La simulation numérique de systèmes d’équations différentielles raides ordinaires ou algébriques est devenue partie intégrante dans le processus de conception des systèmes mécaniques à dynamiques complexes. L’objet de ce travail est de développer des méthodes numériques pour réduire les temps de calcul par le parallélisme en suivant deux axes : interne à l’intégrateur numérique, et au niveau de la décomposition de l’intervalle de temps. Nous montrons l’efficacité limitée au nombre d’étapes de la parallélisation à travers les méthodes de Runge-Kutta et DIMSIM. Nous développons alors une méthodologie pour appliquer le complément de Schur sur le système linéarisé intervenant dans les intégrateurs par l’introduction d’un masque de dépendance construit automatiquement lors de la mise en équations du modèle. Finalement, nous étendons le complément de Schur aux méthodes de type "Krylov Matrix Free". La décomposition en temps est d’abord vue par la résolution globale des pas de temps dont nous traitons la parallélisation du solveur non-linéaire (point fixe, Newton-Krylov et accélération de Steffensen). Nous introduisons les méthodes de tirs à deux niveaux, comme Parareal et Pita dont nous redéfinissons les finesses de grilles pour résoudre les problèmes raides pour lesquels leur efficacité parallèle est limitée. Les estimateurs de l’erreur globale, nous permettent de construire une extension parallèle de l’extrapolation de Richardson pour remplacer le premier niveau de calcul. Et nous proposons une parallélisation de la méthode de correction du résidu. / This PhD Thesis deals with the development of parallel numerical methods for solving Ordinary and Algebraic Differential Equations. ODE and DAE are commonly arising when modeling complex dynamical phenomena. We first show that the parallelization across the method is limited by the number of stages of the RK method or DIMSIM. We introduce the Schur complement into the linearised linear system of time integrators. An automatic framework is given to build a mask defining the relationships between the variables. Then the Schur complement is coupled with Jacobian Free Newton-Krylov methods. As time decomposition, global time steps resolutions can be solved by parallel nonlinear solvers (such as fixed point, Newton and Steffensen acceleration). Two steps time decomposition (Parareal, Pita,...) are developed with a new definition of their grids to solved stiff problems. Global error estimates, especially the Richardson extrapolation, are used to compute a good approximation for the second grid. Finally we propose a parallel deferred correction

Ce travail comporte deux parties dont la première concerne l'ensemble asymptotique $S_F$ d'une application polynomiale $F: C^n to C^n$. Dans les année 90s, Jelonek a montré que cet ensemble est une variété algébrique complexe singulière de dimension (complexe) $n-1$. Nous donnons une méthode, appelée {it méthode des fa{c c}ons}, pour stratifier cet ensemble. Nous obtenons une stratification de Thom-Mather. Par ailleurs, il existe une stratification de Whitney de $S_F$ telle que l'ensemble des fa{c c}ons possibles soit constant sur chaque strate. En utilisant les fa{c c}ons, nous donnons un algorithme pour expliciter l'ensemble asymptotique d'une application quadratique dominante en trois variables. Nous obtenons aussi une liste des ensembles asymptotiques possibles dans ce cas. La deuxième partie concerne l'ensemble $V_F$ : En 2010, Anna et Guillaume Valette ont construit une pseudo-variété réelle $V_F subset R^{2n + p}$, où $p > 0$, associée à une application polynomiale $F: C^n to C^n$. Dans le cas $n = 2$, ils ont prouvé que si $F$ est une application polynomiale de déterminant jacobien partout non nul, alors $F$ n'est pas propre si et seulement si l'homologie d'intersection de $V_F$ n'est pas triviale en dimension 2. Nous donnons une généralisation de ce résultat, dans le cas d'une application polynomiale $F : C^n to C^n$ de jacobien partout non nul. Nous donnons aussi une méthode pour stratifier l'ensemble $V_F$. Comme applications, nous obtenons des stratifications de l'ensemble des valeurs critiques asymptotiques de $F$ et de l'ensemble des points de bifurcation de $F$. / There are two parts in the present work. The first part concerns the asymptotic set of a polynomial mapping $F: C^n to C^n$. In the 90s, Zbigniew Jelonek showed that this set is a $(n-1)$ - (complex) dimensional singular variety. We give a method, called {it m'ethode des fa{c c}ons}, for stratifying this set. We obtain a Thom-Mather stratification. Moreover, there exists a Whitney stratification such that the set of possible fa{c c}ons is constant on every stratum. By using the fa{c c}ons, we give an algorithm for expliciting the asymptotic sets of a dominant quadratic polynomial mapping in three variables. As a result, we have a complete list of the asymptotic sets in this case. The second part concerns the set called Valette set $V_F$. In 2010, Anna and Guillaume Valette constructed a real pseudomanifold $V_F subset R^{2n + p}$, where $p > 0$, associated to a polynomial mapping $F: C^n to C^n$. In the case $n = 2$, they proved that if $F$ is a polynomial mapping with nowhere vanishing Jacobian, then $F$ is not proper if and only if the homology (or intersection homology) of $V_F$ is not trivial in dimension 2. We give a generalization of this result, in the case of a polynomial mapping $F : C^n to C^n$ with nowhere vanishing Jacobian. We give also a method for stratifying the set $V_F$. As applications, we have the stratifications of the set of asymptotic critical values of $F$ and the set of bifurcation points of $F$.

