Stiffness based trajectory planning and feedforward based vibration suppression control of parallel robot machines

The dissertation proposes two control strategies, which include the trajectory planning and vibration suppression, for a kinematic redundant serial-parallel robot machine, with the aim of attaining the satisfactory machining performance. For a given prescribed trajectory of the robot's end-effector in the Cartesian space, a set of trajectories in the robot's joint space are generated based on the best stiffness performance of the robot along the prescribed trajectory. To construct the required system-wide analytical stiffness model for the serial-parallel robot machine, a variant of the virtual joint method (VJM) is proposed in the dissertation. The modified method is an evolution of Gosselin's lumped model that can account for the deformations of a flexible link in more directions. The effectiveness of this VJM variant is validated by comparing the computed stiffness results of a flexible link with the those of a matrix structural analysis (MSA) method. The comparison shows that the numerical results from both methods on an individual flexible beam are almost identical, which, in some sense, provides mutual validation. The most prominent advantage of the presented VJM variant compared with the MSA method is that it can be applied in a flexible structure system with complicated kinematics formed in terms of flexible serial links and joints. Moreover, by combining the VJM variant and the virtual work principle, a systemwide analytical stiffness model can be easily obtained for mechanisms with both serial kinematics and parallel kinematics. In the dissertation, a system-wide stiffness model of a kinematic redundant serial-parallel robot machine is constructed based on integration of the VJM variant and the virtual work principle. Numerical results of its stiffness performance are reported. For a kinematic redundant robot, to generate a set of feasible joints' trajectories for a prescribed trajectory of its end-effector, its system-wide stiffness performance is taken as the constraint in the joints trajectory planning in the dissertation. For a prescribed location of the end-effector, the robot permits an infinite number of inverse solutions, which consequently yields infinite kinds of stiffness performance. Therefore, a differential evolution (DE) algorithm in which the positions of redundant joints in the kinematics are taken as input variables was employed to search for the best stiffness performance of the robot. Numerical results of the generated joint trajectories are given for a kinematic redundant serial-parallel robot machine, IWR (Intersector Welding/Cutting Robot), when a particular trajectory of its end-effector has been prescribed. The numerical results show that the joint trajectories generated based on the stiffness optimization are feasible for realization in the control system since they are acceptably smooth. The results imply that the stiffness performance of the robot machine deviates smoothly with respect to the kinematic configuration in the adjacent domain of its best stiffness performance. To suppress the vibration of the robot machine due to varying cutting force during the machining process, this dissertation proposed a feedforward control strategy, which is constructed based on the derived inverse dynamics model of target system. The effectiveness of applying such a feedforward control in the vibration suppression has been validated in a parallel manipulator in the software environment. The experimental study of such a feedforward control has also been included in the dissertation. The difficulties of modelling the actual system due to the unknown components in its dynamics is noticed. As a solution, a back propagation (BP) neural network is proposed for identification of the unknown components of the dynamics model of the target system. To train such a BP neural network, a modified Levenberg-Marquardt algorithm that can utilize an experimental input-output data set of the entire dynamic system is introduced in the dissertation. Validation of the BP neural network and the modified Levenberg- Marquardt algorithm is done, respectively, by a sinusoidal output approximation, a second order system parameters estimation, and a friction model estimation of a parallel manipulator, which represent three different application aspects of this method.

Advanced analysis and design methods for preparative chromatographic separation processes

