The electronic spectra and the determination of the excited state geometry of 3A" propynal /|nby Chhiu-Tsu Lin. -- 260 St. Catharines, Ont. : [s. n.],

Impurity free eluission spectra of HCCCHO and DCCCHO have been rephotographed using the electronic-energy-exchange method with benzene as a carrier gas. The near ultraviolet spectra of ReeCHO and DCCCHO were photographed in a sorption under conditions of high resolution with absorption path lengths up to 100 meters. The emission and absorption spectra of Propynal resulting from 3 n 1 t 1\ - A excitation has been reanalyzed in som.e detail. Botrl of the eH out-of-plane wagging modes were found to have negative anharmonicity. A barrier height of 56.8/0.0 cm- 1 and a nonplanar oft , , equilibrium angle of 17 3 /30 are calculated for the V 10/ lJ 11 modes. The in-plane and out-of-plane v1. brational modes in the 3A." and 1a~. ' elec ronic states of Propynal were subjected to a normal coordinate treatment in the approximat :on of tIle Urey-Bradley force field. From the relative oscillator strengths of the trans1·t1·0ns connect i ng t he v ibrat1•0n1ess lA' , state and t,he V1· bron1·C 3· if levels of the A state, the differences in equilibrium configuration were evaluated from an approximate Franck-Condon analysis based on the ground state normal coordinates. As this treatment gave 512 possible geometrical structures for the upper state, it 4 was necessary to resort to a comparison of the observed and calculated moments of inertia along with chemical intuition to isolate the structure. A test of the correctness of the calculated structure change and the vibrational assignment was raade by evaluating the intensities of the inplane and out-oi-plane fundarnental, sequence, and cross sequellce transitions y the exact Franck-Condon method.

Evolutionary Origin and Maintenance of Sociality in the Small Carpenter Bees

Many arthropods exhibit behaviours precursory to social life, including adult longevity, parental care, nest loyalty and mutual tolerance, yet there are few examples of social behaviour in this phylum. The small carpenter bees, genus Ceratina, provide important insights into the early stages of sociality. I described the biology and social behaviour of five facultatively social species which exhibit all of the preadaptations for successful group living, yet present ecological and behavioural characteristics that seemingly disfavour frequent colony formation. These species are socially polymorphic with both / solitary and social nests collected in sympatry. Social colonies consist of two adult females, one contributing both foraging and reproductive effort and the second which remains at the nest as a passive guard. Cooperative nesting provides no overt reproductive benefits over solitary nesting, although brood survival tends to be greater in social colonies. Three main theories explain cooperation among conspecifics: mutual benefit, kin selection and manipulation. Lifetime reproductive success calculations revealed that mutual benefit does not explain social behaviour in this group as social colonies have lower per capita life time reproductive success than solitary nests. Genetic pedigrees constructed from allozyme data indicate that kin selection might contribute to the maintenance of social nesting -, as social colonies consist of full sisters and thus some indirect fitness benefits are inherently bestowed on subordinate females as a result of remaining to help their dominant sister. These data suggest that the origin of sociality in ceratinines has principal costs and the great ecological success of highly eusociallineages occurred well after social origins. Ecological constraints such as resource limitation, unfavourable weather conditions and parasite pressure have long been considered some of the most important selective pressures for the evolution of sociality. I assessed the fitness consequences of these three ecological factors for reproductive success of solitary and social colonies and found that nest sites were not limiting, and the frequency of social nesting was consistent across brood rearing seasons. Local weather varied between seasons but was not correlated with reproductive success. Severe parasitism resulted in low reproductive success and total nest failure in solitary nests. Social colonies had higher reproductive success and were never extirpated by parasites. I suggest that social nesting represents a form of bet-hedging. The high frequency of solitary nests suggests that this is the optimal strategy when parasite pressure is low. However, social colonies have a selective advantage over solitary nesting females during periods of extreme parasite pressure. Finally, the small carpenter bees are recorded from all continents except Antarctica. I constructed the first molecular phylogeny of ceratinine bees based on four gene regions of selected species covering representatives from all continents and ecological regions. Maximum parsimony and Bayesian Inference tree topology and fossil dating support an African origin followed by an Old World invasion and New World radiation. All known Old World ceratinines form social colonies while New World species are largely solitary; thus geography and phylogenetic inertia are likely predictors of social evolution in this genus. This integrative approach not only describes the behaviour of several previously unknown or little-known Ceratina species, bu~ highlights the fact that this is an important, though previously unrecognized, model for studying evolutionary transitions from solitary to social behaviour.

