This work is dedicated to robot path planning with using principles of dynamic programing in discrete state space. Theoretical part is dedicated to actual situation in this field and to principle of applying Markov decission process to path planning. Practical part is dedicated to implementation of two algorithms based on MDP principles.

No description available.

L'exposition durant la vie périnatale à des perturbateurs endocriniens (PE) anti-androgéniques, induit des altérations durables du système reproducteur mâle. Si leur action a été objectivée chez l’homme et l’animal, la question du seuil de toxicité reste entière, car l’exposition environnementale correspond à de faibles doses. Ici, nous exposons in utero des rats mâles à de faibles doses de flutamide: 10 mg/kg/j ; 1; 3 doses faibles selon la définition de l'OMS 0.1; 0.01; 0.001 et 0. L'exposition fœtale induit chez l’adulte (1) des altérations morphologiques à la dose 10 mg/kg/j (diminution du poids des organes du tractus génital et une diminution du compte spermatique); (2) des altérations cellulaires à partir de 1mg (augmentation de l'apoptose des cellules germinales) et (3) des altérations moléculaires à toutes les doses testées pour MCL1, BCL2, XIAP, HSPA2, ELAVL1 et MOV10L1. Ces altérations s’intègrent dans la dérégulation de 2 voies de signalisation expliquant l’apoptose des cellules germinalesLorsque l’exposition a lieu à l’âge l’adulte dans les mêmes conditions, les effets morphologiques et cellulaires sont observés uniquement à 10mg, les effets moléculaires uniquement aux doses 10 et 1 mg. Ces effets ne sont plus observés 2 mois après l’arrêt de l’exposition. En conclusion : Nous avons (i) identifié des voies de signalisation impliquées dans le phénotype d’infertilité induite par une exposition à de faibles doses d’anti-androgène ; (ii) montré que ces voies étaient actives aux plus faibles doses testées prédisposant à une infertilité masculine programmée in utero / Exposure during perinatal life to anti-androgenic endocrine disruptors (ED) induces sustained alterations of the male reproductive system. Although their action has been objectified in humans and animals, the question of the threshold of toxicity remains unchanged, as environmental exposure corresponds to low doses. Here, we exposed male rats, in utero, to low doses of flutamide: 10 mg/kg/d; 1; 3 low doses as defined by WHO 0.1; 0.01; 0.001 and 0. Fetal exposure induced in adults (1) morphological alterations at a dose of 10 mg/kg/day (decrease in the weight of organs of the genital tract and a decrease in the sperm count); (2) cellular alterations from 1mg (increase in germ cell apoptosis) and (3) molecular alterations at all doses tested for MCL1, BCL2, XIAP, HSPA2,LAVL1 and MOV10L1. These alterations are integrated in the deregulation of 2 signaling pathways explaining the apoptosis of the germ cellsWhen exposure occurs at adult age under the same conditions, morphological and cellular effects are observed only at 10mg, molecular effects only at doses 10 and 1 mg. These effects are no longer observed 2 months after discontinuation of exposure. In conclusion: We have (i) identified signaling pathways involved in the phenotype of infertility induced by exposure to low doses of antiandrogen; (ii) showed that these pathways were active at the lowest doses tested predisposing to programmed male infertility in utero

京都大学 / 0048 / 新制・課程博士 / 博士(工学) / 甲第17865号 / 工博第3774号 / 新制||工||1577(附属図書館) / 30685 / 京都大学大学院工学研究科社会基盤工学専攻 / (主査)教授 牛島 省, 教授 角 哲也, 准教授 米山 望 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

Electric cars are projected to become the vehicles of the future. A major barrier for their expansion is range anxiety stemming from the limited range a typical EV can travel. EV batteries' performance and capacity are affected by many factors. In particular, the decrease in ambient temperature below a certain threshold will adversely affect the battery's efficiency. This research develops deterministic and two-stage stochastic program model for charging stations' optimal location to facilitate the routing decisions of delivery services that use EVs while considering the variability inherent in climate and customer demand. To evaluate the proposed formulation and solution approach's performance, Fargo city in North Dakota is selected as a tested. For the first chapter, we formulated this problem as a mixed-integer linear programming model that captures the realistic charging behavior of the DCFC's in association with the ambient temperature and their subsequent impact on the EV charging station location and routing decisions. Two innovative heuristics are proposed to solve this challenging model in a realistic test setting, namely, the two-phase Tabu Search-modified Clarke and Wright algorithm and the Sweep-based Iterative Greedy Adaptive Large Neighborhood algorithm. The results clearly indicate that the EV DCFC charging station location decisions are highly sensitive to the ambient temperature, the charging time, and the initial state-of-charge. The results provide numerous managerial insights for decision-makers to efficiently design and manage the DCFC EV logistic network for cities that suffer from high-temperature fluctuations. For the second chapter, a novel solution approach based on the progressive hedging algorithm is presented to solve the resulting mathematical model and to provide high-quality solutions within reasonable running times for problems with many scenarios. We observe that the location-routing decisions are susceptible to the EV logistic's underlying climate, signifying that decision-makers of the DCFC EV logistic network for cities that suffer from high-temperature fluctuations would not overlook the effect of climate to design and manage the respective logistic network efficiently.

