We develop the theory of parton distributions f(_a)(π, k(^t2), μ(^2), unintegrated with respect to transverse momentum k(_t), from a phenomenological standpoint. In particular, we demonstrate a convenient approximation in which the unintegrated functions are obtained by explicitly performing the last step of parton evolution in perturbative QCD, with single-scale functions a(π, Q(^2) as input. Results are presented in the context of DGLAP and combined BFKL-DGLAP evolution, but with angular ordering imposed in the last step of the evolution. We illustrate the application of these unintegrated distributions to predict cross sections for physical processes at lepton-hadron and hadron-hadron colliders. The use of partons with incoming transverse momentum, based on k(_t)-factorisation, is intended to replace phenomenological "smearing" in the perturbative region k(_t) > k(_o) (k(_o) ≈ 1 GeV), and enables the full kinematics of a process to be included even at leading order. We apply our framework to deep inelastic scattering and the fitting of F(_2)(π, Q(^2), to the transverse momentum spectra of prompt photons in hadroproduction and in photoproduction, and to the topical problem of bb production at HERA. Finally, we address the issue of parton-parton recombination (shadowing) at very low values of π, building on recent work by Kovchegov and others to make predictions for the likely magnitude of shadowing effects at the LHC.

Birds and bats employ a variety of advanced wing motions in the efficient production of thrust. The purpose of this thesis is to quantify the benefit of these advanced wing motions, determine the optimal theoretical wing kinematics for a given flight condition, and to develop a methodology for applying the results in the optimal design of flapping-wing aircraft (ornithopters). To this end, a medium-fidelity, combined aero-structural model has been developed that is capable of simulating the advanced kinematics seen in bird flight, as well as the highly non-linear structural deformations typical of high-aspect ratio wings. Five unique methods of thrust production observed in natural species have been isolated, quantified and thoroughly investigated for their dependence on Reynolds number, airfoil selection, frequency, amplitude and relative phasing. A gradient-based optimization algorithm has been employed to determined the wing kinematics that result in the minimum required power for a generalized aircraft or species in any given flight condition. In addition to the theoretical work, with the help of an extended team, the methodology was applied to the design and construction of the world's first successful human-powered ornithopter. The Snowbird Human-Powered Ornithopter, is used as an example aircraft to show how additional design constraints can pose limits on the optimal kinematics. The results show significant trends that give insight into the kinematic operation of natural species. The general result is that additional complexity, whether it be larger twisting deformations or advanced wing-folding mechanisms, allows for the possibility of more efficient flight. At its theoretical optimum, the efficiency of flapping-wings exceeds that of current rotors and propellers, although these efficiencies are quite difficult to achieve in practice.

Birds and bats employ a variety of advanced wing motions in the efficient production of thrust. The purpose of this thesis is to quantify the benefit of these advanced wing motions, determine the optimal theoretical wing kinematics for a given flight condition, and to develop a methodology for applying the results in the optimal design of flapping-wing aircraft (ornithopters). To this end, a medium-fidelity, combined aero-structural model has been developed that is capable of simulating the advanced kinematics seen in bird flight, as well as the highly non-linear structural deformations typical of high-aspect ratio wings. Five unique methods of thrust production observed in natural species have been isolated, quantified and thoroughly investigated for their dependence on Reynolds number, airfoil selection, frequency, amplitude and relative phasing. A gradient-based optimization algorithm has been employed to determined the wing kinematics that result in the minimum required power for a generalized aircraft or species in any given flight condition. In addition to the theoretical work, with the help of an extended team, the methodology was applied to the design and construction of the world's first successful human-powered ornithopter. The Snowbird Human-Powered Ornithopter, is used as an example aircraft to show how additional design constraints can pose limits on the optimal kinematics. The results show significant trends that give insight into the kinematic operation of natural species. The general result is that additional complexity, whether it be larger twisting deformations or advanced wing-folding mechanisms, allows for the possibility of more efficient flight. At its theoretical optimum, the efficiency of flapping-wings exceeds that of current rotors and propellers, although these efficiencies are quite difficult to achieve in practice.