Rigidité normale, dévaluation et équilibre général intertemporel

La présente étude analyse les effets dynamiques de la dévaluation du franc CFA, à l’aide d’un modèle monétaire d’équilibre général, intertemporel et multisectoriel. L’accent est particulièrement mis sur les interactions entre dévaluation et accumulation du capital. Dans le modèle, les effets du changement de parité passent par le marché du travail qui se caractérise par l’inertie du salaire nominal. Les résultats montrent que la dévaluation relance l’investissement, avec des effets expansionnistes sur l’activité économique. Le choc monétaire n’a eu qu’un impact limité sur les soldes budgétaire et commercial. Une mesure d’accompagnement telle que la réduction des salaires de la fonction publique améliore ces deux soldes mais déclenche un processus récessif.

Apport d’une évaluation biomécanique 3D du genou dans la prise en charge orthopédique de patients ayant une rupture du ligament croisé antérieur

Parmi les blessures sportives reliées au genou, 20 % impliquent le ligament croisé antérieur (LCA). Le LCA étant le principal stabilisateur du genou, une lésion à cette structure engendre une importante instabilité articulaire influençant considérablement la fonction du genou. L’évaluation clinique actuelle des patients ayant une atteinte au LCA présente malheureusement des limitations importantes à la fois dans l’investigation de l’impact de la blessure et dans le processus diagnostic. Une évaluation biomécanique tridimensionnelle (3D) du genou pourrait s’avérer une avenue innovante afin de pallier à ces limitations. L’objectif général de la thèse est de démontrer la valeur ajoutée du domaine biomécanique dans (1) l’investigation de l’impact de la blessure sur la fonction articulaire du genou et dans (2) l’aide au diagnostic. Pour répondre aux objectifs de recherche un groupe de 29 patients ayant une rupture du LCA (ACLD) et un groupe contrôle de 15 participants sains ont pris part à une évaluation biomécanique 3D du genou lors de tâches de marche sur tapis roulant. L’évaluation des patrons biomécaniques 3D du genou a permis de démontrer que les patients ACLD adoptent un mécanisme compensatoire que nous avons intitulé pivot-shift avoidance gait. Cette adaptation biomécanique a pour objectif d’éviter de positionner le genou dans une condition susceptible de provoquer une instabilité antérolatérale du genou lors de la marche. Par la suite, une méthode de classification a été développée afin d’associer de manière automatique et objective des patrons biomécaniques 3D du genou soit au groupe ACLD ou au groupe contrôle. Pour cela, des paramètres ont été extraits des patrons biomécaniques en utilisant une décomposition en ondelettes et ont ensuite été classifiés par la méthode du plus proche voisin. Notre méthode de classification a obtenu un excellent niveau précision, de sensibilité et de spécificité atteignant respectivement 88%, 90% et 87%. Cette méthode a donc le potentiel de servir d’outil d’aide à la décision clinique. La présente thèse a démontré l’apport considérable d’une évaluation biomécanique 3D du genou dans la prise en charge orthopédique de patients présentant une rupture du LCA; plus spécifiquement dans l’investigation de l’impact de la blessure et dans l’aide au diagnostic.

Introduction à la théorie de la viabilité

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

Les pratiques entourant le programme d'hébergement avec encadrement intensif : une analyse qualitative de la perception des intervenants.

