Self-interrupted regenerative metal cutting in turning

A new approach is used to study the global dynamics of regenerative metal cutting in turning. The cut surface is modeled using a partial differential equation (PDE) coupled, via boundary conditions, to an ordinary differential equation (ODE) modeling the dynamics of the cutting tool. This approach automatically incorporates the multiple-regenerative effects accompanying self-interrupted cutting. Taylor's 3/4 power law model for the cutting force is adopted. Lower dimensional ODE approximations are obtained for the combined tool–workpiece model using Galerkin projections, and a bifurcation diagram computed. The unstable solution branch off the subcritical Hopf bifurcation meets the stable branch involving self-interrupted dynamics in a turning point bifurcation. The tool displacement at that turning point is estimated, which helps identify cutting parameter ranges where loss of stability leads to much larger self-interrupted motions than in some other ranges. Numerical bounds are also obtained on the parameter values which guarantee global stability of steady-state cutting, i.e., parameter values for which there exist neither unstable periodic motions nor self-interrupted motions about the stable equilibrium.

Random propagation in complex systems : nonlinear matrix recursions and epidemic spread

This dissertation studies long-term behavior of random Riccati recursions and mathematical epidemic model. Riccati recursions are derived from Kalman filtering. The error covariance matrix of Kalman filtering satisfies Riccati recursions. Convergence condition of time-invariant Riccati recursions are well-studied by researchers. We focus on time-varying case, and assume that regressor matrix is random and identical and independently distributed according to given distribution whose probability distribution function is continuous, supported on whole space, and decaying faster than any polynomial. We study the geometric convergence of the probability distribution. We also study the global dynamics of the epidemic spread over complex networks for various models. For instance, in the discrete-time Markov chain model, each node is either healthy or infected at any given time. In this setting, the number of the state increases exponentially as the size of the network increases. The Markov chain has a unique stationary distribution where all the nodes are healthy with probability 1. Since the probability distribution of Markov chain defined on finite state converges to the stationary distribution, this Markov chain model concludes that epidemic disease dies out after long enough time. To analyze the Markov chain model, we study nonlinear epidemic model whose state at any given time is the vector obtained from the marginal probability of infection of each node in the network at that time. Convergence to the origin in the epidemic map implies the extinction of epidemics. The nonlinear model is upper-bounded by linearizing the model at the origin. As a result, the origin is the globally stable unique fixed point of the nonlinear model if the linear upper bound is stable. The nonlinear model has a second fixed point when the linear upper bound is unstable. We work on stability analysis of the second fixed point for both discrete-time and continuous-time models. Returning back to the Markov chain model, we claim that the stability of linear upper bound for nonlinear model is strongly related with the extinction time of the Markov chain. We show that stable linear upper bound is sufficient condition of fast extinction and the probability of survival is bounded by nonlinear epidemic map.

Distributed Optimal Control of Cyber-Physical Systems: Controller Synthesis, Architecture Design and System Identification

The centralized paradigm of a single controller and a single plant upon which modern control theory is built is no longer applicable to modern cyber-physical systems of interest, such as the power-grid, software defined networks or automated highways systems, as these are all large-scale and spatially distributed. Both the scale and the distributed nature of these systems has motivated the decentralization of control schemes into local sub-controllers that measure, exchange and act on locally available subsets of the globally available system information. This decentralization of control logic leads to different decision makers acting on asymmetric information sets, introduces the need for coordination between them, and perhaps not surprisingly makes the resulting optimal control problem much harder to solve. In fact, shortly after such questions were posed, it was realized that seemingly simple decentralized optimal control problems are computationally intractable to solve, with the Wistenhausen counterexample being a famous instance of this phenomenon. Spurred on by this perhaps discouraging result, a concerted 40 year effort to identify tractable classes of distributed optimal control problems culminated in the notion of quadratic invariance, which loosely states that if sub-controllers can exchange information with each other at least as quickly as the effect of their control actions propagates through the plant, then the resulting distributed optimal control problem admits a convex formulation.