Preparative liquid chromatography is one of the most selective separation techniques in the fine chemical, pharmaceutical, and food industries. Several process concepts have been developed and applied for improving the performance of classical batch chromatography. The most powerful approaches include various single-column recycling schemes, counter-current and cross-current multi-column setups, and hybrid processes where chromatography is coupled with other unit operations such as crystallization, chemical reactor, and/or solvent removal unit. To fully utilize the potential of stand-alone and integrated chromatographic processes, efficient methods for selecting the best process alternative as well as optimal operating conditions are needed. In this thesis, a unified method is developed for analysis and design of the following singlecolumn fixed bed processes and corresponding cross-current schemes: (1) batch chromatography, (2) batch chromatography with an integrated solvent removal unit, (3) mixed-recycle steady state recycling chromatography (SSR), and (4) mixed-recycle steady state recycling chromatography with solvent removal from fresh feed, recycle fraction, or column feed (SSR–SR). The method is based on the equilibrium theory of chromatography with an assumption of negligible mass transfer resistance and axial dispersion. The design criteria are given in general, dimensionless form that is formally analogous to that applied widely in the so called triangle theory of counter-current multi-column chromatography. Analytical design equations are derived for binary systems that follow competitive Langmuir adsorption isotherm model. For this purpose, the existing analytic solution of the ideal model of chromatography for binary Langmuir mixtures is completed by deriving missing explicit equations for the height and location of the pure first component shock in the case of a small feed pulse. It is thus shown that the entire chromatographic cycle at the column outlet can be expressed in closed-form. The developed design method allows predicting the feasible range of operating parameters that lead to desired product purities. It can be applied for the calculation of first estimates of optimal operating conditions, the analysis of process robustness, and the early-stage evaluation of different process alternatives. The design method is utilized to analyse the possibility to enhance the performance of conventional SSR chromatography by integrating it with a solvent removal unit. It is shown that the amount of fresh feed processed during a chromatographic cycle and thus the productivity of SSR process can be improved by removing solvent. The maximum solvent removal capacity depends on the location of the solvent removal unit and the physical solvent removal constraints, such as solubility, viscosity, and/or osmotic pressure limits. Usually, the most flexible option is to remove solvent from the column feed. Applicability of the equilibrium design for real, non-ideal separation problems is evaluated by means of numerical simulations. Due to assumption of infinite column efficiency, the developed design method is most applicable for high performance systems where thermodynamic effects are predominant, while significant deviations are observed under highly non-ideal conditions. The findings based on the equilibrium theory are applied to develop a shortcut approach for the design of chromatographic separation processes under strongly non-ideal conditions with significant dispersive effects. The method is based on a simple procedure applied to a single conventional chromatogram. Applicability of the approach for the design of batch and counter-current simulated moving bed processes is evaluated with case studies. It is shown that the shortcut approach works the better the higher the column efficiency and the lower the purity constraints are.

Value of Information Logistics Integration in Digital Business Ecosystem

Digital business ecosystems (DBE) are becoming an increasingly popular concept for modelling and building distributed systems in heterogeneous, decentralized and open environments. Information- and communication technology (ICT) enabled business solutions have created an opportunity for automated business relations and transactions. The deployment of ICT in business-to-business (B2B) integration seeks to improve competitiveness by establishing real-time information and offering better information visibility to business ecosystem actors. The products, components and raw material flows in supply chains are traditionally studied in logistics research. In this study, we expand the research to cover the processes parallel to the service and information flows as information logistics integration. In this thesis, we show how better integration and automation of information flows enhance the speed of processes and, thus, provide cost savings and other benefits for organizations. Investments in DBE are intended to add value through business automation and are key decisions in building up information logistics integration. Business solutions that build on automation are important sources of value in networks that promote and support business relations and transactions. Value is created through improved productivity and effectiveness when new, more efficient collaboration methods are discovered and integrated into DBE. Organizations, business networks and collaborations, even with competitors, form DBE in which information logistics integration has a significant role as a value driver. However, traditional economic and computing theories do not focus on digital business ecosystems as a separate form of organization, and they do not provide conceptual frameworks that can be used to explore digital business ecosystems as value drivers—combined internal management and external coordination mechanisms for information logistics integration are not the current practice of a company’s strategic process. In this thesis, we have developed and tested a framework to explore the digital business ecosystems developed and a coordination model for digital business ecosystem integration; moreover, we have analysed the value of information logistics integration. The research is based on a case study and on mixed methods, in which we use the Delphi method and Internetbased tools for idea generation and development. We conducted many interviews with key experts, which we recoded, transcribed and coded to find success factors. Qualitative analyses were based on a Monte Carlo simulation, which sought cost savings, and Real Option Valuation, which sought an optimal investment program for the ecosystem level. This study provides valuable knowledge regarding information logistics integration by utilizing a suitable business process information model for collaboration. An information model is based on the business process scenarios and on detailed transactions for the mapping and automation of product, service and information flows. The research results illustrate the current cap of understanding information logistics integration in a digital business ecosystem. Based on success factors, we were able to illustrate how specific coordination mechanisms related to network management and orchestration could be designed. We also pointed out the potential of information logistics integration in value creation. With the help of global standardization experts, we utilized the design of the core information model for B2B integration. We built this quantitative analysis by using the Monte Carlo-based simulation model and the Real Option Value model. This research covers relevant new research disciplines, such as information logistics integration and digital business ecosystems, in which the current literature needs to be improved. This research was executed by high-level experts and managers responsible for global business network B2B integration. However, the research was dominated by one industry domain, and therefore a more comprehensive exploration should be undertaken to cover a larger population of business sectors. Based on this research, the new quantitative survey could provide new possibilities to examine information logistics integration in digital business ecosystems. The value activities indicate that further studies should continue, especially with regard to the collaboration issues on integration, focusing on a user-centric approach. We should better understand how real-time information supports customer value creation by imbedding the information into the lifetime value of products and services. The aim of this research was to build competitive advantage through B2B integration to support a real-time economy. For practitioners, this research created several tools and concepts to improve value activities, information logistics integration design and management and orchestration models. Based on the results, the companies were able to better understand the formulation of the digital business ecosystem and the importance of joint efforts in collaboration. However, the challenge of incorporating this new knowledge into strategic processes in a multi-stakeholder environment remains. This challenge has been noted, and new projects have been established in pursuit of a real-time economy.