ABSTRACT EVALUATION OF MULTI TARGET TRACKING ALGORITHMS IN THE PRESENCE OF CLUTTER G&uuml / ner, Onur M.S., Department of Electrical and Electronics Engineering Supervisor: Prof. Dr. Mustafa Kuzuoglu August 2005, 88 Pages This thesis describes the theoretical bases, implementation and testing of a multi target tracking approach in radar applications. The main concern in this thesis is the evaluation of the performance of tracking algorithms in the presence of false alarms due to clutter. Multi target tracking algorithms are composed of three main parts: track initiation, data association and estimation. Two methods are proposed for track initiation in this work. First one is the track score function followed by a threshold comparison and the second one is the 2/2 &amp / M/N method which is based on the number of detections. For data association problem, several algorithms are developed according to the environment and number of tracks that are of interest. The simplest method for data association is the nearest-neighbor data association technique. In addition, the methods that use multiple hypotheses like probabilistic data association and joint probabilistic data association are introduced and investigated. Moreover, in the observation to track assignment, gating is an important issue since it reduces the complexity of the computations. Generally, ellipsoidal gates are used for this purpose. For estimation, Kalman filters are used for state prediction and measurement update. In filtering, target kinematics is an important point for the modeling. Therefore, Kalman filters based on different target kinematic models are run in parallel and the outputs of filters are combined to yield a single solution. This method is developed for maneuvering targets and is called interactive multiple modeling (IMM). All these algorithms are integrated to form a multi target tracker that works in the presence (or absence) of clutter. Track score function, joint probabilistic data association (JPDAF) and interactive multiple model filtering are used for this purpose. Keywords: clutter, false alarms, track initiation, data association, gating, target kinematics, IMM, JPDAF

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 this thesis, recently developed Blended Inverse (B-inverse) steering law is applied to two different redundant actuator systems. First, repeatability of Binverse is demonstrated on a redundant robotic manipulator. Its singularity avoidance and singularity transition performance is also demonstrated on the same actuator system. It is shown that B-inverse steering law provides singularity avoidance, singularity transition and repeatability. Second, its effectiveness is demonstrated for an Integrated Power and Attitude Control - Control Moment Gyroscope (IPAC-CMG) cluster, which can perform energy management and attitude control functions simultaneously. For this purpose, an IPAC-CMG flywheel is conceptually designed. A control policy is developed for the energy management.

This thesis describes computational and theoretical studies of fundamental physical processes that influence the heat-release response of turbulent premixed flames to acoustic forcing. Attached turbulent flames, as found in many practical devices, have a non-zero mean velocity component tangential to the turbulent flame brush. Hence, flame surface wrinkles generated at a given location travel along the flame sheet while being continuously modified by local flow velocity disturbances, thereby, causing the flame sheet to respond in a non-local manner to upstream turbulence fluctuations. The correlation length and time scales of these flame sheet motions are significantly different from those of the upstream turbulence fluctuations. These correlation lengths and times increase with turbulence intensity, due to the influence of kinematic restoration. This non-local nature of flame sheet wrinkling (called 'non-locality') results in a spatially varying distribution of local consumption speed (i.e. local mass burning rate) even when the upstream flow statistics are isotropic and stationary. Non-locality and kinematic restoration result in coupling between the responses of the flame surface to coherent acoustic forcing and random turbulent fluctuations respectively, thereby, causing the coherent ensemble averaged component of the global heat-release fluctuation to be different in magnitude and phase from its nominal (laminar) value even in the limit of small coherent forcing amplitudes (i.e. linear forcing limit). An expression for this correction, derived from an asymptotic analysis to leading order in turbulence intensity, shows that its magnitude decreases with increasing forcing frequency because kinematic restoration limits flame surface wrinkling amplitudes. Predictions of ensemble averaged heat release response from a different, generalized modeling approach using local consumption and displacement speed distributions from unforced analysis shows good agreement with the exact asymptotic result at low frequencies.

Three-dimensional movement analysis was used to evaluate head and neck movement in patients with neck pain and matched controls. The aims were to further develop biomechanical models of head and neck kinematics, to investigate differences between subjects with non-specific neck pain and whiplash associated disorders (WAD), and to evaluate the potential of objective movement analysis as a decision support during diagnosis and follow-up of patients with neck pain. Fast, repetitive head movements (flexion, extension, rotation to the side) were studied in a group of 59 subjects with WAD and 56 controls. A back propagation artificial neural network classified vectors of collected movement variables from each individual according to group membership with a predictivity of 89%. The helical axis for head movement were analyzed in two groups of neck pain patients (21 with non-specific neck pain and 22 with WAD) and 24 matched controls. A moving time window with a cut-off angle of 4° was used to calculate finite helical axes. The centre of rotation of the finite axes (CR) was derived as the 3D intersection point of the finite axes. A downward migration of the axis during flexion/extension and a change of axis direction towards the end of the movements were observed. CR was at its most superior position during side rotations and at its most inferior during ball catching. This could relate to that side rotation was mainly done in the upper spine, while all cervical vertebrae were recruited to stabilize the head in the more complex catching task. Changes in movement strategy were observed in the neck pain groups: Neck pain subjects had lower mean velocities and ranges of movements as compared with controls during ball catching, which could relate to a stiffer body position in neck pain patients in order to stabilize the neck. In addition, the WAD group had a displaced axis position during head repositioning after flexion, while CR was displaced during fast side rotations in the non-specific neck pain group. Pain intensity correlated with axis and CR position, and may be one reason for the movement strategy changes. Increased amount of irregularities in the trajectory of the axis was found in the WAD group during head repositioning, fast repetitive head movements and catching. This together with an increased constant repositioning error during repositioning after flexion indicated motor control disturbances. A higher group standard deviation in neck pain groups indicated heterogeneity among subjects in this disturbance. Wireless motion sensors and electro-oculography was used simultaneously, as an initial step towards a portable system and towards a method to quantify head-eye co-ordination deficits in individuals with WAD. Twenty asymptomatic control subjects and six WAD subjects with eye disturbances (e.g. dizziness and double vision) were studied. The trial-to-trial repeatability was moderate to high for all evaluated variables (single intraclass correlation coefficients >0.4 in 28 of 32 variables). The WAD subjects demonstrated decreased head velocity, decreased range of head movement during gaze fixation and lowered head stability during head-eye co-ordination as possible deficits. In conclusion, kinematical analyses have a potential to be used as a support for physicians and physiotherapists for diagnosis and follow-up of neck pain patients. Specifically, the helical axis method gives information about how the movement is performed. However, a flexible motion capture system (for example based on wireless motion sensors) is needed. Combined analysis of several variables is preferable, as patients with different neck pain disorders seem to be a heterogeneous group.