The identification of quadratic invariance as an appropriate means of "convexifying" distributed optimal control problems led to a renewed enthusiasm in the controller synthesis community, resulting in a rich set of results over the past decade. The contributions of this thesis can be seen as being a part of this broader family of results, with a particular focus on closing the gap between theory and practice by relaxing or removing assumptions made in the traditional distributed optimal control framework. Our contributions are to the foundational theory of distributed optimal control, and fall under three broad categories, namely controller synthesis, architecture design and system identification.

We begin by providing two novel controller synthesis algorithms. The first is a solution to the distributed H-infinity optimal control problem subject to delay constraints, and provides the only known exact characterization of delay-constrained distributed controllers satisfying an H-infinity norm bound. The second is an explicit dynamic programming solution to a two player LQR state-feedback problem with varying delays. Accommodating varying delays represents an important first step in combining distributed optimal control theory with the area of Networked Control Systems that considers lossy channels in the feedback loop. Our next set of results are concerned with controller architecture design. When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between them can no longer be taken as given -- indeed the task of designing this architecture is now as important as the design of the control laws themselves. To address this task, we formulate the Regularization for Design (RFD) framework, which is a unifying computationally tractable approach, based on the model matching framework and atomic norm regularization, for the simultaneous co-design of a structured optimal controller and the architecture needed to implement it. Our final result is a contribution to distributed system identification. Traditional system identification techniques such as subspace identification are not computationally scalable, and destroy rather than leverage any a priori information about the system's interconnection structure. We argue that in the context of system identification, an essential building block of any scalable algorithm is the ability to estimate local dynamics within a large interconnected system. To that end we propose a promising heuristic for identifying the dynamics of a subsystem that is still connected to a large system. We exploit the fact that the transfer function of the local dynamics is low-order, but full-rank, while the transfer function of the global dynamics is high-order, but low-rank, to formulate this separation task as a nuclear norm minimization problem. Finally, we conclude with a brief discussion of future research directions, with a particular emphasis on how to incorporate the results of this thesis, and those of optimal control theory in general, into a broader theory of dynamics, control and optimization in layered architectures.

On velocity-based local model networks for nonlinear identification

This paper exposes the strengths and weaknesses of the recently proposed velocity-based local model (LM) network. The global dynamics of the velocity-based blended representation are directly related to the dynamics of the underlying local models, an important property in the design of local controller networks. Furthermore, the sub-models are continuous-time and linear providing continuity with established linear theory and methods. This is not true for the conventional LM framework, where the global dynamics are only weakly related to the affine sub-models. In this paper, a velocity-based multiple model network is identified for a highly nonlinear dynamical system. The results show excellent dynamical modelling performances, highlighting the value of the velocity-based approach for the design and analysis of LM based control. Three important practical issues are also addressed. These relate to the blending of the velocity-based local models, the use of normalised Gaussian basis functions and the requirement of an input derivative.

Constructing networks of continuous-time velocity-based models

A conventional local model (LM) network consists of a set of affine local models blended together using appropriate weighting functions. Such networks have poor interpretability since the dynamics of the blended network are only weakly related to the underlying local models. In contrast, velocity-based LM networks employ strictly linear local models to provide a transparent framework for nonlinear modelling in which the global dynamics are a simple linear combination of the local model dynamics. A novel approach for constructing continuous-time velocity-based networks from plant data is presented. Key issues including continuous-time parameter estimation, correct realisation of the velocity-based local models and avoidance of the input derivative are all addressed. Application results are reported for the highly nonlinear simulated continuous stirred tank reactor process.

