A proposta deste trabalho é apresentar resultados para o estudo sistemático de sistemas dinâmicos reversíveis-equivariantes, ou seja, em presença simultânea de simetrias e antisimetrias. Este é o caso em que o domínio e as equações que regem o sistema são invariantes pela ação de um grupo de Lie compacto Γ formado pelas simetrias e anti-simetrias do problema. Apresentamos métodos de teoria de Singularidades e teoria de invariantes para classificar bifurcações a um parâmetro de pontos de equilíbrio destes sistemas. Para isso, separamos o estudo de aplicações Γ-reversíveis-equivariantes em dois casos: auto-dual e não auto-dual. No primeiro caso, a existência de um isomorfismo linear Γ-reversível-equivariante estabelece uma correspondência entre a classificação de problemas Γ-reversíveis-equivariantes e a classificação de problemas Γ-equivariantes associados, para os quais todos os elementos de Γ agem como simetria. Os resultados obtidos para o caso não auto-dual se baseiam em teoria de invariantes e envolvem técnicas algébricas que reduzem a análise ao caso polinomial invariante. Dois algoritmos simbólicos são estabelecidos para o cálculo de geradores para o módulo das funções anti-invariantes e para o módulo das aplicações reversíveis-equivariantes. / The purpose of this work is to present results for the sistematic study of reversible-equivariant dynamical systems, namely in simultaneous presence of symmetries and reversing simmetries. This is the case when the domain and the equations modeling the system are invariant under the action of a compact Lie group Γ formed by the symmetries and reversing symmetries of the problem. We present methods in Singularities and Invariant theory to classify oneparameter steady-state bifurcations of these systems. For that, we split the study of the ¡¡reversible-equivariant mapping into two cases: self-dual and non self-dual. In the first case, the existence of a Γ-reversible-equivariant linear isomorphism establishes a one-toone correspondence between the classification of Γ-reversible-equivariant problems and the classification of the associated Γ-equivariant problems, for which all elements in Γ act as symmetries. The results obtained for the non self-dual case are based on Invariant theory and involve algebraic techniques that reduce the analysis to the invariant polynomial case. Two symbolic algorithms are established for the computation of generators for the module of anti-invariant functions and for the module of reversible-equivariant mappings.

Neste trabalho, apresentamos um método algébrico para obter formas normais de campos vetoriais reversíveis equivariantes. Adaptamos o método clássico de Belitskii-Elphick, usando ferramentas da teoria invariante para estabelecer fórmulas que consideram as simetrias e antissimetrias como ponto de partida. Mostramos que este método, mesmo sem simetrias, possui uma estreita relação com o método da transversal completa da teoria de singularidades. Com as ferramentas desenvolvidas nesta tese, a forma normal obtida e uma série formal que não depende do cálculo do kernel do chamado operador homológico. Formas normais para duas classes de campos, ressonantes e não ressonantes, são apresentadas, para diferentes representações do grupo \'Z IND. 2\' x \'Z IND. 2\' cuja linearização tem uma parte nilpotente de dimensão 2 e uma parte semi-simples com autovalores puramente imaginários / We give an algebraic method to obtain normal forms of reversible equivariant vector fields. We adapt the classical method by Belitskii-Elphick using tools from invariant theory to establish formulae that take symmetries into account as a starting point. We show that this method, even without symmetries, has a close relation to complete transversal of singularities theory. Applying the method developed in this thesis, the resulting normal form is a formal series which does not depend of the computation of the kernel of the so called homologic operator. Normal forms of two classes of non-resonant and resonant cases are presented, for dierent representations of the group \'Z INT. 2\' x \'Z INT. 2\' - with linearization having a 2 - dimensional nilpotent part and a semisimple part with purely imaginary eigenvalues

