Ο σκοπός αυτής της διπλωματικής είναι η ανάπτυξη ενός προσαρμοστικού ελεγκτή για έναν εύκαμπτο ρομποτικό βραχίονα. Οι μετρήσεις του συστήματος θεωρούνται πως παρεμβάλλονται από θόρυβο, του οποίου τα όρια είναι γνωστά εξ’αρχής. Ένας Set Memebership εκτιμητής υπολογίζει το δυνατό set (ορθότοπο) μέσα στο οποίο βρίσκονται οι τιμές του διανύσματος των παραμέτρων. Από τις ακμές του ορθοτόπου αυτού προκύπτουν τα όρια μέσα στα οποία βρίσκονται οι παράμετροι του συστήματος, τα οποία χρησιμοποιούνται για τον υπολογισμό της αβεβαιότητας της εκτίμησης της εξόδου του συστήματος. Ο ελεγκτής καθορίζει τα κέρδη του μέσα σε μια online βελτιστοποίηση ενός κόστους, το οποίο βάζει κάποια βάρη στην προσπάθεια του ελέγχου (control effort), στην προκλημένη αβεβαιότητα στην έξοδο του συστήματος αλλά και στο σφάλμα παρακολούθησης της εξόδου με ένα σήμα αναφοράς. Μετά την εφαρμογή του ελεγκτή, ελέγχεται η ευστάθεια των οριακών κλειστών συστημάτων που προκύπτουν από την εφαρμογή κάθε πιθανού νόμου ελέγχου. Εξετάζεται επίσης η συμπεριφορά του Set Memebership εκτιμητή σε περίπτωση σφάλματος, δηλαδή στην περίπτωση που το σύστημά μας αλλάζει καθώς δουλεύει ο έλεγχος. / The development of an adaptive controller for a flexible link manipulator is the subject of this diploma thesis. The system’s measurements are assumed to be corrupted with noise of a priori known bounds. A Set Membership Identifier computes the feasible set (orthotope) within which the parameter vector resides. The orthotope’s vertices provide the parameter-vector’s bounds, which are used to compute the predicted system-output uncertainty. The controller tunes its gains through an on-line minimization of a cost that penalizes the control effort, the induced uncertainty on the system output, and the tracking error. After the application of the controller, the stability of the ‘extreme’ closed loop systems, derived from every possible control law, is checked. The behavior of the Set Membership Identifier is checked in the case where a fault occurs, which means that there is a change in our system’s structure while the controller is functioning.

Quelques aspects de la géométrie des espaces LipschitzEn premier lieu, nous donnons les propriétés fondamentales des espaces Lipschitz libres. Puis, nous démontrons que l'image canonique d'un espace métrique M est faiblement fermée dans l'espace libre associé F(M). Nous prouvons un résultat similaire pour l'ensemble des molécules.Dans le second chapitre, nous étudions les conditions sous lesquelles F(M) est isométriquement un dual. En particulier, nous généralisons un résultat de Kalton sur ce sujet. Par la suite, nous nous focalisons sur les espaces métriques uniformément discrets et sur les espaces métriques provenant des p-Banach.Au chapitre suivant, nous explorons le comportement de type l1 des espaces libres. Entre autres, nous démontrons que F(M) a la propriété de Schur dès que l'espace des fonctions petit-Lipschitz est 1-normant pour F(M). Sous des hypothèses supplémentaires, nous parvenons à plonger F(M) dans une somme l_1 d'espaces de dimension finie.Dans le quatrième chapitre, nous nous intéressons à la structure extrémale de $F(M)$. Notamment, nous montrons que tout point extrémal préservé de la boule unité d'un espace libre est un point de dentabilité. Si F(M) admet un prédual, nous obtenons une description précise de sa structure extrémale.Le cinquième chapitre s'intéresse aux fonctions Lipschitziennes à valeurs vectorielles. Nous généralisons certains résultats obtenus dans les trois premiers chapitres. Nous obtenons également un résultat sur la densité des fonctions Lipschitziennes qui atteignent leur norme. / Some aspects of the geometry of Lipschitz free spaces.First and foremost, we give the fundamental properties of Lipschitz free spaces. Then, we prove that the canonical image of a metric space M is weakly closed in the associated free space F(M). We prove a similar result for the set of molecules.In the second chapter, we study the circumstances in which F(M) is isometric to a dual space. In particular, we generalize a result due to Kalton on this topic. Subsequently, we focus on uniformly discrete metric spaces and on metric spaces originating from p-Banach spaces.In the next chapter, we focus on l1-like properties. Among other things, we prove that F(M) has the Schur property provided the space of little Lipschitz functions is 1-norming for F(M). Under additional assumptions, we manage to embed F(M) into an l1-sum of finite dimensional spaces.In the fourth chapter, we study the extremal structure of F(M). In particular, we show that any preserved extreme point in the unit ball of a free space is a denting point. Moreover, if F(M) admits a predual, we obtain a precise description of its extremal structure.The fifth chapter deals with vector-valued Lipschitz functions.We generalize some results obtained in the first three chapters.We finish with some considerations of norm attainment. For instance, we obtain a density result for vector-valued Lipschitz maps which attain their norm.

