Este trabalho consiste, fundamentalmente, em estabelecer de forma analítica a existência e estabilidade orbital de soluções standing-wave de tipo peakon, para a seguinte equação de Schrödinger com dois pontos de interação, determinados por duas deltas de Dirac centradas nos pontos x = ±c (NLS-), i t u(x, t) + x 2 u(x, t) + Z[ c (x) + c (x)]u(x, t) = |u(x, t)| 2 u(x, t), (1) onde u : R×R C, Z R e c é a distribuição delta de Dirac agindo em x = c > 0, a saber, para H 1 (R), h c , i = (c). Para as soluções standing waves (ondas estacionárias) associadas à equação (1), i.e., u(x, t) = e it (x), mostramos que é possível determinar o perfil (x) da seguinte maneira: entre os pontos c e c o perfil admite, pelos menos, duas funções suaves e positivas dadas pelas funções elípticas de Jacobi conhecidas como dnoidal e cnoidal. Já para c < |x|, o perfil coincide com uma determinada translação do soliton-perfil secante hiperbólica\" (é bem conhecido na literatura que o perfil secante hiperbólica está associado à equação (1), no caso em que Z = 0). De fato, mostramos que para o caso Z > 0 é possível ajustar, entre os pontos de interação c e c, um perfil periódico de tipo dnoidal ; e para o caso Z < 0 mostramos como é construído entre os pontos de interação um perfil de tipo cnoidal. Uma questão crucial que surge no problema da existência de um perfil conveniente é aquela relacionada com a localização do ponto de interação c > 0. A maneira como respondimos a esta questão foi, de fato, determinante para a obtenção do nosso resultado de estabilidade/instabilidade. Isto se deve a que permitiu o uso de técnicas conhecidas na literatura no desenvolvimento do trabalho. En concreto, a escolha da localização do ponto de interação c, faz com que a segunda derivada do perfil , seja contínua neste ponto. Baseados em argumentos da teoria de Floquet, teoria de representação de formas bi- lineares, teoria de extensão de operadores simétricos e a teoria de perturbação analítica para operadores lineares, bem como nos resultados desenvolvidos por Weinstein e Grilla- kis&Shatah&Strauss, mostramos resultados sobre a estabilidade/instabilidade orbital des- sas ondas. Mais precisamente, mostramos que aquelas com um perfil dnoidal são instáveis e aquelas um perfil cnoidal são estáveis. Além disto, estudamos o problema de Cauchy para (1) no espaço de energia H 1 (R). Para tanto, usaremos informações do espectro do operador com interações pontuais d 2 ±c,Z = 2 Z[ c + c ], dx o qual representa formalmente uma das famílias de extensões auto-adjuntas do operador iii simétrico ( d 2 = dx 2 D() = {f H 1 (R) H 2 (R {±c}) : f (±c) = 0}. / This work consists mainly in establishing an analytical way the existence and orbital stability for the standing-wave solutions of \"peakon\"type of the following Schrödinger equation with two points of interaction, determined by two Diracs delta centered at the points x = ±c (NLS-), i t u(x, t) + x 2 u(x, t) + Z[ c + c ]u(x, t) = |u(x, t)| 2 u(x, t), (2) where u : R × R C, Z R and c is the Diracs delta distribution in x = c > 0, namely, for H 1 (R), h c , i = (c). For the standing-wave solutions associated to equation (2), i.e., u(x, t) = e it (x), we show that is possible to determine the profile (x) as follows: between the points c and c, the profile admits at least two smooth positive functions given by the Jacobi elliptic functions of dnoidal and cnoidal type. For c < |x|, the profile coincides with an specific shift of the soliton-profile hiperbolic secant profile (it is well-known in the literature that the hiperbolic secant profile is associated to the equation (2) for the case Z = 0). Indeed, we show for the case Z > 0 that it is possible to determine a periodic dnoidal profile between the points c and c. On the other hand, for the case Z < 0 we establish a periodic cnoidal profile between the points c and c. A crucial question arises in the problem of the existence of a suitable profile is the one related to the location of the interaction point c > 0. This question was crucial to the achievement of our stability/instability result. In fact, the choice of location of the interaction point c implies that the second derivative of the porfile is continuous at c. The stability/instability theory of these specific profiles are based on the analityc per- turbation theory and the framework developed by Weinstein and Grillakis&Shatah&Strauss. More precisely, we show that those ones with a dnoidal profile are unstable and those ones with a cnoidal profile are stable. In addition, we study the Cauchy problem in the energy space H 1 (R) for equation (2). For this purpose, it is necessary to study the spectrum of the operator d 2 ±c,Z = 2 Z[ c + c ]. dx This operator can be understood as the family of self-adjoint extension of the symmetric operator ( d 2 = dx 2 D() = {f H 1 (R) H 2 (R {±c}) : f (±c) = 0}.