Na análise global e local de sistemas dinâmicos assumimos, em geral, que as equações estão numa forma normal. Em presença de simetrias, as equações e o domínio do problema são invariantes pelo grupo formado por estas simetrias; neste caso, o campo de vetores é equivariante pela ação deste grupo. Quando, além das simetrias, temos também ocorrência de anti-simetrias - ou reversibilidades - as equações e o domínio do problema são ainda invariantes pelo grupo formado pelo conjunto de todas as simetrias e anti-simetrias; neste caso, o campo de vetores é reversível-equivariante. Existem muitos modelos físicos onde simetrias e anti-simetrias aparecem naturalmente e cujo efeito pode ser estudado de uma forma sistemática através de teoria de representação de grupos de Lie. O primeiro passo deste processo é colocar a aplicação que modela tal sistema numa forma normal e isto é feito com a dedução a priori da forma geral dos campos de vetores. Esta forma geral depende de dois componentes: da base de Hilbert do anel das funções invariantes e dos geradores do módulo das aplicações reversíveis-equivariantes. Neste projeto, nos concentramos principalmente na aplicação de resultados recentes da literatura para a construção de uma lista de formas gerais de aplicações reversíveisequivariantes sob a ação de diferentes grupos. Além disso, adaptamos ferramentas algébricas da literatura existentes no contexto equivariante para o estudo sistemático de acoplamento de células idênticas no contexto reversível-equivariante / In the global and local analysis of dynamical systems, we assume, in general, that the equations are in a normal form. In presence of symmetries, the equations and the problem domain are invariant under the group formed by these symmetries; in that case, the vector field is equivariant by the action of this group. When, in addition to the symmetries, we have the occurrence of anti-symmetries - or reversibility - the equations and the problem domain are still invariant by the group formed by the set of all symmetries and anti-symmetries; in this case, the vector field is reversible-equivariant. There are many physical models where both symmetries and anti-symmetries occur naturally and whose effect can be studied in a systematic way through group representation theory. The first step of this process is to put the mapping that model the system in a normal form, and this is done with the deduction of the general form of the vector field. This general form depends on two components: the Hilbert basis of the invariant function ring and also the generators of the module of the revesible-equivariants. In this work, we mainly focus on the applications of recent results of the literature to build a list of general forms of reversible-equivariant mappings under the action of different groups. We also adapt algebraic tools of the existing literature in the equivariant context to the systematic study of coupling of identical cells in the reversible-equivariant context

Neste trabalho, apresentamos um método algébrico para obter formas normais de campos vetoriais reversíveis equivariantes. Adaptamos o método clássico de Belitskii-Elphick, usando ferramentas da teoria invariante para estabelecer fórmulas que consideram as simetrias e antissimetrias como ponto de partida. Mostramos que este método, mesmo sem simetrias, possui uma estreita relação com o método da transversal completa da teoria de singularidades. Com as ferramentas desenvolvidas nesta tese, a forma normal obtida e uma série formal que não depende do cálculo do kernel do chamado operador homológico. Formas normais para duas classes de campos, ressonantes e não ressonantes, são apresentadas, para diferentes representações do grupo \'Z IND. 2\' x \'Z IND. 2\' cuja linearização tem uma parte nilpotente de dimensão 2 e uma parte semi-simples com autovalores puramente imaginários / We give an algebraic method to obtain normal forms of reversible equivariant vector fields. We adapt the classical method by Belitskii-Elphick using tools from invariant theory to establish formulae that take symmetries into account as a starting point. We show that this method, even without symmetries, has a close relation to complete transversal of singularities theory. Applying the method developed in this thesis, the resulting normal form is a formal series which does not depend of the computation of the kernel of the so called homologic operator. Normal forms of two classes of non-resonant and resonant cases are presented, for dierent representations of the group \'Z INT. 2\' x \'Z INT. 2\' - with linearization having a 2 - dimensional nilpotent part and a semisimple part with purely imaginary eigenvalues