O multiplicador de Schur parcial de um grupo G é um semigrupo inverso comutativo pM(G) que, no estudo de representações parciais projetivas de grupos, desempenha um papel análogo ao do multiplicador de Schur clássico M(G). Há uma descrição de pM(G) como uma união de grupos abelianos, em que cada componente pM_D(G) é formada por classes de equivalência de certas funções parciais (chamadas de conjuntos fatores parciais), as quais assumem valores em um corpo e têm como domínio um subconjunto D de G × G. Os domínios D formam um reticulado e foram caracterizados como os subconjuntos T-invariantes de G × G, em que T é um monoide específico atuando em G × G. A componente total pM_(G), que corresponde aos conjuntos fatores totalmente definidos, é particularmente interessante pois contém M(G) como um de seus subgrupos e, além disso, qualquer outra componente é uma imagem epimorfa da componente total. Um dos objetivos deste trabalho é determinar a componente total do multiplicador de Schur parcial para algumas classes importantes de grupos, como os grupos diedrais, os grupos dicíclicos e os produtos de grupos cíclicos. Outro tópico que será abordado é a estrutura do reticulado dos domínios dos conjuntos fatores parciais, destacando-se propriedades daqueles que correspondem às representações parciais ditas elementares, as quais possuem um papel relevante na teoria. Provaremos que todo domínio pode ser representado em uma forma única como uma reunião de certos domínios indecomponíveis, que consistem de peças estruturais chamadas de blocos e domínios minimais. Também será determinada a estrutura dos domínios elementares e serão obtidos alguns invariantes numéricos do conjunto parcialmente ordenado dos domínios elementares. Como uma consequência dos resultados obtidos, serão caracterizados os grupos para os quais todos os domínios elementares são indecomponíveis. Além disso será feita uma aplicação da teoria de álgebras de semigrupos à álgebra parcial de grupo, que é uma álgebra responsável pelas representações parciais de grupos. / The partial Schur multiplier of a group G is a commutative inverse semigroup pM(G) which, in the study of partial projective representations, plays a role analogous to the classical Schur multiplier M(G). There is a description of pM(G) as a union of abelian groups, in which each component pM_D(G) is formed by the equivalence classes of certain partial functions (called partial factor sets), taking values in a field and having as its domain a subset D of G × G. The domains D form a lattice and were characterized as the T-invariant subsets of G × G, where T is a specific monoid acting on G × G. The total component pM_(G), which corresponds to the totally defined factor sets, is particularly interesting because it contains M(G) as one of its subgroups and, moreover, any other component is an epimorphic image of the total component. One of the objectives of this work is to determine the total component of the partial Schur multiplier for some important classes of groups, such as the dihedral groups, the dicyclic groups and the products of cyclic groups. Another topic which will be considered is the structure of the lattice of domains of partial factor sets, emphasizing properties of those domains that correspond to the so-called elementary partial representations, which play a relevant role in the theory. We shall prove that each domain can be represented in a unique way as a union of certain indecomposable domains, where the latter consists of the so-called blocks and minimal domains. The structure of the elementary domains also will be determined, and some numerical invariants of the partially ordered set of the elementary domains will be given. As a consequence of the obtained facts, the groups whose elementary domains are indecomposable will be characterized. We will also give an application of the theory of semigroup algebras to the partial group algebra, an algebra which is responsible for partial group representations.

