L'utilisation de droites en asservissement visuel pose, contrairement au cas des points, un problème de représentation. Nous y avons répondu en nous basant sur les coordonnées de Plücker d'une droite, ce qui nous a permis d'introduire la notion d'alignement en coordonnées de Plücker binormées. Grâce à ces dernières, nous avons défini deux lois de commande voisines qui réalisent le nouvel alignement ; sont explicites et partiellement découplées entre rotation et translation ; mélangent informations 2D et 3D ; et enfin, ne nécessitent pas d'estimation de profondeur. Nous avons exhibé des résultats de convergence de ces lois et caractérisé leurs singularités. Nous avons ensuite appliqué ces lois au positionnement d'une caméra face à un trièdre orthogonal. Cette configuration ne permet pas d'observer la profondeur. Pour compenser ce manque, nous avons adjoint un pointeur laser non étalonné à la caméra. En reformulant le problème d'étalonnage pince-caméra par un système purement linéaire, nous avons produit une analyse algébrique du système et une classification des mouvements d'étalonnage. Les procédures classiques sont contraignantes puisqu'elles nécessitent l'observation d'une mire et/ou l'interruption de la tâche effectuée par le robot. Afin de lever ces contraintes, nous avons adapté notre méthode linéaire pour proposer une méthode d'auto-étalonnage, qui se passe de mire, et une méthode d'étalonnage en ligne, qui n'interrompt pas la tâche.

This dissertation addresses the development and use of novel software tools and environments for the computation and visualization of canonical information as well as stratification hierarchies for matrices and matrix pencils. The simplest standard shape to which a matrix pencil with a given set of eigenvalues can be reduced is called the Kronecker canonical form (KCF). The KCF of a matrix pencil is unique, and all pencils in the manifold of strictly equivalent pencils - collectively termed the orbit - can be reduced to the same canonical form and so have the same canonical structure. For a problem with fixed input size, all orbits are related under small perturbations. These relationships can be represented in a closure hierarchy with a corresponding graph depicting the stratification of these orbits. Since degenerate canonical structures are common in many applications, software tools to determine canonical information, especially under small perturbations, are central to understanding the behavior of these problems. The focus in this dissertation is the development of a software tool called StratiGraph. Its purpose is the computation and visualization of stratification graphs of orbits and bundles (i.e., union of orbits in which the eigenvalues may change) for matrices and matrix pencils. It also supports matrix pairs, which are common in control systems. StratiGraph is extensible by design, and a well documented plug-in feature enables it, for example, to communicate with Matlab(TM). The use and associated benefits of StratiGraph are illustrated via numerous examples. Implementation considerations such as flexible software design, suitable data representations, and good and efficient graph layout algorithms are also discussed. A way to estimate upper and lower bounds on the distance between an input S and other orbits is presented. The lower bounds are of Eckhart-Young type, based on the matrix representation of the associated tangent spaces. The upper bounds are computed as the Frobenius norm F of a perturbation such that S + F is in the manifold defining a specified orbit. Using associated plug-ins to StratiGraph this information can be computed in Matlab, while visualization alongside other canonical information remains within StratiGraph itself. Also, a proposal of functionality and structure of a framework for computation of matrix canonical structure is presented. Robust, well-known algorithms, as well algorithms improved and developed in this work, are used. The framework is implemented as a prototype Matlab toolbox. The intention is to collect software for computing canonical structures as well as for computing bounds and to integrate it with the theory of stratification into a powerful new environment called the MCS toolbox. Finally, a set of utilities for generating web computing environments related to mathematical and engineering library software is presented. The web interface can be accessed from a standard web browser with no need for additional software installation on the local machine. Integration with the control and systems library SLICOT further demonstrates the efficacy of this approach.

The focus in this thesis is on the calculations of an empirical null distributionfor likelihood ratio tests testing either separable or double separable covariancematrix structures versus an unstructured covariance matrix. These calculationshave been performed for various dimensions and sample sizes, and are comparedwith the asymptotic χ2-distribution that is commonly used as an approximative distribution. Tests of separable structures are of particular interest in cases when data iscollected such that more than one relation between the components of the observationis suspected. For instance, if there are both a spatial and a temporalaspect, a hypothesis of two covariance matrices, one for each aspect, is reasonable.