No description available.

In this thesis, we develop block-decomposition (BD) methods and variants of accelerated *9gradient methods for large-scale conic programming and convex optimization, respectively. The BD methods, discussed in the first two parts of this thesis, are inexact versions of proximal-point methods applied to two-block-structured inclusion problems. The adaptive accelerated methods, presented in the last part of this thesis, can be viewed as new variants of Nesterov's optimal method. In an effort to improve their practical performance, these methods incorporate important speed-up refinements motivated by theoretical iteration-complexity bounds and our observations from extensive numerical experiments. We provide several benchmarks on various important problem classes to demonstrate the efficiency of the proposed methods compared to the most competitive ones proposed earlier in the literature. In the first part of this thesis, we consider exact BD first-order methods for solving conic semidefinite programming (SDP) problems and the more general problem that minimizes the sum of a convex differentiable function with Lipschitz continuous gradient, and two other proper closed convex (possibly, nonsmooth) functions. More specifically, these problems are reformulated as two-block monotone inclusion problems and exact BD methods, namely the ones that solve both proximal subproblems exactly, are used to solve them. In addition to being able to solve standard form conic SDP problems, the latter approach is also able to directly solve specially structured non-standard form conic programming problems without the need to add additional variables and/or constraints to bring them into standard form. Several ingredients are introduced to speed-up the BD methods in their pure form such as: adaptive (aggressive) choices of stepsizes for performing the extragradient step; and dynamic updates of scaled inner products to balance the blocks. Finally, computational results on several classes of SDPs are presented showing that the exact BD methods outperform the three most competitive codes for solving large-scale conic semidefinite programming. In the second part of this thesis, we present an inexact BD first-order method for solving standard form conic SDP problems which avoids computations of exact projections onto the manifold defined by the affine constraints and, as a result, is able to handle extra large-scale SDP instances. In this BD method, while the proximal subproblem corresponding to the first block is solved exactly, the one corresponding to the second block is solved inexactly in order to avoid finding the exact solution of a linear system corresponding to the manifolds consisting of both the primal and dual affine feasibility constraints. Our implementation uses the conjugate gradient method applied to a reduced positive definite dual linear system to obtain inexact solutions of the latter augmented primal-dual linear system. In addition, the inexact BD method incorporates a new dynamic scaling scheme that uses two scaling factors to balance three inclusions comprising the optimality conditions of the conic SDP. Finally, we present computational results showing the efficiency of our method for solving various extra large SDP instances, several of which cannot be solved by other existing methods, including some with at least two million constraints and/or fifty million non-zero coefficients in the affine constraints. In the last part of this thesis, we consider an adaptive accelerated gradient method for a general class of convex optimization problems. More specifically, we present a new accelerated variant of Nesterov's optimal method in which certain acceleration parameters are adaptively (and aggressively) chosen so as to: preserve the theoretical iteration-complexity of the original method; and substantially improve its practical performance in comparison to the other existing variants. Computational results are presented to demonstrate that the proposed adaptive accelerated method performs quite well compared to other variants proposed earlier in the literature.

Uma metodologia para desenvolvimento de programas paralelos eficientes deve especificar mecanismos capazes de caracterizar o comportamento das aplicações e permitir estudos sobre o desempenho de diferentes modelos de soluções. Nos ambientes distribuídos, em particular, a eficiência da solução também está relacionada a estratégia utilizada na divisão e distribuição do trabalho entre os processos que cooperam na solução do problema. Para abordar estes aspectos, uma metodologia, denominada PEMPIs-Het (Performance Estimation of MPI Programs in Heterogeneous Systems), é especificada e apresentada nesta tese. A metodologia permite a modelagem, avaliação e predição de desempenho de programas paralelos em ambientes homogêneos e heterogêneos. Técnicas de modelagem analítica são utilizadas para representar o comportamento das aplicações no ambiente distribuído. Um modelo gráfico, denominado DP*Graph++, é proposto para ilustrar as principais estruturas do código da aplicação e facilitar análises sobre a complexidade algorítmica do programa. Algumas aplicações são modeladas e a precisão das predições é verificada através de testes experimentais. Os modelos de desempenho permitem uma estimativa pontual para o tempo de execução da aplicação. Entretanto, uma estratégia alternativa, baseada em intervalos de predição, também é discutida e avaliada. Algumas estratégias para balanceamento de carga de aplicações paralelas distribuídas são implementadas e avaliadas. Estasestratégias utilizam informações de um vetor com índices de desempenho (Vector of Relative Performances - VRP), gerados pelos modelos analíticos, para especificar a divisão e distribuição do trabalho. Estes índices caracterizam a capacidade computacional das máquinas. Uma formalização matemática é apresentada para explicar como os índices são determinados. ) Testes experimentais são realizados para verificar a aplicabilidade das estratégias e a eficiência no balanceamento das cargas. / A methodology for developing efficient parallel programs must specify mechanisms capable of characterizing the behavior of applications and allow studies on the performance of different solution models. In distributed environments, in particular, the solution efficiency is also related to strategy adopted in the division and distribution of work among the processes which cooperate in the solution of the problem. To address these issues, a methodology, called PEMPIs-Het (Performance Estimation of MPI Programs in Heterogeneous Systems), is specified and presented in this thesis. The methodology allows performance modeling, evaluation and prediction of parallel programs in homogeneous and heterogeneous environments. Analytical modeling techniques are used to represent the applications behavior in the distributed environment. A graph model, called DP*Graph++, is proposed to illustrate the main structures of the application code and facilitate some analyses about the program algorithmic complexity. Some applications are modeled and the accuracy of predictions is verified by experimental tests. The models allow estimate a punctual performance to the application execution time. Meanwhile, an alternative strategy, based on prediction intervals, is also discussed and evaluated. Some strategies for load balancing of distributed parallel applications are implemented and evaluated. These strategies use information from a vector with performance indexes (Vector of RelativePerformances - VRP), generated by analytical models to specify the division and distribution of work. These indexes characterize the machines computational capacity. A mathematical formalization is presented to explain how the rates are determined. Experimental tests are conducted to verify the applicability and effectiveness of the strategies in load balancing