Articulated Heavy Goods Vehicles (HGVs) are more efficient than conventional rigid lorries, but exhibit reduced low-speed manoeuvrability and high-speed stability. Technologies such as autonomous reversing and path-following trailer steering can mitigate this, but practical limitations of the available sensing technologies restrict their commercialisation potential. This dissertation describes the development of practical vision-based articulation angle and trailer off-tracking sensing for HGVs. Chapter 1 provides a background and literature review, covering important vehicle technologies, existing commercial and experimental sensors for articulation angle and off-tracking measurement, and relevant vision-based technologies. This is followed by an introduction to pertinent computer vision theory and terminology in Chapter 2. Chapter 3 describes the development and simulation-based assessment of an articulation angle sensing concept. It utilises a rear-facing camera mounted behind the truck or tractor, and one of two proposed image processing methods: template-matching and Parallel Tracking and Mapping (PTAM). The PTAM-based method was shown to be the more accurate and versatile method in full-scale vehicle tests. RMS measurement errors of 0.4-1.6° were observed in tests on a tractor semi-trailer (Chapter 4), and 0.8-2.4° in tests on a Nordic combination with two articulation points (Chapter 5). The system requires no truck-trailer communication links or artificial markers, and is compatible with multiple trailer shapes, but was found to have increasing errors at higher articulation angles. Chapter 6 describes the development and simulation-based assessment of a trailer off-tracking sensing concept, which utilises a trailer-mounted stereo camera pair and visual odometry. The concept was evaluated in full-scale tests on a tractor semi-trailer combination in which camera location and stereo baseline were varied, presented in Chapter 7. RMS measurement errors of 0.11-0.13 m were obtained in some tests, but a sensitivity to camera alignment was discovered in others which negatively affected results. A very stiff stereo camera mount with a sub-0.5 m baseline is suggested for future experiments. A summary of the main conclusions, a review of the objectives, and recommendations for future work are given in Chapter 8. Recommendations include further refinement of both sensors, an investigation into lighting sensitivity, and alternative applications of the sensors.

A proposta deste trabalho é apresentar resultados para o estudo sistemático de sistemas dinâmicos reversíveis-equivariantes, ou seja, em presença simultânea de simetrias e antisimetrias. Este é o caso em que o domínio e as equações que regem o sistema são invariantes pela ação de um grupo de Lie compacto Γ formado pelas simetrias e anti-simetrias do problema. Apresentamos métodos de teoria de Singularidades e teoria de invariantes para classificar bifurcações a um parâmetro de pontos de equilíbrio destes sistemas. Para isso, separamos o estudo de aplicações Γ-reversíveis-equivariantes em dois casos: auto-dual e não auto-dual. No primeiro caso, a existência de um isomorfismo linear Γ-reversível-equivariante estabelece uma correspondência entre a classificação de problemas Γ-reversíveis-equivariantes e a classificação de problemas Γ-equivariantes associados, para os quais todos os elementos de Γ agem como simetria. Os resultados obtidos para o caso não auto-dual se baseiam em teoria de invariantes e envolvem técnicas algébricas que reduzem a análise ao caso polinomial invariante. Dois algoritmos simbólicos são estabelecidos para o cálculo de geradores para o módulo das funções anti-invariantes e para o módulo das aplicações reversíveis-equivariantes. / The purpose of this work is to present results for the sistematic study of reversible-equivariant dynamical systems, namely in simultaneous presence of symmetries and reversing simmetries. This is the case when the domain and the equations modeling the system are invariant under the action of a compact Lie group Γ formed by the symmetries and reversing symmetries of the problem. We present methods in Singularities and Invariant theory to classify oneparameter steady-state bifurcations of these systems. For that, we split the study of the ¡¡reversible-equivariant mapping into two cases: self-dual and non self-dual. In the first case, the existence of a Γ-reversible-equivariant linear isomorphism establishes a one-toone correspondence between the classification of Γ-reversible-equivariant problems and the classification of the associated Γ-equivariant problems, for which all elements in Γ act as symmetries. The results obtained for the non self-dual case are based on Invariant theory and involve algebraic techniques that reduce the analysis to the invariant polynomial case. Two symbolic algorithms are established for the computation of generators for the module of anti-invariant functions and for the module of reversible-equivariant mappings.

