A simulação computacional de escoamentos incompressíveis multifásicos tem avançado continuamente e é uma área extremamente importante em Dinâmica de Fluidos Computacional (DFC) por suas várias aplicações na indústria, em medicina e em biologia, apenas para citar alguns exemplos. Apresentamos modelos matemáticos e métodos numéricos tendo em vista simulações computacionais de fluidos bifásicos newtonianos e viscoelásticos (não newtonianos), em seus regimes transiente e estacionário de escoamento. Os ingredientes principais requeridos são o Modelo de Um Fluido e o Método da Fronteira Imersa em malhas adaptativas, usados em conjunto com os métodos da Projeção de Chorin-Temam e de Uzawa. Tais metodologias são obtidas a partir de equações a derivadas parciais simples as quais, naturalmente, são resolvidas em malhas adaptativas empregando métodos multinível-multigrid. Em certas ocasiões, entretanto, para escoamentos modelados pelas equações de Navier-Stokes (e.g. em problemas onde temos altos saltos de massa específica), tem-se problemas de convergência no escopo destes métodos. Além disso, no caso de escoamentos estacionários, resolver as equações de Stokes em sua forma discreta por tais métodos não é uma tarefa fácil. Verificamos que zeros na diagonal do sistema linear resultante impedem que métodos de relaxação usuais sejam empregados. As dificuldades mencionadas acima motivaram-nos a pesquisar por, a propor e a desenvolver alternativas à metodologia multinível-multigrid. No presente trabalho, propomos métodos para obter explicitamente as matrizes que representam os sistemas lineares oriundos da discretização daquelas equações a derivadas parciais simples que são a base dos métodos de Projeção e de Uzawa. Ter em mãos estas representações matriciais é vantajoso pois com elas podemos caracterizar tais sistemas lineares em termos das propriedades de seus raios espectrais, suas definições e simetria. Muito pouco (ou nada) se sabe efetivamente sobre estes sistemas lineares associados a discretizações em malhas compostas bloco-estruturadas. É importante salientarmos que, além disso, ganhamos acesso ao uso de bibliotecas numéricas externas, como o PETSc, com seus pré-condicionadores e métodos numéricos, seriais e paralelos, para resolver sistemas lineares. Infraestrutura para nossos desenvolvimentos foi propiciada pelo código denominado ``AMR2D\'\', um código doméstico para problemas em DFC que vem sendo cuidado ao longo dos anos pelos grupos de pesquisa em DFC do IME-USP e da FEMEC-UFU. Estendemos este código, adicionando módulos para escoamentos viscoelásticos e para escoamentos estacionários modelados pelas equações de Stokes. Além disso, melhoramos de maneira notável as rotinas de cálculo de valores fantasmas. Tais melhorias permitiram a implementação do Método dos Gradientes Bi-Conjugados, baseada em visitas retalho-a-retalho e varreduras da estrutura hierárquica nível-a-nível, essencial à implementação do Método de Uzawa. / Numerical simulation of incompressible multiphase flows has continuously of advanced and is an extremely important area in Computational Fluid Dynamics (CFD) because its several applications in industry, in medicine, and in biology, just to mention a few of them. We present mathematical models and numerical methods having in sight the computational simulation of two-phase Newtonian and viscoelastic fluids (non-Newtonian fluids), in the transient and stationary flow regimes. The main ingredients required are the One-fluid Model and the Immersed Boundary Method on dynamic, adaptive meshes, in concert with Chorin-Temam Projection and the Uzawa methods. These methodologies are built from simple linear partial differential equations which, most naturally, are solved on adaptive grids employing mutilevel-multigrid methods. On certain occasions, however, for transient flows modeled by the Navier-Stokes equations (e.g. in problems where we have high density jumps), one has convergence problems within the scope of these methods. Also, in the case of stationary flows, solving the discrete Stokes equations by those methods represents no straight forward task. It turns out that zeros in the diagonal of the resulting linear systems coming from the discrete equations prevent the usual relaxation methods from being used. Those difficulties, mentioned above, motivated us to search for, to propose, and to develop alternatives to the multilevel-multigrid methodology. In the present work, we propose methods to explicitly obtain the matrices that represent the linear systems arising from the discretization of those simple linear partial differential equations which form the basis of the Projection and Uzawa methods. Possessing these matrix representations is on our advantage to perform a characterization of those linear systems in terms of their spectral, definition, and symmetry properties. Very little is known about those for adaptive mesh discretizations. We highlight also that we gain access to the use of external numerical libraries, such as PETSc, with their preconditioners and numerical methods, both in serial and parallel versions, to solve linear systems. Infrastructure for our developments was offered by the code named ``AMR2D\'\' - an in-house CFD code, nurtured through the years by IME-USP and FEMEC-UFU CFD research groups. We were able to extend that code by adding a viscoelastic and a stationary Stokes solver modules, and improving remarkably the patchwise-based algorithm for computing ghost values. Those improvements proved to be essential to allow for the implementation of a patchwise Bi-Conjugate Gradient Method which ``powers\'\' Uzawa Method.