Nesta tese, apresentamos uma metodologia concreta para calcular os controles -ótimos para sistemas estocásticos não-Markovianos. A análise trajetória a trajetória e o uso da estrutura de discretização proposta por Leão e Ohashi [36] conjuntamente com argumentos de seleção mensuráveis, nos forneceu uma estrutura para transformar um problema infinito dimensional para um finito dimensional. Desta forma, garantimos uma descrição concreta para uma classe bastante geral de problemas. / In this thesis, we present a concrete methodology to calculate the -optimal controls for non-Markovian stochastic systems. A pathwise analysis and the use of the discretization structure proposed by Leão and Ohashi [36] jointly with measurable selection arguments, allows us a structure to transform an infinite dimensional problem into a finite dimensional. In this way, we guarantee a concrete description for a rather general class of stochastic problems.

Uma metodologia para desenvolvimento de programas paralelos eficientes deve especificar mecanismos capazes de caracterizar o comportamento das aplicações e permitir estudos sobre o desempenho de diferentes modelos de soluções. Nos ambientes distribuídos, em particular, a eficiência da solução também está relacionada a estratégia utilizada na divisão e distribuição do trabalho entre os processos que cooperam na solução do problema. Para abordar estes aspectos, uma metodologia, denominada PEMPIs-Het (Performance Estimation of MPI Programs in Heterogeneous Systems), é especificada e apresentada nesta tese. A metodologia permite a modelagem, avaliação e predição de desempenho de programas paralelos em ambientes homogêneos e heterogêneos. Técnicas de modelagem analítica são utilizadas para representar o comportamento das aplicações no ambiente distribuído. Um modelo gráfico, denominado DP*Graph++, é proposto para ilustrar as principais estruturas do código da aplicação e facilitar análises sobre a complexidade algorítmica do programa. Algumas aplicações são modeladas e a precisão das predições é verificada através de testes experimentais. Os modelos de desempenho permitem uma estimativa pontual para o tempo de execução da aplicação. Entretanto, uma estratégia alternativa, baseada em intervalos de predição, também é discutida e avaliada. Algumas estratégias para balanceamento de carga de aplicações paralelas distribuídas são implementadas e avaliadas. Estasestratégias utilizam informações de um vetor com índices de desempenho (Vector of Relative Performances - VRP), gerados pelos modelos analíticos, para especificar a divisão e distribuição do trabalho. Estes índices caracterizam a capacidade computacional das máquinas. Uma formalização matemática é apresentada para explicar como os índices são determinados. ) Testes experimentais são realizados para verificar a aplicabilidade das estratégias e a eficiência no balanceamento das cargas. / A methodology for developing efficient parallel programs must specify mechanisms capable of characterizing the behavior of applications and allow studies on the performance of different solution models. In distributed environments, in particular, the solution efficiency is also related to strategy adopted in the division and distribution of work among the processes which cooperate in the solution of the problem. To address these issues, a methodology, called PEMPIs-Het (Performance Estimation of MPI Programs in Heterogeneous Systems), is specified and presented in this thesis. The methodology allows performance modeling, evaluation and prediction of parallel programs in homogeneous and heterogeneous environments. Analytical modeling techniques are used to represent the applications behavior in the distributed environment. A graph model, called DP*Graph++, is proposed to illustrate the main structures of the application code and facilitate some analyses about the program algorithmic complexity. Some applications are modeled and the accuracy of predictions is verified by experimental tests. The models allow estimate a punctual performance to the application execution time. Meanwhile, an alternative strategy, based on prediction intervals, is also discussed and evaluated. Some strategies for load balancing of distributed parallel applications are implemented and evaluated. These strategies use information from a vector with performance indexes (Vector of RelativePerformances - VRP), generated by analytical models to specify the division and distribution of work. These indexes characterize the machines computational capacity. A mathematical formalization is presented to explain how the rates are determined. Experimental tests are conducted to verify the applicability and effectiveness of the strategies in load balancing