The discretization of the stationary diffusion equation with random parameters by the Stochastic Finite Element Method requires the solution of a highly structured but very large linear system of equations. Depending on the stochastic properties of the diffusion coefficient together with the stochastic discretization we consider three solver cases. If the diffusion coefficient is given by a stochastically linear expansion, e.g. a truncated Karhunen-Loeve expansion, and tensor product polynomial stochastic shape functions are employed, the Galerkin matrix can be transformed to a block-diagonal matrix. For the solution of the resulting sequence of linear systems we study Krylov subspace recycling methods whose success depends on the ordering and grouping of the linear systems as well as the preconditioner. If we use complete polynomials for the stochastic discretization instead, we show that decoupling of the Galerkin matrix with respect to the stochastic degrees of freedom is impossible. For a stochastically nonlinear diffusion coefficient, e.g. a lognormal random field, together with complete polynomials serving as stochastic shape functions, we introduce and test the performance of a new Kronecker product preconditioner, which is not exclusively based on the mean value of the diffusion coefficient.

We study canonical forms for Hamiltonian and symplectic matrices or pencils under equivalence transformations which keep the class invariant. In contrast to other canonical forms our forms are as close as possible to a triangular structure in the same class. We give necessary and sufficient conditions for the existence of Hamiltonian and symplectic triangular Jordan, Kronecker and Schur forms. The presented results generalize results of Lin and Ho [17] and simplify the proofs presented there.

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Kronecker structured representations are used to cope with the state space explosion problem in Markovian modeling and analysis. Currently an open research problem is that of devising strong preconditioners to be used with projection methods for the computation of the stationary vector of Markov chains (MCs) underlying such representations. This paper proposes a block SOR (BSOR) preconditioner for hierarchical Markovian Models (HMMs) that are composed of multiple low level models and a high level model that defines the interaction among low level models. The Kronecker structure of an HMM yields nested block partitionings in its underlying continuous-time MC which may be used in the BSOR preconditioner. The computation of the BSOR preconditioned residual in each iteration of a preconditioned projection method becoms the problem of solving multiple nonsingular linear systems whose coefficient matrices are the diagonal blocks of the chosen partitioning. The proposed BSOR preconditioner solvers these systems using sparse LU or real Schur factors of diagonal blocks. The fill-in of sparse LU factorized diagonal blocks is reduced using the column approximate minimum degree algorithm (COLAMD). A set of numerical experiments are presented to show the merits of the proposed BSOR preconditioner.

This paper presents a detailed discussion of the Kronecker product of matrices. It begins with the definition and some basic properties of the Kronecker product. Statements will be proven that reveal information concerning the eigenvalues, singular values, rank, trace, and determinant of the Kronecker product of two matrices. The Kronecker product will then be employed to solve linear matrix equations. An investigation of the commutativity of the Kronecker product will be carried out using permutation matrices. The Jordan - Canonical form of a Kronecker product will be examined. Variations such as the Kronecker sum and generalized Kronecker product will be introduced. The paper concludes with an application of the Kronecker product to large least squares approximations.

The irrational rotation algebra A_θ is known to be Poincaré self-dual in the KK-theoretic sense. The spectral triple representing the required K-homology fundamental class was constructed by Connes out of the Dolbeault operator on the 2-torus, but so far, there has not been an explicit description of the dual element. We geometrically construct, for certain elements g of the modular group, a finitely generated projective module L_g over A_θ ⊗ A_θ out of a pair of transverse Kronecker flows on the 2-torus. For upper triangular g, we find an unbounded cycle representing the dual of said module under Kasparov product with Connes' class, and prove that this cycle is invertible in KK(A_θ,A_θ), allowing us to 'untwist' L_g to an unbounded cycle representing the unit for the self-duality of A_θ. / Graduate

We study canonical forms for Hamiltonian and symplectic matrices or pencils under equivalence transformations which keep the class invariant. In contrast to other canonical forms our forms are as close as possible to a triangular structure in the same class. We give necessary and sufficient conditions for the existence of Hamiltonian and symplectic triangular Jordan, Kronecker and Schur forms. The presented results generalize results of Lin and Ho [17] and simplify the proofs presented there.