerar. I undersökningen av UKF ligger fokus på den underliggande så kallade unscented transformation som används för att beskriva vad som händer med en brusfördelning när man transformerar den, till exempel genom en mätning. Resultatet består av ett antal simuleringsstudier som visar på de olika metodernas beteenden. Ett annat resultat är en jämförelse mellan UT och Gauss approximationsformel av första och andra ordningen. Den här avhandlingen beskriver även en parallell implementation av ett partikelfilter samt ett objektorienterat ramverk för filtrering i programmeringsspråket C ++. Partikelfiltret har implementerats på ett grafikkort. Ett grafikkort är ett exempel på billig hårdvara som sitter i de flesta moderna datorer och mest används för datorspel. Det används därför sällan till sin fulla potential. Ett parallellt partikelfilter, det vill säga ett program som kör flera delar av partikelfiltret samtidigt, öppnar upp för nya tillämpningar där snabbhet och bra prestanda är viktigt. Det objektorienterade ramverket för filtrering uppnår den flexibilitet och prestanda som behövs för storskaliga Monte-Carlo-simuleringar med hjälp av modern mjukvarudesign. Ramverket kan också göra det enklare att gå från en prototyp av ett signalbehandlingssystem till en slutgiltig produkt. / Nonlinear filtering is an important standard tool for information and sensor fusion applications, e.g., localization, navigation, and tracking. It is an essential component in surveillance systems and of increasing importance for standard consumer products, such as cellular phones with localization, car navigation systems, and augmented reality. This thesis addresses several issues related to nonlinear filtering, including performance analysis of filtering and detection, algorithm analysis, and various implementation details. The most commonly used measure of filtering performance is the root mean square error (RMSE), which is bounded from below by the Cramér-Rao lower bound (CRLB). This thesis presents a methodology to determine the effect different noise distributions have on the CRLB. This leads up to an analysis of the intrinsic accuracy (IA), the informativeness of a noise distribution. For linear systems the resulting expressions are direct and can be used to determine whether a problem is feasible or not, and to indicate the efficacy of nonlinear methods such as the particle filter (PF). A similar analysis is used for change detection performance analysis, which once again shows the importance of IA. A problem with the RMSE evaluation is that it captures only one aspect of the resulting estimate and the distribution of the estimates can differ substantially. To solve this problem, the Kullback divergence has been evaluated demonstrating the shortcomings of pure RMSE evaluation. Two estimation algorithms have been analyzed in more detail; the Rao-Blackwellized particle filter (RBPF) by some authors referred to as the marginalized particle filter (MPF) and the unscented Kalman filter (UKF). The RBPF analysis leads to a new way of presenting the algorithm, thereby making it easier to implement. In addition the presentation can possibly give new intuition for the RBPF as being a stochastic Kalman filter bank. In the analysis of the UKF the focus is on the unscented transform (UT). The results include several simulation studies and a comparison with the Gauss approximation of the first and second order in the limit case. This thesis presents an implementation of a parallelized PF and outlines an object-oriented framework for filtering. The PF has been implemented on a graphics processing unit (GPU), i.e., a graphics card. The GPU is a inexpensive parallel computational resource available with most modern computers and is rarely used to its full potential. Being able to implement the PF in parallel makes new applications, where speed and good performance are important, possible. The object-oriented filtering framework provides the flexibility and performance needed for large scale Monte Carlo simulations using modern software design methodology. It can also be used to help to efficiently turn a prototype into a finished product.

This thesis describes the analysis, fabrication and testing of a rotor with extremely flexible blades, focusing on application to a micro-helicopter. The flexibility of the rotor blades is such that they can be rolled into a compact volume and stowed inside the rotor hub. Stiffening and stabilization of the rotor is enabled by centrifugal forces acting on a tip mass. Centrifugal effects such as bifilar and propeller moments are investigated and the torsional equation of motion for a blade with low torsional stiffness is derived. Criteria for the design of the tip mass are also derived and it is chosen that the center of gravity of each blade section must be located ahead of the aerodynamic center. This thesis presents the design of 18-inch diameter two-bladed rotors having untwisted circular arc airfoil profile with constant chord. A systematic experimental investigation of the effect of various blade parameters on the stability of the rotor is conducted in hover and forward flight. These parameters include blade flexibility in bending and torsion, blade planform and mass distribution. Accordingly, several sets of blades varying these parameters are constructed and tested. It is observed that rotational speed and collective pitch angles have a significant effect on rotor stability. In addition, forward flight velocity is found to increase the blade stability. Next, the performance of flexible rotors is measured. In particular, they are compared to the performance of a rotor with rigid blades having an identical planform and airfoil section. It is found that the flexible blades are highly twisted during operation, resulting in a decreased efficiency compared to the rigid rotor blades. This induced twist is attributed to an unfavorable combination of tip body design and the propeller moment acting on it. Consequently, the blade design is modified and three different approaches to passively tailor the spanwise twist distribution for improved efficiency are investigated. In a first approach, extension-torsion composite material coupling is analyzed and it is shown that the centrifugal force acting on the tip mass is not large enough to balance the nose-down twist due to the propeller moment. The second concept makes use of the propeller moment acting on the tip mass located at an index angle to produce an untwisted blade in hover. It is constructed and tested. The result is an untwisted 18-inch diameter rotor whose maximum Figure of Merit is equal to 0.51 at a blade loading of 0.14. Moreover, this rotor is found to be stable for any collective pitch angle greater than 11 degrees. Finally, in a third approach, addition of a trailing-edge flap at the tip of the flexible rotor blade is investigated. This design is found to have a lower maximum Figure of Merit than that of an identical flexible rotor without a flap. However, addition of this control surface resulted in a stable rotor for any value of collective pitch angle. Future plans for increasing the efficiency of the flexible rotor blades and for developing an analytical model are described. / text