Les robots industriels ont évolué fondamentalement ces dernières années pour répondre aux exigences industrielles de machines et mécanismes toujours plus performants. Ceci se traduit aujourd’hui par de nouveaux robots anthropomorphes plus adaptés laissant entrevoir la réalisation de tâches plus complexes comme la découpe d’objets déformables telle que la découpe de viande ou soumis à de fortes sollicitations comme l’usinage. L’étude du comportement des robots anthropomorphes, à structures parallèles ou hybrides montre une anisotropie aussi bien cinématique, que dynamique, impactant la précision attendue. Ces travaux de thèse étudient l’intégration des redondances cinématiques qui permettent de pallier en partie ce problème en positionnant au mieux la tâche à réaliser dans un espace de travail compatible avec les capacités attendues. Ces travaux ont suivi une démarche en trois étapes : la modélisation analytique de cellules robotiques par équivalent sériel basée sur la méthode TCS, la formalisation des contraintes des processus de découpe de viande et d’usinage et une résolution par optimisation multicritère. Une première originalité de ces travaux réside en le développement d’un modèle à 6 degrés de liberté permettant d’analyser les gestes de l’opérateur qui optimise naturellement le comportement de son bras pour garantir la tâche qu’il réalise. La seconde originalité concerne le placement optimisé des redondances structurales (cellules à 9 ddls) où les paramètres de positionnement sont incorporés comme des variables pilotables (cellule à 11 ddls). Ainsi, ces travaux de thèse apportent des contributions à : - la définition de critères adaptés à la réalisation de tâches complexes et sollicitantes pour la gestion des redondances cinématiques ; - l’identification du comportement des structures sous sollicitations par moyen métrologique (Laser tracker) et l’auto-adaptation des trajectoires par l’utilisation d’une commande en effort industrielle ; - l’optimisation du comportement permettant l’amélioration de la qualité de réalisation des différents processus de coupe (découpe de viande et usinage). / Industrial robots have evolved fundamentally in recent years to reach the industrial requirements. We now find more suitable anthropomorphic robots leading to the realization of more complex tasks like deformable objects cutting such as meat cutting or constrained to high stresses as machining. The behavior study of anthropomorphic robots, parallel or hybrid one highlights a kinematic and dynamic anisotropy, which impacts the expected accuracy. This thesis studied the integration of the kinematic redundancy that can partially overcome this problem by well setting the task to achieve it in a space compatible with the expected capacity. This work followed a three-step approach: analytical modeling of robotic cells by serial equivalent based on the TCS method, formalizing the constraints of meat cutting process and machining process and a multicriteria optimization.The first originality of this work focuses on the development of a 6 DoFs model to analyze the operator actions who naturally optimizes his arm behavior to ensure the task it performs. The second originality concerns the optimized placement of structural redundancy (9 DoFs robotic cell) where positioning parameters are incorporated as controllable variables (11 DoFs robotic cell). Thus, the thesis makes contributions to : - the definition of criteria adapted to the realization of complex and under high stress task for the management of the kinematic redundancy; - the structural behavior identification, under stress, by metrology tools (Laser tracker ) and the self- adaptation paths by using an industrial force control; - the behavior optimization to improve the cutting process quality (meat cutting and machining).