Der Zusammenhang zwischen Lohnhöhe einerseits und Profit bzw. Profitrate andererseits gehört traditionell zur Grundlagenforschung der ökonomischen Theorie. In der kapitaltheoretischen Kontroverse der jüngeren Vergangenheit spielen Kurven, die diesen Zusammenhang wiedergeben, eine bedeutende Rolle. Hier geht es indes weniger um deren formale Eigenschaften, sondern eher darum, ihren ökonomischen Gehalt freizulegen und auf offene Fragen hinzuweisen.

Nous étudions un certain monoïde défini par une présentation, notée P, qui est un hybride de celles du monoïde de tresses infinies et du monoïde de Thompson. Pour cela, nous utilisons plusieurs approches. On décrit d’abord un système de réécriture convergent pour la présentation P, ce qui fournit en particulier une solution au problème de mots de P et rapproche le monoïde hybride du monoïde de Thompson. Puis, suivant le modèle du monoïde de tresses, on utilise la méthode du retournement de facteur pour analyser la relation de divisibilité à gauche, et montrer en particulier que le monoïde hybride admet la simplification et des ppcm à droite conditionnels. Ensuite, on étudie la combinatoire de Garside de l'hybride: pour chaque entier n, on introduit un élément ∆(n) comme ppcm à droite des (n−1) premiers atomes, et on étudie les diviseurs à gauche des éléments ∆(n), appelés éléments simples. Les principaux résultats sont les dénombrement des diviseurs à gauche de ∆(n) et la détermination effective des formes normales des éléments simples. On termine en construisant des représentations du monoïde hybride dans divers monoïdes, en particulier une représentation dans des matrices à coefficients polynômes de Laurent dont on conjecture qu’elle est fidèle. / We study a certain monoid specified by a presentation, denoted P, that is a hybrid of the classical presentation of the infinite braid monoid and of the presentation of Thompson’s monoid. To this end, we use several approaches. First, we describe a convergent rewrite system for P, which provides in particular a solution to the word problem, and makes the hybrid monoid reminiscent of Thompson’s monoid. Next, on the shape of the braid monoid, we use the factor reversing method to analyze the divisibility relation, and show in particular that the hybrid monoid admits cancellation and conditional right lcms. Then, we study Garside combinatorics of the hybrid: for every integer n, we introduce an element ∆(n) as the right lcm of the first (n−1) atoms, and one investigates the left divisors of the elements ∆(n), called simple elements. The main results are a counting of the left divisors of ∆(n) and a characterization of the normal forms of simple elements. We conclude with the construction of several representations of the hybrid monoid in various monoids, in particular a representation in a monoid of matrices whose entries are Laurent polynomials, which we conjecture could be faithful.

This thesis is about designing and implementing an affordable reversing camera sys-tem with object detection and OBD-2 integration for commercial vehicles. The aim is to improve the safety and efficiency of these vehicles by giving drivers a clear view of their surroundings behind the vehicle and alerting them to the presence of nearby obstacles. Ultrasonic sensors are used for object detection and give the driver control over the environment behind the vehicle and warn of present obstacles. The system is also integrated with the vehicle's on-board diagnostics system (OBD-2), which provides important information on speed and engine performance, among other things. This project contributes to making safety systems more accessible to com-mercial vehicles and reduces the risk of accidents and collisions. / Detta examensarbete handlar om att utforma och implementera ett prisvärt backkamerasystem objektdetektering och integration med On-Board Diagnostics 2 för kommersiella fordon. Syftet är att förbättra säkerheten och effektiviteten för dessa fordon genom att ge förarna en tydlig vy av deras omgivningar bakom fordonet och varna dem för närvaron av hinder i närheten. Ultraljudssensorer används för objekt-detektering och ger föraren en kontroll över omgivningen bakom fordonet samt var-nar för närvarande hinder. Systemet är också integrerat med fordonets omborddia-gnostiksystem (OBD-2), som ger viktig information om bland annat hastighet och motorprestanda. Detta projekt bidrar till att göra säkerhetssystem mer tillgängliga för kommersiella fordon och minskar risken för olyckor och kollisioner.

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