Este trabalho trata do estudo de robôs de arquitetura paralela, focando na modelagem e otimização dos mesmos. Não foi construído nenhum tipo de protótipo físico, contudo os modelos virtuais poderão, no futuro, habilitar tal façanha. Após uma busca por uma aplicação que se beneficie do uso de um robô de arquitetura paralela, fez-se uma pesquisa por arquiteturas viáveis já existentes ou relatadas na literatura. Escolheu-se a mais apta e prosseguiu-se com os estudos e modelagem cinemática e dinâmica, dando uma maior ênfase na cinemática e dinâmica inversa, esta última utilizando a formulação de Newton - Euler. Foi construído um simulador virtual em ambiente MATLAB 6.5, dotado de várias capacidades como interpolação linear e circular, avanço e uso de múltiplos eixos coordenados. Seu propósito principal é o de demonstrar a funcionalidade e eficácia dos métodos utilizados. Depois foi incorporado ao simulador um algoritmo de cálculo do volume de trabalho da máquina que utiliza alguns dados do usuário para calcular o volume, que pode ser aquele atrelado a uma postura em particular ou o volume de trabalho de orientação total. Algoritmos para medir o desempenho da máquina quanto à uniformidade e utilização da força dos atuadores foram construídos e também incorporados ao simulador, que consegue mostrar o elipsóide de forças ao longo de quaisquer movimentos executados pela plataforma móvel. Quanto à otimização, parte do ferramental previamente construído foi utilizado para que se pudesse chegar a um modelo de uma máquina que respeitasse restrições mínimas quanto ao tamanho e forma de seu volume de trabalho, mas ainda mantendo o melhor desempenho possível dentro deste volume. / This work is about the study of parallel architecture robots, focusing in modeling and optimization. No physical prototypes were built, although the virtual models can help those willing to do so. After searching for an application that could benefit from the use of a parallel robot, another search was made, this time for the right architecture type. After selecting the architecture, the next step was the kinematics and dynamics analysis. The dynamics model is developed using the Newton ? Euler method. A virtual simulator was also developed in MATLAB 6.5 environment. The simulator?s main purpose was to demonstrate that the methods applied were correct and efficient, so it has several features such as linear and circular interpolations, capacity to use multiple coordinate systems and others. After finishing the simulator, an algorithm to calculate the machine workspace was added. The algorithm receives as input some desired requirements regarding the manipulator pose and then calculates the workspace, taking into consideration imposed constraints. Lastly, algorithms capable to measure the manipulator?s performance regarding to its actuator and end-effector force relationship were also incorporated into the simulator that calculates the machine?s force ellipsoid during any movement, for each desired workspace point. For the optimization procedures, some previously developed tools were used, so that the resulting model was capable to respect some workspace constraints regarding size and shape, but also maintaining the best performance possible inside this volume.