Ce mémoire dresse un portrait des pratiques concernant le programme d’hébergement avec encadrement intensif en centre jeunesse au moment de l’étude. Depuis l’ajout, lors de la réforme en 2007, de l’article 11.1.1 dans la Loi sur la protection de la jeunesse, les motifs pour recourir à l’encadrement intensif pour les jeunes pris en charge pour leur protection sont désormais balisés. Cette réforme résulte de controverses à savoir que cette mesure ne respectait pas les droits des jeunes et brimait leur liberté. L’encadrement intensif était perçu par les juristes comme étant illégal et sans fondement juridique. Afin de connaître les effets de la réforme dans les pratiques des intervenants, des entretiens qualitatifs ont été effectués avec vingt-cinq employés des centres jeunesse de Montréal-Institut universitaire et de Laval. Malgré certaines difficultés d’implantation ainsi que certains signes de résistance au changement, les résultats laissent entendre que cette réforme permet d’accroître le respect des droits des jeunes. Du côté des conditions d’hébergement, les changements majeurs se trouvent dans la lourdeur du profil de la clientèle desservie, et la surpopulation des unités d’encadrement intensif. La mixité de la clientèle sur la réadaptation des jeunes est discutée et analysée en fonction du concept de l'inertie socioculturelle et celui du respect des droits de l’enfant.

Les municipalités dans le secteur énergétique québécois : le cas du chauffage urbain

In a global context of climate change and energy transition, Quebec seems to be privileged, producing a large amount of cheap hydroelectricity. But aside from the established popular belief that Quebec’s energy is abundant, clean and inexpensive, Quebec’s energy future is still precarious. Within a few decades, Quebec will have to import a significant amount of electricity at a higher price than it actually produces it; the cheap exploitable hydro resources will not only get scarcer if not nonexistent; and the national hydroelectric ``cultural`` heritage even seems to quell the development of alternative energies, letting few space for local innovation coming from municipalities. While in many countries, municipalities are recognised as key figures in the energy sector, here, in Quebec, their role in the national energy system seems marginal. As main actors responsible for territorial planning, it seams that municipalities could play a more important role on Quebec’s energy scene. So they can densify their territory, develop active and collective solutions to transportation issues, they can adopt exemplary energetic habits, they can produce their own energy with wind, solar or even district heating systems. District heating and heat networks being less well know and documented in Quebec, the present study aims at explaining their low penetration level in the Quebec energy landscape. The study also attempts to understand what are the main hurdles to the implementation of district heating in Quebec’s particular energetic context. Finally, the research tries to open a discussion on the motives that could incite municipalities to adopt district heating as an energy alternative. Based on some twenty interviews with key actors of the energy and municipal sectors, the findings give some indications that the low penetration level of district heating in the Quebec municipalities could explain itself in part by : the low priced hydroelectricity, the presence of a comfortable, sufficient and pervasive Hydro-Quebec(er) culture, and also by organizational dynamic and a certain political inertia which limit the appropriation of an energy competence by local governments. In turn, the study shows that district heating solutions are more likely to develop in contexts in which : there are minimum urban or energy density levels; the development of district heating coincides with the local or regional economic structure; and where exist a mobilising local leader or local visions from a community in favor of the implementation of alternative energy systems.