Cross-border transmission capacity development – Experiences from the Nordic electricity markets

The liberalisation of the wholesale electricity markets has been considered an efficient way to organise the markets. In Europe, the target is to liberalise and integrate the common European electricity markets. However, insufficient transmission capacity between the market areas hampers the integration, and therefore, new investments are required. Again, massive transmission capacity investments are not usually easy to carry through. This doctoral dissertation aims at elaborating on critical determinants required to deliver the necessary transmission capacity investments. The Nordic electricity market is used as an illustrative example. This study suggests that changes in the governance structure have affected the delivery of Nordic cross-border investments. In addition, the impacts of not fully delivered investments are studied in this doctoral dissertation. An insufficient transmission network can degrade the market uniformity and may also cause a need to split the market into smaller submarkets. This may have financial impacts on market actors when the targeted efficient sharing of resources is not met and even encourage gaming. The research methods applied in this doctoral dissertation are mainly empirical ranging from a Delphi study to case studies and numerical calculations.

Integration of cooking and vacuum cooling of carrots in a same vessel

Cooked vegetables are commonly used in the preparation of ready-to-eat foods. The integration of cooking and cooling of carrots and vacuum cooling in a single vessel is described in this paper. The combination of different methods of cooking and vacuum cooling was investigated. Integrated processes of cooking and vacuum cooling in a same vessel enabled obtaining cooked and cooled carrots at the final temperature of 10 ºC, which is adequate for preparing ready-to-eat foods safely. When cooking and cooling steps were performed with the samples immersed in boiling water, the effective weight loss was approximately 3.6%. When the cooking step was performed with the samples in boiling water or steamed, and the vacuum cooling was applied after draining the boiling water, water loss ranged between 15 and 20%, which caused changes in the product texture. This problem can be solved with rehydration using a small amount of sterile cold water. The instrumental textural properties of carrots samples rehydrated at both vacuum and atmospheric conditions were very similar. Therefore, the integrated process of cooking and vacuum cooling of carrots in a single vessel is a feasible alternative for processing such kind of foods.

Post-transaction brand and model line-up integration in the automotive industry: Case studies of European companies as target of acquisitions by Chinese and Indian multinational corporations