The study of dwarf galaxies is important in order to better understand the physics of the young universe and how larger galaxies form and evolve. In this work we focus on Blue Compact Galaxies (BCGs) which havemuch enhanced star formation (starbursts), causing blue colours and strong emission line spectra. Investigating of the inner motions of BCGs provides a means for determining masses and understanding what triggered the current starburst. We have used the Very Large Telescope to perform challenging observations of the stellar motions in several BCGs, as seen in the near-infrared Ca-triplet absorption lines. By comparing these to the kinematics of the ionized interstellar medium, we were able to look into the role of feeback from stellar winds and supernova explosions, as well as further strengthen the notion that the merging of galaxies plays an important role. Spatially resolved spectroscopy can yield information about the 3D-structure of galaxies. We have used a Fabry-Perot interferometer to study the kinematics of the interstellar medium in two samples of galaxies, each containing about twenty objects. We find strong indications for ongoing galaxy mergers that correlate well with the strength of the star-formation activity. Furthermore, by estimating dynamical masses, BCGs are shown to be on average not dynamically supported by rotation. In addition, we have used data from the Sloan Digital Sky Survey to study the frequency of starbursts in the local universe and the connection to their descendants. We selected starbursts by the strength of emission in H-alpha, the first Balmer recombination line, and post-starbursts by the strength of absorption in H-delta. These are indicators of currently ongoing and recent, on the order of 100 Myr, star-formation, respectively. By modelling the stellar populations we derive ages and masses and can establish a link between starbursts and postbursts in a time sequence. We find that starbursts are active on a 100 Myr timescale but are rare objects in the local universe.

A series of detailed laboratory investigations were conducted to examine low solubility gas transfer across wind-forced wavy air-water interfaces. The study focuses on the increase in gas flux associated with the microphysical interfacial wind momentum exchange and the complex wave coupled hydrodynamics. Key elements of the laboratory investigations included the measurement of hydrodynamic behaviour within the aqueous viscous sub-layer using a particle image velocimetry (PIV) system and the development of a Laser Induced Fluorescent (LIF) system capable of measuring reliable dissolved oxygen concentration profiles to within 28??m of the air-water interface. Major achievements and findings included: 1. The first phase resolved gas flux measurements along wind forced microscale waves, indicating the highest mean gas fluxes are located in the wave troughs. This finding demonstrated the relative importance of wave orbital straining in gas flux enhancement; a wave coupled hydrodynamic process whose significance has previously been neglected. 2. The relative contributions to gas flux from wind shear, wave orbital straining, increased surface area of the waves, parasitic capillary ripples and microscale breaking are quantified with respect to friction velocity, wave steepness and an efficiency of microscale wave breaking. The parasitic capillary ripples are shown to have a negligible role in gas enhancement. A hybrid model is developed to estimate the gas flux based on both wind and wave characteristics. 3. Gas enhancement due to microscale wave breaking and the significance of the highly localised subduction at the toe of the spilling region on the leeward face of the wave crests was investigated using data from the LIF experiments. The highly localised subduction was shown to substantially reduce the thickness of the diffusion sub-layer, resulting in an increase in gas flux when waves transitioned from the incipient breaking to the microscale breaking wave form. 4. Consideration of previously unidentified optical distortions in LIF imagery due to non-linear effects is presented that is critical for robust LIF data processing and experimental design. A formal mathematical description of optical distortions has been developed and presented.