Mémoire numérisé par la Division de la gestion de documents et des archives de l'Université de Montréal

Les robots industriels ont évolué fondamentalement ces dernières années pour répondre aux exigences industrielles de machines et mécanismes toujours plus performants. Ceci se traduit aujourd’hui par de nouveaux robots anthropomorphes plus adaptés laissant entrevoir la réalisation de tâches plus complexes et soumis à de fortes sollicitations comme durant l’usinage. L’étude du comportement des robots anthropomorphes, à structures parallèles ou hybrides montre une anisotropie aussi bien cinématique, que dynamique, impactant la précision attendue. Ces travaux de thèse étudient l’intégration des redondances cinématiques qui permettent de pallier en partie ce problème en positionnant au mieux la tâche à réaliser dans un espace de travail compatible avec les capacités attendues. Ces travaux ont permis d’améliorer notre outil d’optimisation et de le tester à la fois sur un modèle Eléments Finis du robot et sur le robot réel. Ainsi, ces travaux de thèse apportent des contributions à : - la définition de critères adaptés à la réalisation de tâches complexes et sollicitantes pour la gestion des redondances cinématiques ; - l’identification du comportement des structures sous sollicitations par moyen métrologique (Laser tracker) ; - l’optimisation du comportement permettant l’amélioration de la qualité de réalisation des opérations d’usinage ; - la modélisation Eléments Finis des robots prenant en compte l’identification des rigidités des corps et articulaires. / Industrial robots have evolved fundamentally in recent years to reach the industrial requirements. We now find more suitable anthropomorphic robots leading to the realization of more complex tasks like deformable objects cutting such as meat cutting or constrained to high loading like during machining. The behavior study of anthropomorphic robots, parallel or hybrid one highlights a kinematic and dynamic anisotropy, which impacts the expected accuracy.This thesis studied the integration of the kinematic redundancy that can partially overcome this problem by well setting the task to achieve it in a space compatible with the expected capacity.This work helped us to improve our optimization tool and to try it on both FE model of the robot and real robot.Thus, the thesis makes contributions to: - the definition of criteria adapted to the realization of complex and under high loading task for the management of the kinematic redundancy; - the structural behavior identification, under loading, by metrology tools (Laser tracker) ; - the behavior optimization to improve the cutting process quality during machining ; - robots finite elements modeling using stiffness identification for both bodies and joints.

Made available in DSpace on 2014-07-29T16:02:19Z (GMT). No. of bitstreams: 1 Dissertacao Milton Gabriel Garcia dos Santos.pdf: 405990 bytes, checksum: b1b10db3be6011cbbae70bc35ed87950 (MD5) Previous issue date: 2011-10-27 / This work we study the convergence properties of the Gradient Method Designed and Descent Method for Multi-objective optimization. At first, our optimization problem is to minimize a real function of n-variables, continuously differentiable and restricted to a set of simple structure and add on the objective function of the hypothesis of pseudo-convexity or quasi-convexity. Then we consider the problem of unconstrained multi-objective optimization and add some hypotheses about the function vector, such as convexity or quasi-convexity, and is continuously differentiable. It is noteworthy that in both problems will be used to search for inexact Armijo over viable directions. / Neste trabalho faremos um estudo das propriedades de convergência do Método do Gradiente Projetado e do Método de Descida para otimização Multi-objetivo. No primeiro momento, o nosso problema de otimização será o de minimizar uma função real de nvariáveis, continuamente diferenciável e restrita a um conjunto de estrutura simples e acrescentaremos sobre a função objetivo a hipótese de quase-convexidade ou pseudoconvexidade. Em seguida iremos considerar o problema de otimização Multi-Objetivo irrestrito e adicionar algumas hipóteses sobre a função vetorial, como a convexidade ou quase-convexidade, além de ser continuamente diferenciável. É importante salientar que em ambos os problemas será utilizado a busca inexata de armijo ao longo de direções viáveis.

Mémoire numérisé par la Division de la gestion de documents et des archives de l'Université de Montréal.