Although the ecological interactions and ethology of the wing-propelled diving seabirds known as the Alcidae (Aves, Charadriiformes) have been intensively studied, systematic studies of the clade have been overwhelmingly limited to extant taxa. Pan-Alcidae have the richest fossil record among Charadriiformes, with specimens representing more than 35 million years of evolutionary history. Morphometric and apomorphy-based taxonomic revision of previously named extinct pan-alcids along with description of new species of extinct pan-alcids facilitated refined estimates of species richness. Combined phylogenetic analyses of morphological and molecular sequence data including pan-alcid fossils elucidated the poorly understood evolutionary history of the clade. Divergence estimation analysis for Charadriiformes placed previously hypothesized episodes of pan-alcid radiation and extinction in context with proposed paleoclimatic drivers of alcid evolution. / text

Recent research has suggested that individual specialization within populations could be substantial and more common than previously acknowledged. Eurasian perch is one of many species of fish in lakes of postglacial origin that displays a morphological and dietary variation tightly coupled to the littoral and pelagic habitats of the lake. The occurrence of such resource polymorphisms might have important consequences for local adaptation and might also be an important initial step in speciation. I have investigated the importance of a number of factors for the development of resource polymorphisms using perch as a study organism. I found a weak genetic basis for morphological differences, and the environmental influence on morphology was of such a magnitude that an induced morphology could be reversed. The results nevertheless suggested that genetic differentiation could be substantial at small spatial and temporal scales, even within habitats. Several environmental factors were shown to influence the morphological development, and the results also suggest that behavioral differences could mediate a morphological response. I also found evidence for that competition-driven divergence might only occur when divergence in resource use is favoured at the same time as growth rates are kept sufficiently high for character divergence to be effective. The results finally indicate that divergence in the gut length of individuals might co-vary with habitat and diet use in resource polymorphic populations. This might enhance habitat fidelity and possibly also facilitate the persistence of resource polymorphisms since individuals should experience a cost of switching diets due to a too specific digestive system. Based on these findings I conclude that small scaled genetic differentiation might be more common than currently acknowledged, that more multi-factorial studies are needed if we are to fully understand the mechanisms behind trait diversity, and that competition not always favors divergence.

Cette thèse présente deux sujets de recherche indépendants concernant l'application de méthodes stochastiques à des problèmes issus de la dynamique moléculaire. Dans la première partie, nous présentons des travaux liés à l'interprétation probabiliste de l'équation de Poisson-Boltzmann qui intervient dans la description du potentiel électrostatique d'un système moléculaire. Après avoir introduit l'équation de Poisson-Boltzmann et les principaux outils mathématiques utilisés, nous nous intéressons à l'équation linéaire parabolique de Poisson-Boltzmann. Avant d'énoncer le résultat principal de la thèse, nous étendons des résultats d'existence et unicité des équations différentielles stochastiques rétrogrades. Nous donnons ensuite une interprétation probabiliste de l'équation non-linéaire de Poisson-Boltzmann sous la forme de la solution d'une équation différentielle stochastique rétrograde. Enfin, dans une seconde partie prospective, nous commençons l'étude d'une méthode proposée par Paul Malliavin de détection des variables lentes et rapides d'une dynamique moléculaire.