The objective of this thesis is to analyze the kinematics of a mobile parallel robot with contribution that pertain to the singularity analysis, the optimization of geometric parameters and the optimal control to avoid singularities when navigating across singular geometric configurations. The analysis of the workspace and singularities is performed in a prescribed reference workspace regions using discretization method. Serial and parallel singularities are analytically analyzed and all possible singular configurations are presented. Kinematic conditioning index is used to determine the robot’s proximity to a singular configuration. A method for the determination of a continuous and singularity-free workspace is detailed. The geometric parameters of the system are optimized in various types of pipe-like structures with respect to a suitable singularity index, in order to avoid singularities during the navigation across elbows. The optimization problem is formulated with an objective to maximize the reachable workspace and minimize the singularities. The objective function is also subjected to constraints such as collision avoidance, singularity avoidance, workspace continuity and contact constraints imposed between the boundaries and the wheels of the robot. A parametric variation method is used as a technique to optimize the design parameters. The optimal design parameters found are normalized with respect to the width of the pipe-like structures and therefore the results are generalized to be used in the development phase of the robot. An optimal control to generate singularity-free trajectories when the robotic device has to cross a geometric singularity in a sharp 90◦ elbow is proposed. Such geometric singularity inherently leads to singularities in the Jacobian of the system, and therefore a modified device with augmented number of degrees of freedom is introduced to be able to generate non-singular trajectories.

A black body is an ideal object that absorbs all incident electromagnetic radiation and simultaneously emits radiation that only depends on the temperature. The radiation is described by Planck's radiation law and its maximum by Wien's displacement law. The aim of this project is to study Planck's and Wien's laws in the frequency and wavelength domains, by theoretical studies and numerical studies in the programming language Python. Planck's law can be derived by regarding a cavity where the internal radiation either can be regarded as waves or as a gas of photons. In this study, the main focus lies in the derivation assuming radiation can be treated as waves, which uses the Maxwell-Boltzmann distribution. This derivation is also used when the radiation is simulated numerically in Python. The numerical studies use the stochastic method "hit and miss" to generate the different properties of the emitted radiation. Planck's law occurs in many different forms, the differences between some of them is explained in this project. When transforming between the domains one must use a Jacobian. If this is forgotten Wien's law, which is derived from Planck’s law, efficiently shows how the peaks of the correct and the transformed curves are at different positions. The results show that Planck's law accurately can be derived numerically. Even though the chosen method successfully reproduces the Planck distribution the program can be improved by using the inverse transform method for sampling. To study this subject further one could consider deriving and simulating the Maxwell-Boltzmann distribution. / En svart kropp är intressant att undersöka på grund av dess unika förmåga att absorbera och emittera elektromagnetisk strålning. Dessvärre kan den svarta kroppen vara svår att föreställa sig. Det vedertagna knepet för att illustrera detta fenomen är att tänka sig en låda inuti vilken det finns fotoner, och därmed energi. Fotoner kan som bekant betraktas som vågor likväl som partiklar och turligt nog spelar det ingen roll vilket sätt man väljer, svartkroppsstrålningen kan studeras ur båda dessa infallsvinklar. Tänker man sig också att det finns ett mycket litet hål i lådans vägg är det lätt att inse att fotonerna kommer att lämna lådan ur detsamma. Det är denna strålning som är svartkroppsstrålning. Svartkroppsstrålningen är fördelad enligt Plancks strålningslag som vanligtvis härleds med hjälp av teorin kring statistisk fysik som appliceras på den tänkta lådan. Detta görs även i denna studie, såväl som en numerisk simulering i programmeringsspråket Python. Ett program för studier av svartkroppsstrålning, vars främsta syfte är att simulera denna med utgångspunkt i samma låda, har skapats och förväntas kunna hjälpa den intresserade att skaffa sig förståelse för egenskaperna hos Plancks lag. För detta program används med framgång den stokastiska metoden "hit and miss" som tillåter användaren att sampla slumptal från en given fördelning. Utöver Plancks lag studeras också Wiens lag. Wiens lag beskriver vid vilken frekvens strålningen kommer att ha sitt maximum och härleds ur Plancks lag. Plancks lag förekommer i många olika former vilka beskriver olika fysikaliska storheter. I denna studie utreds dessa. Att transformera mellan de olika formerna av lagen är inte så simpelt som man kan luras att tro, utan kräver viss matematisk eftertanke. Det visar sig vara avgörande att använda en mycket viktig transformationsfaktor kallad Jacobian. Detta ger såklart också konsekvenser för Wiens lag som kommer att se olika ut beroende på vilken form av Plancks lag den härleds ur.