Neste trabalho é desenvolvido um estudo sobre a relação entre as variedades de Thom-Boardman e os ideais jacobianos iterados associados a estas variedades. Inicialmente são estudadas as singularidades de Thom-Boardman associadas a germes de aplicações analíticas com a finalidade de introduzir as varidades de Thom-Boardman no espaço dos jatos. Posteriormente são estudados os ideais jacobianos extendidos, seguindo a construção de Morin. Finalmente é definida a multiplicidade c_i(f) associada a um símbolo de Boardman i=(i_1,...,i_k) e ao extrato (Sigma)^1(f). / In this work we study the relation between the Thom-Boardman manifolds and the iterated jacobian ideals associate to these manifolds. First, we study the Thom-Boardman singularities associate to analitic map germs with the objective to introduce Thom-Boardman manifolds in the jet space. After, we study the extended jacobians ideals, following Morin's construction. We give the definition of the mulitiplicity c_i(f) associate to a Boadman symbol i=(i_1,...,i_k) and the stratum (Sigma)^i(f).

Neste trabalho é desenvolvido um estudo sobre a relação entre as variedades de Thom-Boardman e os ideais jacobianos iterados associados a estas variedades. Inicialmente são estudadas as singularidades de Thom-Boardman associadas a germes de aplicações analíticas com a finalidade de introduzir as varidades de Thom-Boardman no espaço dos jatos. Posteriormente são estudados os ideais jacobianos extendidos, seguindo a construção de Morin. Finalmente é definida a multiplicidade c_i(f) associada a um símbolo de Boardman i=(i_1,...,i_k) e ao extrato (Sigma)^1(f). / In this work we study the relation between the Thom-Boardman manifolds and the iterated jacobian ideals associate to these manifolds. First, we study the Thom-Boardman singularities associate to analitic map germs with the objective to introduce Thom-Boardman manifolds in the jet space. After, we study the extended jacobians ideals, following Morin's construction. We give the definition of the mulitiplicity c_i(f) associate to a Boadman symbol i=(i_1,...,i_k) and the stratum (Sigma)^i(f).

The Flux Jacobian matrices, the elements of which are the derivatives of the flux vectors with respect to the flow variables, are needed to be evaluated in implicit flow solutions and in analytical sensitivity analyzing methods. The main motivation behind this thesis study is to explore the accuracy of the numerically evaluated flux Jacobian matrices and the effects of the errors in those matrices on the convergence of the flow solver, on the accuracy of the sensitivities and on the performance of the design optimization cycle. To perform these objectives a flow solver, which uses exact Newton&rsquo / s method with direct sparse matrix solution technique, is developed for the Euler flow equations. Flux Jacobian is evaluated both numerically and analytically for different upwind flux discretization schemes with second order MUSCL face interpolation. Numerical flux Jacobian matrices that are derived with wide range of finite difference perturbation magnitudes were compared with analytically derived ones and the optimum perturbation magnitude, which minimizes the error in the numerical evaluation, is searched. The factors that impede the accuracy are analyzed and a simple formulation for optimum perturbation magnitude is derived. The sensitivity derivatives are evaluated by direct-differentiation method with discrete approach. The reuse of the LU factors of the flux Jacobian that are evaluated in the flow solution enabled efficient sensitivity analysis. The sensitivities calculated by the analytical Jacobian are compared with the ones that are calculated by numerically evaluated Jacobian matrices. Both internal and external flow problems with varying flow speeds, varying grid types and sizes are solved with different discretization schemes. In these problems, when the optimum perturbation magnitude is used for numerical Jacobian evaluation, the errors in Jacobian matrix and the sensitivities are minimized. Finally, the effect of the accuracy of the sensitivities on the design optimization cycle is analyzed for an inverse airfoil design performed with least squares minimization.

This thesis investigates particular topics in advanced motion control of two distinct mechanical systems: human-like motion control of redundant robot manipulators and advanced sensing and control for energy-efficient operation of electromagnetic devices. Control of robot manipulators for human-like motions has been one of challenging topics in robot control for over half a century. The first part of this thesis considers methods that exploits robot manipulators??? degrees of freedom for such purposes. Jacobian transpose control law is investigated as one of the well-known controllers and sufficient conditions for its universal convergence are derived by using concepts of ???stability on a manifold??? and ???transferability to a sub-manifold???. Firstly, a modification on this method is proposed to enhance the rectilinear trajectory of the robot end-effector. Secondly, an abridged Jacobian controller is proposed that exploits passive control of joints to reduce the attended degrees of freedom of the system. Finally, the application of minimally-attended controller for human-like motion is introduced. Electromagnetic (EM) access control systems are one of growing electronic systems which are used in applications where conventional mechanical locks may not guarantee the expected safety of the peripheral doors of buildings. In the second part of this thesis, an intelligent EM unit is introduced which recruits the selfsensing capability of the original EM block for detection purposes. The proposed EM device optimizes its energy consumption through a control strategy which regulates the supply to the system upon detection of any eminent disturbance. Therefore, it draws a very small current when the full power is not needed. The performance of the proposed control strategy was evaluated based on a standard safety requirement for EM locking mechanisms. For a particular EM model, the proposed method is verified to realize a 75% reduction in the power consumption.