Numerical Investigations on Soil Structure Interaction of Multistorey Frames

Frames are the most widely used structural system for multistorey buildings. A building frame is a three dimensional discrete structure consisting of a number of high rise bays in two directions at right angles to each other in the vertical plane. Multistorey frames are a three dimensional lattice structure which are statically indeterminate. Frames sustain gravity loads and resist lateral forces acting on it. India lies at the north westem end of the Indo-Australian tectonic plate and is identified as an active tectonic area. Under horizontal shaking of the ground, horizontal inertial forces are generated at the floor levels of a multistorey frame. These lateral inertia forces are transferred by the floor slab to the beams, subsequently to the columns and finally to the soil through the foundation system. There are many parameters that affect the response of a structure to ground excitations such as, shape, size and geometry of the structure, type of foundation, soil characteristics etc. The Soil Structure Interaction (SS1) effects refer to the influence of the supporting soil medium on the behavior of the structure when it is subjected to different types of loads. Interaction between the structure and its supporting foundation and soil, which is a complete system, has been modeled with finite elements. Numerical investigations have been carried out on a four bay, twelve storeyed regular multistorey frame considering depth of fixity at ground level, at characteristic depth of pile and at full depth. Soil structure interaction effects have been studied by considering two models for soil viz., discrete and continuum. Linear static analysis has been conducted to study the interaction effects under static load. Free vibration analysis and further shock spectrum analysis has been conducted to study the interaction effects under time dependent loads. The study has been extended to four types of soil viz., laterite, sand, alluvium and layered.The structural responses evaluated in the finite element analysis are bending moment, shear force and axial force for columns, and bending moment and shear force for beams. These responses increase with increase in the founding depth; however these responses show minimal increase beyond the characteristic length of pile. When the soil structure interaction effects are incorporated in the analysis, the aforesaid responses of the frame increases upto the characteristic depth and decreases when the frame has been analysed for the full depth. It has been observed that shock spectrum analysis gives wide variation of responses in the frame compared to linear elastic analysis. Both increase and decrease in responses have been observed in the interior storeys. The good congruence shown by the two finite element models viz., discrete and continuum in linear static analysis has been absent in shock spectrum analysis.

Design and Analysis of Zero Cogging Brushless DC Motor for Spacecraft Applications

This paper presents the optimal design of a sur- face mounted permanent magnet Brushless DC mo- tor (PMBLDC) meant for spacecraft applications. The spacecraft applications requires the choice of a torques motor with high torque density, minimum cogging torque, better positional stability and high torque to inertia ratio. Performance of two types of machine con¯gurations viz Slotted PMBLDC and Slotless PMBLDC with halbach array are compared with the help of analytical and FE methods. It is found that unlike a Slotted PMBLDC motor, the Slotless type with halbach array develops zero cogging torque without reduction in the developed torque. Moreover, the machine being coreless provides high torque to inertia ratio and zero magnetic stiction

Optimal Design of a Surface Mounted Permanent-Magnet BLDC Motor for Spacecraft Applications

This paper presents the optimal design of a surface mounted permanent-magnet (PM) Brushless direct-current (BLDC) motor meant for spacecraft applications. The spacecraft applications requires the choice of a motor with high torque density, minimum cogging torque, better positional stability and high torque to inertia ratio. Performance of two types of machine configurations viz Slotted PMBLDC and Slotless PMBLDC with Halbach array are compared with the help of analytical and finite element (FE) methods. It is found that unlike a Slotted PMBLDC motor, the Slotless type with Halbach array develops zero cogging torque without reduction in the developed torque. Moreover, the machine being coreless provides high torque to inertia ratio and zero magnetic stiction

A Novel Slotless PMBLDC Motor for Precise Positioning Applications

This paper presents the design and analysis of a novel machine family of Siotiess Permanent Magnet Brushless DC motors (PMBLDC) for precise positioning applications of spacecrafts. Initial design, selection of major parameters and air gap magnetic flux density are estimated using the analytical model of the machine. The proportion of the halbach array in the machine was optimized using FE to obtain near trapezoidal flux pattern. The novel machine topology is found to deliver high torque density, high efficiency, zero cogging torque, better positional stability, high torque to inertia ratio and zero magnetic stiction suiting space requirements. The machine provides uniform air gap flux density along the radius thus avoiding circulating currents in stator conductors and hence reducing torque ripple

Structural Dynamics Model of a Cartesian Robot

Methods are developed for predicting vibration response characteristics of systems which change configuration during operation. A cartesian robot, an example of such a position-dependent system, served as a test case for these methods and was studied in detail. The chosen system model was formulated using the technique of Component Mode Synthesis (CMS). The model assumes that he system is slowly varying, and connects the carriages to each other and to the robot structure at the slowly varying connection points. The modal data required for each component is obtained experimentally in order to get a realistic model. The analysis results in prediction of vibrations that are produced by the inertia forces as well as gravity and friction forces which arise when the robot carriages move with some prescribed motion. Computer simulations and experimental determinations are conducted in order to calculate the vibrations at the robot end-effector. Comparisons are shown to validate the model in two ways: for fixed configuration the mode shapes and natural frequencies are examined, and then for changing configuration the residual vibration at the end of the mode is evaluated. A preliminary study was done on a geometrically nonlinear system which also has position-dependency. The system consisted of a flexible four-bar linkage with elastic input and output shafts. The behavior of the rocker-beam is analyzed for different boundary conditions to show how some limiting cases are obtained. A dimensional analysis leads to an evaluation of the consequences of dynamic similarity on the resulting vibration.