Dans cette thèse, nous présentons notre travail de recherche dans le domaine du calcul haute performance en mécanique des fluides. Avec la demande croissante de simulations à haute résolution, il est devenu important de développer des solveurs numériques pouvant tirer parti des architectures récentes comprenant des processeurs multi-cœurs et des accélérateurs. Nous nous proposons dans cette thèse de développer un solveur efficace pour la résolution sur architectures hétérogènes CPU/GPU des équations de Navier-Stokes (NS) relatives aux écoulements 3D de fluides incompressibles.Tout d'abord nous présentons un aperçu de la mécanique des fluides avec les équations de NS pour fluides incompressibles et nous présentons les méthodes numériques existantes. Nous décrivons ensuite le modèle mathématique, et la méthode numérique choisie qui repose sur une technique de prédiction-projection incrémentale.Nous obtenons une distribution équilibrée de la charge de calcul en utilisant une méthode de décomposition de domaines. Une parallélisation à deux niveaux combinée avec de la vectorisation SIMD est utilisée dans notre implémentation pour exploiter au mieux les capacités des machines multi-cœurs. Des expérimentations numériques sur différentes architectures parallèles montrent que notre solveur NS obtient des performances satisfaisantes et un bon passage à l'échelle.Pour améliorer encore la performance de notre solveur NS, nous intégrons le calcul sur GPU pour accélérer les tâches les plus coûteuses en temps de calcul. Le solveur qui en résulte peut être configuré et exécuté sur diverses architectures hétérogènes en spécifiant le nombre de processus MPI, de threads, et de GPUs.Nous incluons également dans ce manuscrit des résultats de simulations numériques pour des benchmarks conçus à partir de cas tests physiques réels. Les résultats obtenus par notre solveur sont comparés avec des résultats de référence. Notre solveur a vocation à être intégré dans une future bibliothèque de mécanique des fluides pour le calcul sur architectures parallèles CPU/GPU. / In this PhD thesis, we present our research in the domain of high performance software for computational fluid dynamics (CFD). With the increasing demand of high-resolution simulations, there is a need of numerical solvers that can fully take advantage of current manycore accelerated parallel architectures. In this thesis we focus more specifically on developing an efficient parallel solver for 3D incompressible Navier-Stokes (NS) equations on heterogeneous CPU/GPU architectures. We first present an overview of the CFD domain along with the NS equations for incompressible fluid flows and existing numerical methods. We describe the mathematical model and the numerical method that we chose, based on an incremental prediction-projection method.A balanced distribution of the computational workload is obtained by using a domain decomposition method. A two-level parallelization combined with SIMD vectorization is used in our implementation to take advantage of the current distributed multicore machines. Numerical experiments on various parallel architectures show that this solver provides satisfying performance and good scalability.In order to further improve the performance of the NS solver, we integrate GPU computing to accelerate the most time-consuming tasks. The resulting solver can be configured for running on various heterogeneous architectures by specifying explicitly the numbers of MPI processes, threads and GPUs. This thesis manuscript also includes simulation results for two benchmarks designed from real physical cases. The computed solutions are compared with existing reference results. The code developed in this work will be the base for a future CFD library for parallel CPU/GPU computations.

La integración de tecnologías de ulta-wideband, radio-cognitiva y MIMO representa una herramienta podersoa para mejorar la eficiencia espectral de los sistemas de comunicación inalámbricos. En esta dirección, nuevas estrategias para el modelado de canales MIMO y su caracterización se hacen necesarias si se desea investigar cómo la frecuencia central y el acho de banda afectan el desempeño de los sistemas MIMO. Investigaciones preliminares han enfocado menos atención en cómo estos parámetros afectan las características del canal MIMO. Se presenta una caracterización del canal MIMO en función de la frecuencia, abondándose puntos de vista experimentales y teóricos. Los problemas indicados tratan cinco áreas principales: medidas, post-procesado de datos, generación sintética del canal, estadística multivariable para datos y modelado del canal. Se ha diseñado y validado un sistema de medida basado en un analizador vectorial de redes y se han ejecutado medidas entre 2 y 12 GHz en condiciones estáticas, tanto en línea de vista como no línea de vista. Se ha propuesto y validado un procedimiento confiable para post-procesado, generación sintética de canal y análisis experimental basado en medidas en el dominio de frecuencia. El procedimiento experimental se ha focalizado en matrices de transferencia del canal para casos no selectivos en frecuencia, estimándose además las matrices complejas de covarianza, aplicándose la factorización de Cholesky sobre ls CCM y obteniéndose finalmente matrices de coloreado del sistema. Se presenta un procedimiento de corrección para generación sintética del canal aplicado a casos MIMO de grandes dimensiones y cuando la CCM es indefinida. Este CP permite la factorización de Cholesky y de dichas CCM. Las características multivariables de los datos experimentales han sido investigadas, realizándose un test de normalidad compleja multivariable. / García Ariza, AP. (2009). Modelling and experimental analysis of frequency dependent MIMO channels [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/6563