Este trabalho trata do estudo de robôs de arquitetura paralela, focando na modelagem e otimização dos mesmos. Não foi construído nenhum tipo de protótipo físico, contudo os modelos virtuais poderão, no futuro, habilitar tal façanha. Após uma busca por uma aplicação que se beneficie do uso de um robô de arquitetura paralela, fez-se uma pesquisa por arquiteturas viáveis já existentes ou relatadas na literatura. Escolheu-se a mais apta e prosseguiu-se com os estudos e modelagem cinemática e dinâmica, dando uma maior ênfase na cinemática e dinâmica inversa, esta última utilizando a formulação de Newton - Euler. Foi construído um simulador virtual em ambiente MATLAB 6.5, dotado de várias capacidades como interpolação linear e circular, avanço e uso de múltiplos eixos coordenados. Seu propósito principal é o de demonstrar a funcionalidade e eficácia dos métodos utilizados. Depois foi incorporado ao simulador um algoritmo de cálculo do volume de trabalho da máquina que utiliza alguns dados do usuário para calcular o volume, que pode ser aquele atrelado a uma postura em particular ou o volume de trabalho de orientação total. Algoritmos para medir o desempenho da máquina quanto à uniformidade e utilização da força dos atuadores foram construídos e também incorporados ao simulador, que consegue mostrar o elipsóide de forças ao longo de quaisquer movimentos executados pela plataforma móvel. Quanto à otimização, parte do ferramental previamente construído foi utilizado para que se pudesse chegar a um modelo de uma máquina que respeitasse restrições mínimas quanto ao tamanho e forma de seu volume de trabalho, mas ainda mantendo o melhor desempenho possível dentro deste volume. / This work is about the study of parallel architecture robots, focusing in modeling and optimization. No physical prototypes were built, although the virtual models can help those willing to do so. After searching for an application that could benefit from the use of a parallel robot, another search was made, this time for the right architecture type. After selecting the architecture, the next step was the kinematics and dynamics analysis. The dynamics model is developed using the Newton ? Euler method. A virtual simulator was also developed in MATLAB 6.5 environment. The simulator?s main purpose was to demonstrate that the methods applied were correct and efficient, so it has several features such as linear and circular interpolations, capacity to use multiple coordinate systems and others. After finishing the simulator, an algorithm to calculate the machine workspace was added. The algorithm receives as input some desired requirements regarding the manipulator pose and then calculates the workspace, taking into consideration imposed constraints. Lastly, algorithms capable to measure the manipulator?s performance regarding to its actuator and end-effector force relationship were also incorporated into the simulator that calculates the machine?s force ellipsoid during any movement, for each desired workspace point. For the optimization procedures, some previously developed tools were used, so that the resulting model was capable to respect some workspace constraints regarding size and shape, but also maintaining the best performance possible inside this volume.