A indústria de defesa na cooperação Brasil-Portugal

The global dynamics of alliances are strongly determined by the level of cooperation among states. This cooperation can be embodied in various aspects, but the level of defense and security cooperation becomes usually more doctrinal and lasting. By the nature of sovereignty that instills in the bilateral relationship, cooperation at defense and security level can leverages other forms of cooperation. The circumstances and relational balance between Brazil and Portugal seem to evolve towards distancing opportunities, despite they are culturally and institutionally untainted. The economic dynamics, the strategic projection in global sustainability terms, the scale and ambition of Brazilian regional leadership, contrasts with the actual context of Portugal, distancing himself both on the stage where they operate. On the other hand, the historical and cultural roots, the language, the affinity of the peoples of CPLP and some opportunities for economic niches, trend to attract both countries. The condition of Portugal in NATO and Europe, coupled with the ability to export technical and human resources to value-added for Brazil, seems also to become approaching factors. On the balance of these dynamics, there is a set of exogenous factors (economic, external global relations matrix, regional stability, among others), which are not always controlled by any of both countries. These factors call for strong capacity for foresight analysis and decision making, with the inherent risk. There is cooperation vectors that are not apparently penalized by geographic distance, or by the difference of realities. Among these vectors we shall highlight synergies in technological niches, highly tradable goods and, mostly, using the domain of dual technologies. The thirteen niches herein identified are: Monitoring, Navigation, Command and Control, Electronics, Optoelectronics, Communication and remote sensing, Information Technologies, Flight Simulation, Specialized Training, Fiber Optic Sensors, Materials Engineering, Nanotechnology and Communications. Cumulating with identified opportunities in traditional relational framework, both countries are growing (in geography and economic terms) into the Atlantic, making it a central element in the bilateral approach. By being at the same time a growing stage of disputes and which stability tends to be threatened, it will be done an analysis of these synergistic vectors, superimposed on the impact on Atlantic securitization process.

Des femmes converties à l'islam en France et au Québec : religiosités d'un nouveau genre