La complexification de la modélisation multi-physique conduit d'une part à devoir simuler des systèmes d'équations différentielles ordinaires et d'équations différentielles algébriques de plus en plus grands en nombre d'inconnues et sur des temps de simulation longs. D'autre part l'évolution des architectures de calcul parallèle nécessite d'autres voies de parallélisation que la décomposition de système en sous-systèmes. Dans ce travail, nous proposons de concevoir des méthodes de décomposition de domaine pour la résolution d'EDO en temps. Nous reformulons le problème à valeur initiale en un problème aux valeurs frontières sur l'intervalle de temps symétrisé, sous l'hypothèse de réversibilité du flot. Nous développons deux méthodes, la première apparentée à une méthode de complément de Schur, la seconde basée sur une méthode de type Schwarz dont nous montrons la convergence pouvant être accélérée par la méthode d'Aitken dans le cadre linéaire. Afin d'accélérer la convergence de cette dernière dans le cadre non-linéaire, nous introduisons les techniques d'extrapolation et d'accélération de la convergence des suites non-linéaires. Nous montrons les avantages et les limites de ces techniques. Les résultats obtenus nous conduisent à développer l'accélération de la méthode de type Schwarz par une méthode de Newton. Enfin nous nous intéressons à l'étude de conditions de raccord non-linéaires adaptées à la décomposition de domaine de problèmes non-linéaires. Nous nous servons du formalisme hamiltonien à ports, issu du domaine de l'automatique, pour déduire les conditions de raccord dans le cadre l'équation de Saint-Venant et de l'équation de la chaleur non-linéaire. Après une étude analytique de la convergence de la DDM associée à ces conditions de transmission, nous proposons et étudions une formulation de Lagrangien augmenté sous l'hypothèse de séparabilité de la contrainte.

This thesis presents an introduction to Schur rings (S-rings) and their various properties. Special attention is given to S-rings that are commutative. A number of original results are proved, including a complete classification of the central S-rings over the simple groups PSL(2,q), where q is any prime power. A discussion is made of the counting of symmetric S-rings over cyclic groups of prime power order. An appendix is included that gives all S-rings over the symmetric group over 4 elements with basic structural properties, along with code that can be used, for groups of comparatively small order, to enumerate all S-rings and compute character tables for those S-rings that are commutative. The appendix also includes code optimized for the enumeration of S-rings over cyclic groups.

Le but de cette thèse est d'obtenir des résultats sur la cohomologie rationnelle du groupe linéaire. Nous attaquons ce problème en le transposant dans la catégorie des bifoncteurs polynomiaux, dans laquelle les calculs sont plus aisés. <br /><br />Nous rappelons dans un premier temps la structure de la catégorie des bifoncteurs polynomiaux sur un anneau commutatif quelconque. Nous démontrons que la cohomologie des bifoncteurs calcule la cohomologie rationnelle du groupe linéaire sur un anneau quelconque (ce résultat n'était auparavant connu que sur un corps). Puis nous développons des techniques générales pour le calcul de la cohomologie des bifoncteurs. Nous introduisons notamment de nouveaux outils efficaces pour étudier la torsion de Frobenius en caractéristique p. Enfin, nous appliquons ces méthodes à des familles explicites de bifoncteurs. Nous obtenons ainsi de nouveaux résultats (par exemple des séries de Poincaré) sur la cohomologie rationnelle à valeur dans des représentations classiques, telles que les puissances symétriques et divisées des twists de l'algèbre de Lie du groupe linéaire.