Analysis and Implementation of Robust Grasping Behaviors

This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed nmodel of the hand, we establish the geometric conditions necessary for achieving form closure grasps of cylindrical objects. We then define and show how to construct the grasping pre-image for quasi-static (friction dominated) and zero-G (inertia dominated) motions for sensorless and sensor-driven grasps with and without arm motions. While the approach does not rely on detailed modeling, it is computationally inexpensive, reliable, and easy to implement. Example behaviors were successfully implemented on the Salisbury hand and on a planar 2-fingered, 4 degree-of-freedom hand.

Trajectory and Force Control of a Direct Drive Arm

Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any controller, issues of estimating the dynamic model of a manipulator and its load were addressed first. Practical and effective algorithms were developed fro the Newton-Euler equations to estimate the inertial parameters of manipulator rigid-body loads and links. Load estimation was implemented both on PUMA 600 robot and on the MIT Serial Link Direct Drive Arm. With the link estimation algorithm, the inertial parameters of the direct drive arm were obtained. For both load and link estimation results, the estimated parameters are good models of the actual system for control purposes since torques and forces can be predicted accurately from these estimated parameters. The estimated model of the direct drive arm was them used to evaluate trajectory following performance by feedforward and computed torque control algorithms. The experimental evaluations showed that the dynamic compensation can greatly improve trajectory following accuracy. Various stability issues of force control were studied next. It was determined that there are two types of instability in force control. Dynamic instability, present in all of the previous force control algorithms discussed in this thesis, is caused by the interaction of a manipulator with a stiff environment. Kinematics instability is present only in the hybrid control algorithm of Raibert and Craig, and is caused by the interaction of the inertia matrix with the Jacobian inverse coordinate transformation in the feedback path. Several methods were suggested and demonstrated experimentally to solve these stability problems. The result of the stability analyses were then incorporated in implementing a stable force/position controller on the direct drive arm by the modified resolved acceleration method using both joint torque and wrist force sensor feedbacks.

Bubble Behavior in a Taylor Vortex

We present an experimental study on the behavior of bubbles captured in a Taylor vortex. The gap between a rotating inner cylinder and a stationary outer cylinder is filled with a Newtonian mineral oil. Beyond a critical rotation speed (ω[subscript c]), Taylor vortices appear in this system. Small air bubbles are introduced into the gap through a needle connected to a syringe pump. These are then captured in the cores of the vortices (core bubble) and in the outflow regions along the inner cylinder (wall bubble). The flow field is measured with a two-dimensional particle imaging velocimetry (PIV) system. The motion of the bubbles is monitored by using a high speed video camera. It has been found that, if the core bubbles are all of the same size, a bubble ring forms at the center of the vortex such that bubbles are azimuthally uniformly distributed. There is a saturation number (N[subscript s]) of bubbles in the ring, such that the addition of one more bubble leads eventually to a coalescence and a subsequent complicated evolution. Ns increases with increasing rotation speed and decreasing bubble size. For bubbles of non-uniform size, small bubbles and large bubbles in nearly the same orbit can be observed to cross due to their different circulating speeds. The wall bubbles, however, do not become uniformly distributed, but instead form short bubble-chains which might eventually evolve into large bubbles. The motion of droplets and particles in a Taylor vortex was also investigated. As with bubbles, droplets and particles align into a ring structure at low rotation speeds, but the saturation number is much smaller. Moreover, at high rotation speeds, droplets and particles exhibit a characteristic periodic oscillation in the axial, radial and tangential directions due to their inertia. In addition, experiments with non-spherical particles show that they behave rather similarly. This study provides a better understanding of particulate behavior in vortex flow structures.