Apomixis, or asexual seed development, if introduced into crop species, has the potential to greatly improve global food production. Towards this goal, this study focused on uncovering the genetic mechanisms that control the parthenogenesis step within apomixis whereby fertilisation is avoided. In the model apomict, Hieracium praealtum (Asteraceae), parthenogenesis is controlled by the LOSS OF PARTHENOGENESIS (LOP) locus. Previous research showed that in addition to genomic copies of candidate genes at LOP, the genome has at least three other copies referred to as alternative alleles. The main goal of this study was to investigate four candidate genes, Genes B, X, H and Y, at LOP by generating segregation data of the alternative alleles. BAC clones containing alternative allele sequences were identified and Roche 454 pyrosequenced. These sequences were used to design alternative allele specific primers for genotyping two Hieracium praealtum polyhaploid populations (~ 300 plants). Four major conclusions were drawn from this study. First, the alternative alleles were in fact acting like alleles to the LOP alleles of Genes B, X and Y. Second, allelic sequence divergence (ASD) of the LOP alleles of Genes B and X relative to the alternative alleles, indicated a recent and separate evolutionary history. Third and, unexpectedly, recombination was detected at the LOP locus, in contrast to other apomixis loci reported in the literature. Furthermore, Gene B was found to be very closely associated with parthenogenesis in the polyhaploid population indicating that it may be essential to parthenogenesis and therefore requires further investigation. On the other hand, the absence of Genes X, Y and H, due to recombination, had no impact upon parthenogenesis. Fourth, the sequence data suggested that the LOP and alternative alleles originated from a shared common allele ancestor. It is hoped that these findings have made a significant contribution towards the future goal of introducing apomixis into crop species.

Cette thèse s'inscrit dans le cadre du traitement automatique du langage naturel, et traite plus précisément de l'alignement sous-phrastique bilingue classiquement lié à la traduction automatique statistique. Les travaux exposés s'en distinguent en proposant un fonctionnement évolutif à base d'exemples initialisé par des annotateurs non-experts via une interface adaptée. L'approche est principalement motivée par la recherche d'une expressivité comparable à celle observée dans les alignements manuels. Une partie importante de ce travail consiste à définir un cadre formel sous-tendant une architecture originale à base d'exemples alignés. Plusieurs mémoires d'alignements ont été constituées en tirant parti d'informations provenant d'analyseurs syntaxiques automatiques, en plaçant les prérequis technologiques à un niveau raisonnablement peu élevé. Deux nouvelles méthodes d'alignement sont comparées à des références connues via des mesures d'accord classiques, et trois distances transformationnelles sont introduites.

Full-depth profile data reveal semidiurnal internal waves radiating from Mendocino Escarpment. Energy- and momentum-fluxes are lost between stations bracketing the first surface reflection to the north. A plausible interpretation is that wave energy is dissipated as a consequence of superposition of incident and reflected waves. Because there are no profiler data in the superposition region, a theoretical approach is used to bridge the gap. Assuming zonal independence, constant stratification and linear decay in the dissipation region, the forcing on the mean equations is evaluated with parameters consistent with Mendocino Escarpment data. Both superposition and dissipation cause momentum-flux divergence forcing. An Ekman-like balance is anticipated with predicted mean zonal flows u~O(1-2 cm/s), comparable to surface wind-forced Ekman currents.

Evolutionary transitions between the two major predator avoidance strategies aposematism and crypsis are expected to be associated with changes in many important traits of animals. However, empirical studies on populations experiencing ongoing or recent transitions between these strategies are rare. This thesis investigates the co-evolution of traits among populations of the Strawberry poison frog D.pumilio in Bocas del Toro, Panama. I found that all investigated populations were genetically distinct but that colour and pattern did not correlate with genetic or geographic distance, which suggests that selection needs to be invoked to explain the observed variation. Based on the chromatic contrast between frog dorsal colour and the natural habitat substrates used by the frogs, the populations were defined as bright or dull coloured. I found that frogs from bright coloured populations were larger. This is expected if aposematism is enhanced by large signals while crypsis is enhanced by small size. Further, individuals from bright coloured populations had a coarser black dorsal pattern, which is expected if crypsis is impaired by a bold pattern. The importance of pattern coarseness was confirmed by an avian detection experiment showing that coarse patterned dark green prey were more easily detected than dark green prey without pattern or with fine pattern. I put forward the hypothesis that enhanced protection, gained by aposematism, may affect behaviours that influence dispersal and pairing patterns. Indeed, males from bright coloured populations displayed at more exposed sites and showed a tendency to be more explorative and aggressive. In summary, my results show that the bright and dull coloured populations most likely represent an aposematic and a cryptic strategy, respectively. Furthermore, I show that evolutionary changes between aposematism and crypsis can be associated with coevolution of both morphology and behaviour. I argue that this coevolution may increase the likelihood of both pre- and post-zygotic reproductive isolation. This is because greater phenotypic differences between populations increase the likelihood of selection against badly adapted migrants and hybrids with intermediate traits.

Title from first page of PDF document. Includes bibliographical references (p. 20-23).