It is impossible to overstate the importance of symmetry in physics and mathematics. Symmetry arguments play a central role in a broad range of problems from simplifying a system of linear equations to a deep role in organizing the fundamental principles of physics. They are used, for instance, in Noether’s theorem to find the consequences of symmetry of a dynamics. For many systems of interest, the dynamics are sufficiently complicated that one cannot hope to characterize their evolution completely, whereas by appealing to the symmetries of the dynamical laws one can easily infer many useful results. In part I of this thesis we study the problem of finding the consequences of symmetry of a (possibly open) dynamics from an information-theoretic perspective. The study of this problem naturally leads us to the notion of asymmetry of quantum states. The asymmetry of a state relative to some symmetry group specifies how and to what extent the given symmetry is broken by the state. Characterizing these is found to be surprisingly useful to constrain which final states of the system can be reached from a given initial state. Another motivation for the study of asymmetry comes from the field of quantum metrology and relatedly the field of quantum reference frames. It turns out that the degree of success one can achieve in many metrological tasks depends only on the asymmetry properties of the state used for metrology. We show that some ideas and tools developed in the field of quantum information theory are extremely useful to study the notion of asymmetry of states and therefore to find the consequences of symmetry of an open or closed system dynamics. In part II of this thesis we present a novel application of symmetry arguments in the field of quantum estimation theory. We consider a family of multi-copy estimation problems wherein one is given n copies of an unknown quantum state according to some prior distribution and the goal is to estimate certain parameters of the given state. In particular, we are interested to know whether collective measurements are useful and if so to find an upper bound on the amount of entanglement which is required to achieve the optimal estimation. We introduce a new approach to this problem by considering the symmetries of the prior and the symmetries of the parameters to be estimated. We show that based on these symmetries one can find strong constraints on the amount of entanglement required to implement the optimal measurement. In order to infer properties of the optimal estimation procedure from the symmetries of the parameters and the prior we come up with a generalization of Schur-Weyl duality. Just as Schur-Weyl duality has many applications to quantum information theory and quantum algorithms so too does this generalization. In this thesis we explore some of these applications.

Chapter 1 introduces Jensen Inequality and its geometric interpretation. Some useful criteria for checking the convexity of functions are discussed. Many applications in various fields are also included. Chapter 2 deals with Schur Inequality, which can easily solve some problems involved symmetric inequality in three variables. The relationship between Schur Inequality and the roots and the coefficients of a cubic equation is also investigated. Chapter 3 presents Muirhead Inequality which is derived from the concept of majorization. It generalizes the inequality of arithmetic and geometric means. The equivalence of majorization and Muirhead¡¦s condition is illustrated. Two useful tricks for applying Muirhead Inequality are provided. Chapter 4 handles Majorization Inequality which involves Majorization and Schur convexity, two of the most productive concepts in the theory of inequalities. Its applications in elementary symmetric functions, sample variance, entropy and birthday problem are considered.

Nous comparons les bases canoniques d'espaces de Fock de niveau supé\-rieur. Nous donnons une variante de l'algorithme de Leclerc-Thibon pour les calculer. Nous donnons une expression de la dérivée à q=1 des matrices de transition de ces bases ; par analogie avec la formule sommatoire de Jantzen, nous posons une conjecture pour les matrices de décomposition des v-algèbres de Schur cyclotomiques.

This thesis describes improvements of the periodic QZ algorithm and several variants of the Schur algorithm for block Toeplitz matrices. Documentation of the available software is included.