En Europe et en Amérique du Nord, les phénomènes de conversion à l'islam suggèrent que modernité et sécularisation ont engendré de nouvelles formes de subjectivité, insolites au premier abord. Pourtant, l'apparente incompatibilité entre les identités musulmane d’un part, et québécoise ou française d’autre part, provient davantage du contexte sociopolitique dans lequel ces identités se produisent que d'une impossibilité inhérente aux paradigmes musulman et occidental en soi. Notre étude réalisée en France et au Québec montre que si le retour à l’islam s’inscrit dans un projet d’herméneutique du soi qui se réalise dans le cadre d’une démarche spirituelle, le geste de conversion est forgé par le contexte social et politique qui lui donne sens et portée. Ainsi, l’identité des nouvelles musulmanes se négocie dans les rapports sociaux qui traversent et dominent les univers du discours locaux; le projet social et politique qui en résulte vise à transcender ces modèles en proposant une alternative qui combine l’hérité et le choisi. Notre projet s’inscrit dans une perspective comparative au sein de deux espaces politiques se distinguant non seulement par leur mode de gestion de la diversité religieuse et ethnique, mais aussi par leur système de régulation du religieux dans l'espace public. Considérant que le changement de religion est un processus aussi subjectif que social, nous soutenons que la nouvelle identité du converti se distribue de façon continue et dynamique entre la réalisation du soi et la (re)construction de son appartenance sociale. Par conséquent, le geste de conversion traduit autant la quête d’une spiritualité et d’un mode de vie pieux, qu’il exprime un discours critique de son contexte social et politique, et constructif puisqu’il en propose une alternative. En nous inspirant des perspectives théoriques de Ricœur, de Foucault, et de Calhoun, nous examinons la formation du sujet et la construction de son identité, autant par la production d’un discours (récit de conversion), que par le modelage du corps (apprentissage des pratiques religieuses et sociales). Cette approche performative de la ritualité quotidienne met en évidence la fluidité, l'idiosyncrasie et l'historicité des appartenances et des subjectivités. Pour les femmes rencontrées, la mise en narration de la trajectoire de conversion joue un rôle clé dans le processus de constitution et d’actualisation du soi musulman. Par la réflexivité du sujet, elle produit en effet une nouvelle herméneutique du soi, motivée par un objectif d’accomplissement personnel, et travaillé par le médium de la spiritualité. Par ailleurs, nous identifions des discours standardisés qui constituent des points de tension autour desquels se forgent la piété, la subjectivité, et l’identité des converties. Parmi eux, le modèle de genre préconisé révèle le retour à une nouvelle morale de la pudeur, de l'intimité, du corps et du souci de soi qui revisite les rhétoriques polarisées entre le féminisme jugé extrême des sociétés occidentales, et les dérives patriarcales de l’islam politique. En ce sens, nous considérons les femmes converties à l’islam comme la figure archétype du sujet musulman féministe. La formation de ces identités originales révèle les forces sociales et politiques sous-jacentes les localités nationales et les dynamiques globales. En effet, les performances élaborées par les converties se situent en compétition avec certains discours construits, tant par les musulmans de naissance que par la société d'origine. La conversion induit ainsi une recomposition des identités genrées, religieuses, nationales ou biographiques des nouvelles musulmanes. Si les attributs de l’altérité désormais mêlés à ceux du soi sont travaillés aux limites des catégories de la modernité avancée (savoir, religion et genre), ils reconfigurent également les rapports sociaux et les frontières de nouveaux groupes d’inclusion et d’exclusion (ethnicité, piété, génération). Au Québec, l'attrait pour l'islam participe d’une reconquête du sens et d’une volonté d'adhésion à la rhétorique cosmopolite hégémonique, l’entrée dans l’islam célèbre alors le retour à des formes de solidarité communautaire, faisant suite à une phase de modernisation et de sécularisation accélérée. En France, elle manifeste une critique envers la différenciation sociale et un mode d'appartenance à une classe ghettoïsée. L’adhésion à la religion de la catégorie minoritaire et ostracisée met en évidence l’échec d'un modèle républicain qui a failli à sa prétention d’universalité. Cette voie alternative aux projets séculier et moderne dominants contribue à reconfigurer les domaines du privé et du public, et permet à ceux qui choisissent la marge, de révéler les apories du centre.

Redes multi-niveles de derechos humanos y defensa de los pueblos indígenas colombianos en escenarios “internacionalizados”

Este artículo busca analizar uno de los múltiples aspectos de la dimensión internacional de las movilizaciones indígenas: la forma como los procesos reivindicativos de las organizaciones indígenas colombianas se insertan en la dinámica global del lobbying internacional de las redes de derechos humanos ante Naciones Unidas. Para ello, nos centraremos en el análisis de la lógica de funcionamiento de los circuitos de derechos humanos en un universo social específico: el medio asociativo francés. Esto nos permitirá llevar a cabo la reconstrucción de algunos perfiles sociales de militantes y juristas que hacen las veces de intermediarios entre organizaciones colombianas y ONG europeas.-----This article seeks to analyze one of the multiple aspects of the international dimension of indigenous congregations: how the claim processes of the Colombian indigenous organizations fit into the global dynamics of international lobbying by human rights networks before the United Nations. For this purpose we shall focus our argument around analyzing the rationale of the way human rights circuits work in a specific social universe: the French associative media. This will allow us to undertake the reconstruction of some of the social profiles of militants and lawyers who act as intermediaries between Colombian organizations and European NGO's.

El papel del Estado en los países andinos: ¿ocaso o transformación?