Made available in DSpace on 2014-07-29T16:02:15Z (GMT). No. of bitstreams: 1 Dissertacao Wender J de Souza.pdf: 1008440 bytes, checksum: b2d3405f265353a21b9eaaad1c91d71f (MD5) Previous issue date: 2010-03-29 / In this work we are interested in the solution of the following problem: Let Y = ( f ,g) be a vector field of class C1 in R2. Suppose that (x, y) = (0,0) is a singular point of Y and assume that for any q &#8712; R2, the eigenvalues of DY have negative real part, this is, det(DY) > 0 and tr(DY) < 0. Then, the solution (x, y) = (0,0) of Y is globally asymptotically stable. To this end, we show that this problema is equivalent to the following: Let Y : R2 &#8594;R2 be a C1 vector field. If det(DY) > 0 and tr(DY) < 0, then Y is globally injective. This equivalence was proved by C. Olech [1]. So we show the injectivity of the vector field Y under the conditions det(DY) > 0 and tr(DY)<0. In fact, we present a more stronger result, which was obtained by C. Gutierrez and can be found in [4]. This result is given by: Any planar vector field X of class C2 satisfying the r-eigenvalue condition for some r &#8712; [0,¥) is injective. / Neste trabalho, estamos interessados em estudar a solução do seguinte problema: Seja Y = ( f ,g) um campo de vetores, de classe C1, em R2. Suponha que (x, y) = (0,0) é um ponto singular de Y e suponha que, para todo q &#8712; R2, os autovalores de DY tem parte real negativa, isto é, det(DY) > 0 e tr(DY) < 0. Então, a solução (x, y) = (0,0) de Y é globalmente assintoticamente estável. Para este fim, mostramos que este problema é equivalente ao seguinte: Seja Y : R2 &#8594;R2 uma campo de vetores de classe C1. Se det(DY) > 0 e tr(DY) < 0, então Y é globalmente injetora. Esta equivalência foi demonstrada por C. Olech em [1]. Desta forma, a estratégia é estudar a injetividade do campo Y sob as condições det(DY)> 0 e tr(DY) < 0. Na verdade, apresentamos um resultado um pouco mais forte, o qual foi obtido por C. Gutierrez e pode ser encontrado em [4]. Este resultado é dado por: Qualquer campo de vetores X : R2 &#8594;R2 de classe C2 satisfazendo a condição de r-autovalor, para algum r &#8712; [0,¥), é injetora.

L’alignement d’images paramétrique a de nombreuses applications pour la réalité augmentée, la compression vidéo ou encore le suivi d’objets. Dans cette thèse, nous nous intéressons notamment aux techniques de recalage d’images (template matching) reposant sur l’optimisation locale d’une fonctionnelle d’erreur. Ces approches ont conduit ces dernières années à de nombreux algorithmes efficaces pour le suivi d’objets. Cependant, les performances de ces algorithmes ont été peu étudiées lorsque les images sont dégradées par un bruit important comme c’est le cas, par exemple, pour des captures réalisées dans des conditions de faible luminosité. Dans cette thèse, nous proposons un nouveau formalisme, appelé formalisme bidirectionnel, qui unifie plusieurs approches de l’état de l’art. Ce formalisme est utilisé dans un premier temps pour porter un éclairage nouveau sur un grand nombre d’approches de la littérature et en particulier sur l’algorithme ESM (Efficient Second-order Minimization). Nous proposons ensuite une étude théorique approfondie de l’influence du bruit sur le processus d’alignement. Cette étude conduit à la définition de deux nouvelles familles d’algorithmes, les approches ACL (Asymmetric Composition on Lie Groups) et BCL (Bidirectional Composition on Lie Groups) qui permettent d’améliorer les performances en présence de niveaux de bruit asymétriques (Rapport Signal sur Bruit différent dans les images). L’ensemble des approches introduites sont validées sur des données synthétiques et sur des données réelles capturées dans des conditions de faible luminosité. / Parametric image alignment is a fundamental task of many vision applications such as object tracking, image mosaicking, video compression and augmented reality. To recover the motion parameters, direct image alignment works by optimizing a pixel-based difference measure between a moving image and a fixed-image called template. In the last decade, many efficient algorithms have been proposed for parametric object tracking. However, those approaches have not been evaluated for aligning images of low SNR (Signal to Noise ratio) such as images captured in low-light conditions. In this thesis, we propose a new formulation of image alignment called Bidirectional Framework for unifying existing state of the art algorithms. First, this framework allows us to produce new insights on existing approaches and in particular on the ESM (Efficient Second-order Minimization) algorithm. Subsequently, we provide a theoretical analysis of image noise on the alignment process. This yields the definition of two new approaches : the ACL (Asymmetric Composition on Lie Groups) algorithm and the BCL (Bidirectional Composition on Lie Groups) algorithm, which outperform existing approaches in presence of images of different SNR. Finally, experiments on synthetic and real images captured under low-light conditions allow to evaluate the new and existing approaches under various noise conditions.