Material point method (MPM) is a numerical tool which was originally used for modelling large deformations of solid mechanics problems. Due to the particle based spatial discretiza- tion, MPM is naturally capable of handling large mass movements together with topological changes. Further, the Lagrangian particles in MPM allow an easy implementation of history dependent materials. So far, however, research on MPM has been mostly restricted to explicit dynamic formu- lations with linear approximation functions. This is because of the simplicity and the low computational cost of such explicit algorithms. Particularly in MPM analysis of geomechan- ics problems, a considerable attention is given to the standard explicit formulation to model dynamic large deformations of geomaterials. Nonetheless, several limitations exist. In the limit of incompressibility, a significantly small time step is required to ensure the stability of the explicit formulation. Time step size restriction is also present in low permeability cases in porous media analysis. Spurious pressure oscillations are another numerical instability present in nearly incompressible flow behaviours. This research considers an implicit treatment of the pressure in MPM algorithm to simu- late material incompressibility. The coupled velocity (v)-pressure (p) governing equations are solved by applying Chorin’s projection method which exhibits an inherent pressure stability. Hence, linear finite elements can be used in the MPM solver. The main purpose of this new MPM formulation is to mitigate artificial pressure oscillations and time step restrictions present in the explicit MPM approach. First, a single phase MPM solver is applied to free surface incompressible fluid flow problems. Numerical results show a better approximation of the pressure field compared to the results obtained from the explicit MPM. The proposed formulation is then extended to model fully saturated porous materials with incompress- ible constituents. A solid velocity(v S )-fluid velocity (v F )-pore pressure (p) formulation is presented within the framework of mixture theory. Comparing the numerical results for the one-dimensional consolidation problem shows that the proposed incompressible MPM algorithm provides a stable and accurate pore pressure field even without implementing damping in the solver. Finally, the coupled MPM is used to solve a two-dimensional wave propagation problem and a plain strain consolidation problem. One of the important features of the proposed hydro mechanical coupled MPM formulation is that the time step size is not dependent on the incompressibility and the permeability of the porous medium.

台灣地區的人口隨著生育率及死亡率的雙重下降而呈現快速老化，其中生育率的降低影響尤為顯著。民國50年時，台灣平均每位婦女生育5.58個小孩，到了民國70年卻只生育1.67個小孩，去年（民國90年）生育率更創歷年新低，只有1.4。死亡率的下降可由平均壽命的延長看出，民國75年時男性為70.97歲，女性為75.88歲；到了民國90年，男性延長到72.75歲，女性延長到78.49歲。由於生育率的變化幅度高於死亡率，對人口結構的影響較大，因此本文分成兩個部份，主要在研究台灣地區15至49歲婦女生育率的變化趨勢，再將研究結果用於台灣地區未來人口總數及其結構的預測。 　　本研究第一部分是生育率的研究，引進Gamma函數、Gompertz函數、Lee-Carter法三種模型及單一年齡組個別估計法，以民國40年至84年（西元1951年至1995年）的資料為基礎，民國85年至89年（西元1996年至2000年）資料為檢測樣本，比較模型的優劣，尋求較適合台灣地區生育率的模型，再以最合適的模型預測民國91年至140年（西元2002年至2051年）的生育率。第二部分是人口推估，採用人口變動要素合成方法（Cohort Component Projection Method）推估台灣地區未來50年的人口總數及其結構，其中生育率採用上述最適合台灣地區的模型、死亡率則引進國外知名的Lee-Carter法及SOA法（Society of Actuaries），探討人口結構，並與人力規劃處的結果比較之。 / Both the fertility rate and mortality rate have been experiencing dramatic decreases in recent years. As a result, the population aging has become one of the major concerns in Taiwan area, and the proportion of the elderly (age 65 and over) increases promptly from 2.6% in 1965 to 8.8% in 2001. The decrease of fertility rate is especially significant. For example, the total fertility rate was 5.58 in 1961, and then decreases dramatically to 1.67 in 1981 (1.4 in 2001), a reduction of almost 70% within 20 years. 　　The goal of this paper is to study the population aging in Taiwan area, in particular, the fertility pattern. The first part of this paper is to explore the fertility models and decide which model is the most suitable based on age-fertility fertility rates in Taiwan. The models considered are Gamma function, Gompertz function, Lee-Carter method and individual group estimation. We use the data from 1951 to 1995 as pilot data and 1996 to 2000 as test data to judge which model fit well. The second part of this study is to project the Taiwan population for the next 50 years, i.e. 2002-2051. The projection method used is Cohort Component Projection method, assuming the population in Taiwan area is closed. We also compare our projection result to that by Council for Economic Planning and Development, the Executive Yuan of the Republic of China.