A juicio de muchos analistas, el Estado-nación –piedra angular de la organización política del mundo desde la suscripción del Tratado de Wesfalia, en 1648– está experimentando una profunda crisis. En esta visión, el poder efectivo de dicha entidad política se está desbordando en tres direcciones: hacia arriba, por la globalización y la supranacionalización; horizontalmente, por el desmonte del Estado de bienestar, la privatización y la desregulación, y hacia abajo, por la descentralización y la devolución de autonomías a las polis regionales y locales.La acción conjunta de estas tendencias estaría determinando el vaciamiento (hollowing out) del Estado-nación, en la medida en que muchas de sus competencias tradicionales se están transfiriendo hacia arriba, a las instituciones internacionales y supranacionales; hacia los lados, al mercado, las empresas privadas y las transnacionales, y hacia abajo, a las entidades de orden subnacional. En este artículo analizaremos el impacto de tales tendencias en los países andinos.-----According to many analysts, the Nation State is undergoing a deep crisis, because the effectiveness of its power is being broken up in three ways: upward, because of globalization and supranationalization; horizontally, because of the dismantling of the Welfare State, privatization and deregulation, and downward, because of decentralization and the empowerment of the regional and local entities. According to these interpretations, the joint action of such trends would be eroding the traditional competences of the Nation State and determining the irrelevance of this political entity in the global dynamics of power and the economy. This paper analyses the impact of the above mentioned trends in the Andean countries. It concludes by stating that in this context the processes aimed at reducing the role of the State, have paradoxically turned into the widening of its sphere of action in other fields.

Dynamic portrait of the planetary 2/1 mean-motion resonance - II. Systems with a more massive inner planet

This paper presents the second part in our study of the global structure of the planar phase space of the planetary three-body problem, when both planets lie in the vicinity of a 2/1 mean-motion resonance. While Paper I was devoted to cases where the outer planet is the more massive body, the present work is devoted to the cases where the more massive body is the inner planet. As before, outside the well-known Apsidal Corotation Resonances (ACR), the phase space shows a complex picture marked by the presence of several distinct regimes of resonant and non-resonant motion, crossed by families of periodic orbits and separated by chaotic zones. When the chosen values of the integrals of motion lead to symmetric ACR, the global dynamics are generally similar to the structure presented in Paper I. However, for asymmetric ACR the resonant phase space is strikingly different and shows a galore of distinct dynamical states. This structure is shown with the help of dynamical maps constructed on two different representative planes, one centred on the unstable symmetric ACR and the other on the stable asymmetric equilibrium solution. Although the study described in the work may be applied to any mass ratio, we present a detailed analysis for mass values similar to the Jupiter-Saturn case. Results give a global view of the different dynamical states available to resonant planets with these characteristics. Some of these dynamical paths could have marked the evolution of the giant planets of our Solar system, assuming they suffered a temporary capture in the 2/1 resonance during the latest stages of the formation of our Solar system.

A new frontier for Caribbean convergence: integration without borders

Today, forty years since its birth, the Caribbean integration has reached its limit.1 2 Consequently, there is urgent need to respond to the current realities and emerging global trends — which require greater engagement from the public, students, academics and policymakers — in moving the Caribbean Community towards a new trajectory of Caribbean convergence. The immediate concern is to devise ways of improving the convergence process among Latin American and Caribbean countries. This convergence process will have to be sensitive to both current and emerging global dynamics. This paper presents the roadmap of a new trajectory towards Caribbean convergence, sensitive to both current and emergent regional and global trends. It begins in Section I by identifying the emerging international political and economic trends that provide a backdrop against which the discussion on Caribbean convergence is squarely placed. Section II discusses the need for a new strategy of convergence, and provides the conceptual framework of Caribbean convergence. Section III spells out the pillars, strategies and delivery mechanisms of Caribbean convergence, and highlights the role of Trinidad and Tobago in this process. The paper concludes by pointing out the urgent need for a regional synergy of economic logic and political logic.