Cette thèse comporte deux parties. Dans la première partie on étudie le motif de Chow d’un fibré en quadriques de dimension relative impaire sur une surface. On montre que ce motif admet une décomposition qui fait intervenir le motif de Prym du revêtement double de la courbe discriminante. Dans la deuxième partie on s’intéresse à des fibrations lagrangiennes, obtenues comme jacobiennes intermédiaires relatives des familles de variétés de Fano de dimension trois contenant une surface K3 fixée, et à l’existence d’une compactification symplectique. Dans un cas particulier, on étudie une compactification partielle en utilisant des calculs avec le logiciel Macaulay2. / This thesis consists of two parts. In the first part we study the Chow motive of a quadric bundle of odd relative dimension over a surface. We show that this motive admits a decomposition which involves the Prym motive of the double covering of the discriminant curve.In the second part, we consider Lagrangian fibrations, obtained as relative intermediate Jacobians of families of Fano threefolds containing a fixed K3 surface, and the existence of a symplectic compactification. In a particular case, we study a partial compactification using calculations with the software system Macaulay2.

The objective of this thesis is to analyze the kinematics of a mobile parallel robot with contribution that pertain to the singularity analysis, the optimization of geometric parameters and the optimal control to avoid singularities when navigating across singular geometric configurations. The analysis of the workspace and singularities is performed in a prescribed reference workspace regions using discretization method. Serial and parallel singularities are analytically analyzed and all possible singular configurations are presented. Kinematic conditioning index is used to determine the robot’s proximity to a singular configuration. A method for the determination of a continuous and singularity-free workspace is detailed. The geometric parameters of the system are optimized in various types of pipe-like structures with respect to a suitable singularity index, in order to avoid singularities during the navigation across elbows. The optimization problem is formulated with an objective to maximize the reachable workspace and minimize the singularities. The objective function is also subjected to constraints such as collision avoidance, singularity avoidance, workspace continuity and contact constraints imposed between the boundaries and the wheels of the robot. A parametric variation method is used as a technique to optimize the design parameters. The optimal design parameters found are normalized with respect to the width of the pipe-like structures and therefore the results are generalized to be used in the development phase of the robot. An optimal control to generate singularity-free trajectories when the robotic device has to cross a geometric singularity in a sharp 90◦ elbow is proposed. Such geometric singularity inherently leads to singularities in the Jacobian of the system, and therefore a modified device with augmented number of degrees of freedom is introduced to be able to generate non-singular trajectories.

<p><span style="left: 81.5833px; top: 720.322px; font-size: 17.5px; font-family: serif; transform: scaleX(1.07268);">U doktorskoj disertaciji razmatrani su iterativni postupci za re&scaron;avanje nelinearnih komplementarnih problema (NCP). Problemi ovakvog tipa javljaju se u teoriji optimizacije, inženjerstvu i ekonomiji. Matematički modeli mnogih prirodnih, dru&scaron;tvenih i tehničkih procesa svode se takođe na ove probleme. Zbog izuzetno velike zastupljenosti NCP problema, njihovo re&scaron;avanje je veoma aktuelno. Među mnogobrojnim numeričkim postupcima koji se koriste u tu svrhu, u ovoj disertaciji posebna pažnja posvećena je<br />generalizovanim postupcima Njutnovog tipa i iterativnim postupcima sa re-gularizacijom matrice jakobijana. Definisani su novi postupci za re&scaron;avanje NCP i dokazana je njihova lokalna ili globalna konvergencija. Dobijeni teorijski rezultati testirani su na relevantnim numeričkim primerima. </span></p> / <p>Iterative methods for nonlinear complementarity problems (NCP) are con-sidered in this doctoral dissertation. NCP problems appear in many math-ematical models from economy, engineering and optimization theory. Solv-ing NCP is very atractive in recent years. Among many numerical methods for NCP, we are interested in generalized Newton-type methods and Jaco-bian smoothing methođs. Several new methods for NCP are defined in this dissertation and their local or global convergence is proved. Theoretical results are tested on relevant numerical examples.</p>