This thesis analyzes the kinematical structure of Puma 760 arm and introduces the implementation of image based pick and place application by taking care of the obstacles in the environment. Forward and inverse kinematical solutions of PUMA 760 are carried out. A control software has been developed to calculate both the forward and inverse kinematics solution of this manipulator. The control program enables user to perform both offline programming and real time realization by transmitting the VAL commands (Variable Assembly Language) to the control computer. Using the proposed inverse kinematics solutions, an interactive application is generated on PUMA 760 arm. The picture of the workspace is taken using a fixed camera attached above the robot workspace. The captured image is then processed to find the position and the distribution of all objects in the workspace. The target is differentiated from the obstacles by analyzing some specific properties of all objects, i.e. roundness. After determining the configuration of the workspace, a clustering based search algorithm is executed to find a path to pick the target object and places it to the desired place. The trajectory points in pixel coordinates, are mapped into the robot workspace coordinates by using the camera calibration matrix obtained in the calibration procedure of the robot arm with respect to the attached camera. The required joint angles, to get the end effector of the robot arm to the desired location, are calculated using the Jacobian type inverse kinematics algorithm. The VAL commands are generated and sent to the control computer of PUMA 760 to pick the object and places it to a user defined location.

In the adaptive finite element method, the solution of a p.d.e. is approximated from finer and finer meshes, which are controlled by error estimators. So, starting from a given coarse mesh, some elements are subdivided a couple of times. We investigate the question of avoiding instabilities which limit this process from the fact that nodal coordinates of one element coincide in more and more leading digits. In a previous paper the stable calculation of the Jacobian matrices of the element mapping was given for straight line triangles, quadrilaterals and hexahedrons. Here, we generalize this ideas to linear and quadratic triangles on curved boundaries.

It is an important question in machine learning to understand how neural networks learn. This thesis sheds further light onto this by studying autoencoder neural networks which can memorize data by storing it as attractors.What this means is that an autoencoder can learn a training set and later produce parts or all of this training set even when using other inputs not belonging to this set. We seek out to illuminate the effect on how ReLU networks handle memorization when trained with different setups: with and without bias, for different widths and depths, and using two different types of training images -- from the CIFAR10 dataset and randomly generated. For this, we created controlled experiments in which we train autoencoders and compute the eigenvalues of their Jacobian matrices to discern the number of data points stored as attractors.We also manually verify and analyze these results for patterns and behavior. With this thesis we broaden the understanding of ReLU autoencoders: We find that the structure of the data has an impact on the number of attractors. For instance, we produced autoencoders where every training image became an attractor when we trained with random pictures but not with CIFAR10. Changes to depth and width on these two types of data also show different behaviour.Moreover, we observe that loss has less of an impact than expected on attractors of trained autoencoders.

Voltage stability is a challenging problem in the design and operation of terrestrial and shipboard power systems. DC links can be integrated in the AC systems to increase the transmission capacity or to enhance the distribution performance. However, DC links introduce voltage stability issues related to the reactive power shortage due to power converters. Multi-infeed DC systems make this existing phenomenon more complicated. In addition, shipboard power systems have unique characteristics, and some concepts and methodologies developed for terrestrial power systems need to be investigated and modified before they are extended for shipboard power systems. One goal of this work was to develop a systematic method for voltage stability assessment of hybrid AC/DC systems, independent of system configuration. The static and dynamic approaches have been used as complementary methods to address different aspects in voltage stability. The other goal was to develop or to apply voltage stability indicators for voltage stability assessment. Two classical indicators (the minimum eigenvalue and loading margin) and an improvement (the 2nd order performance indicator) have been jointly used for the prediction of voltage stability, providing information on the system state and proximity to and mechanism of instability. The eliminated variable method has been introduced to calculate the partial derivatives of AC/DC systems for modal analysis. The previously mentioned methodologies and the associated indicators have been implemented for the application of integrated shipboard power system including DC zonal arrangement. The procedure of voltage stability assessment has been performed for three test systems, the WSCC 3-machine 9-bus system, the benchmark integrated shipboard power system, and the modified I RTS-96. The static simulation results illustrate the critical location and the contributing factors to the voltage instability, and screen the critical contingencies for dynamic simulation. The results obtained from various static methods have been compared. The dynamic simulation results demonstrate the response of dynamic characteristics of system components, and benchmark the static simulation results.