Falhas de mercado e redes em políticas públicas: desafios e possibilidades ao Sistema Único de Saúde

Os princípios e as diretrizes do Sistema Único de Saúde (SUS) impõem uma estrutura de assistência baseada em redes de políticas públicas que, combinada ao modelo de financiamento adotado, conduz a falhas de mercado. Isso impõe barreiras à gestão do sistema público de saúde e à concretização dos objetivos do SUS. As características institucionais e a heterogeneidade dos atores, aliadas à existência de diferentes redes de atenção à saúde, geram complexidade analítica no estudo da dinâmica global da rede do SUS. Há limitações ao emprego de métodos quantitativos baseados em análise estática com dados retrospectivos do sistema público de saúde. Assim, propõe-se a abordagem do SUS como sistema complexo, a partir da utilização de metodologia quantitativa inovadora baseada em simulação computacional. O presente artigo buscou analisar desafios e potencialidades na utilização de modelagem com autômatos celulares combinada com modelagem baseada em agentes para simulação da evolução da rede de serviços do SUS. Tal abordagem deve permitir melhor compreensão da organização, heterogeneidade e dinâmica estrutural da rede de serviços do SUS e possibilitar minimização dos efeitos das falhas de mercado no sistema de saúde brasileiro.

Ingegneria di sistemi auto‐organizzanti con il paradigma multiagente

Self-organisation is increasingly being regarded as an effective approach to tackle modern systems complexity. The self-organisation approach allows the development of systems exhibiting complex dynamics and adapting to environmental perturbations without requiring a complete knowledge of the future surrounding conditions. However, the development of self-organising systems (SOS) is driven by different principles with respect to traditional software engineering. For instance, engineers typically design systems combining smaller elements where the composition rules depend on the reference paradigm, but typically produce predictable results. Conversely, SOS display non-linear dynamics, which can hardly be captured by deterministic models, and, although robust with respect to external perturbations, are quite sensitive to changes on inner working parameters. In this thesis, we describe methodological aspects concerning the early-design stage of SOS built relying on the Multiagent paradigm: in particular, we refer to the A&A metamodel, where MAS are composed by agents and artefacts, i.e. environmental resources. Then, we describe an architectural pattern that has been extracted from a recurrent solution in designing self-organising systems: this pattern is based on a MAS environment formed by artefacts, modelling non-proactive resources, and environmental agents acting on artefacts so as to enable self-organising mechanisms. In this context, we propose a scientific approach for the early design stage of the engineering of self-organising systems: the process is an iterative one and each cycle is articulated in four stages, modelling, simulation, formal verification, and tuning. During the modelling phase we mainly rely on the existence of a self-organising strategy observed in Nature and, hopefully encoded as a design pattern. Simulations of an abstract system model are used to drive design choices until the required quality properties are obtained, thus providing guarantees that the subsequent design steps would lead to a correct implementation. However, system analysis exclusively based on simulation results does not provide sound guarantees for the engineering of complex systems: to this purpose, we envision the application of formal verification techniques, specifically model checking, in order to exactly characterise the system behaviours. During the tuning stage parameters are tweaked in order to meet the target global dynamics and feasibility constraints. In order to evaluate the methodology, we analysed several systems: in this thesis, we only describe three of them, i.e. the most representative ones for each of the three years of PhD course. We analyse each case study using the presented method, and describe the exploited formal tools and techniques.

Book review of “Germany in Transit: Nation and Migration, 1955-2005”. 588 pages, University of California Press, 2007, by Deniz Göktürk, David Gramling and Anton Kaes (eds.)

Though migration is an age-old feature of human activity, driven by various circumstances, its current place in the midst of global dynamics and the phenomenon of globalization is becoming increasingly critical. International immigration and its regulation have been largely shaped by the policies in the receiving countries, often determining preferences for nationality cohorts and work skills to satisfy their labor and human capital requirements. When immigration has been necessitated by political strife, host countries have displayed immense magnanimity as well. However, the growing realization of resource limitations and the strange quirks of cultural pluralism are in turn creating waves of dissonance. Literature and the media are now replete with an in depth look into the immigration debate in various nations of the world in trying to seek new directions and satisfactory solutions.