Corporations practice company acquisitions in order to create shareholder’s value. During the last few decades, the companies in emerging markets have become active in the acquisition business. During the last decade, large and significant acquisitions have occurred especially in automotive industry. While domestic markets have become too competitive and companies are lacking required capabilities, they seek possibilities to expand into Western markets by attaining valuable assets through acquisitions of developed country corporations. This study discusses the issues and characteristics of these acquisitions through case studies. The purpose of this study was to identify the acquisition motives and strategies for post-transaction brand and product integration as well as analyze the effect of the motives to the integration strategy. The cases chosen for the research were Chinese Geely acquiring Swedish Volvo in 2010 and Indian Tata Motors buying British Jaguar Land Rover in 2008. The main topics were chosen according to their significance for companies in automotive industry as well as those are most visible parts for consumers. The study is based on qualitative case study methods, analyzing secondary data from academic papers and news articles as well as companies’ own announcements e.g. stock exchange and press releases. The study finds that the companies in the cases mainly possessed asset-seeking and market-seeking motives. In addition, the findings refer to rather minimal post-acquisition brand and product integration strategies. Mainly the parent companies left the target company autonomous to make their own business strategies and decisions. The most noticeable integrations were in the product development and production processes. Through restructuring the product architectures, the companies were able to share components and technology between product families and brands, which results in cutting down costs and in increase of profitability and efficiency. In the Geely- Volvo case, the strategy focused more on component sharing and product development know-how, whereas in Tata Motors-Jaguar Land Rover case, the main actions were to cut down costs through component sharing and combine production and distribution networks especially in Asian markets. However, it was evident that in both cases the integration and technology sharing were executed cautiously to prevent on harming the valuable image of the luxury brand. This study has concluded that the asset-seeking motives have significant influence on the posttransaction brand and model line-up integration strategies. By taking a cautious approach in acquiring assets, such as luxury brand, the companies in the cases have implemented a successful post-acquisition strategy and managed to create value for the shareholders at least in short-term. Yritykset harjoittavat yritysostoja luodakseen osakkeenomistajille lisäarvoa. Viimeisten muutamien vuosikymmenien aikana yritykset kehittyvissä maissa ovat myös aktivoituneet yritysostoissa. Viimeisen vuosikymmenen aikana erityisesti autoteollisuudessa on esiintynyt suuria ja merkittäviä yritysostoja. Koska kilpailu kotimaan markkinoilla on kiristynyt ja yritykset ovat vailla vaadittavia valmiuksia, ne etsivät mahdollisuuksiaan laajentaa länsimaisiin markkinoihin hankkimalla arvokkaita etuja kehittyneiden maiden yrityksistä yritysostojen avulla. Tämä tutkimus pohtii näiden yritysostojen olennaisia kysymyksiä ja ominaisuuksia casetutkimuksien kautta. Tutkimuksen tarkoitus oli tunnistaa sekä yritysostojen motiiveja ja brändi- ja mallisto-integraation strategioita että analysoida kyseisten motiivien vaikutusta integraatiostrategiaan. Tapaus-tutkimuksiksi valittiin kiinalaisen Geelyn yritysosto ruotsalaisesta Volvosta vuonna 2010 ja intialaisen Tata Motorsin yritysosto englantilaisesta Jaguar Land Roverista vuonna 2008. Tutkimus on kvalitatiivinen case-tutkimus ja siinä analysoidaan toissijaista tietoa sekä akateemisten ja uutisartikkeleiden että yritysten omien ilmoitusten, kuten pörssi- ja lehdistötiedotteiden, kautta. Tutkimuksen tulokset osoittavat, että tutkittujen yritysten toiminnat perustuivat motiiveihin, joita ajoivat etujen and uusien markkinoiden tarve. Sen lisäksi tutkimustulokset osoittivat, että yritysoston jälkeinen brändi- ja mallisto-integraatio pidettiin minimaalisena. Pääasiallisesti kohdeyrityksille jätettiin autonomia tehdä omat liikkeenjohdolliset päätökset yritysstrategioihin liittyen. Huomattavimmat integraatiot koskivat tuotekehityksellisiä ja tuotannollisia prosesseja. Kehittämällä uudelleen tuotearkkitehtuureja, yritykset pystyivät jakamaan komponentteja ja teknologiaa tuoteperheiden ja brändien välillä. Tämä mahdollisti kustannusleikkauksia sekä kannattavuuden ja tehokkuuden parantamista. Geely-Volvo –tapauksessa integraatiostrategia keskittyi komponenttien jakamiseen yhteisten tuotearkkitehtuurien avulla ja tuotekehityksen ammattitaitoon, kun taas Tata Motors-JLR –tapauksessa päätoiminnat olivat kustannuksien leikkaus sekä tuotannon ja jakeluverkoston yhdistäminen erityisesti Aasian maissa. Yhteistä yrityskaupoissa oli, että brändi- ja mallisto-integraatio sekä teknologian jakaminen suoritettiin varoen ehkäistäkseen arvokkaiden luksus-brändien tuotekuvan vahingoittamista. Tutkimuksen lopputulokset osoittavat, että yrityskaupan motiiveilla on huomattava vaikutus brändija mallisto-integraation strategiaan. Toteuttamalla varovaista lähestymistapaa luksus-brändin hankinnassa ja integraatiossa, yritykset ovat onnistuneet luomaan lisäarvoa osakkeenomistajille vähintään lyhyellä aikavälillä.

Academics as parents--parents as academics : a study of the integration of intellectual and child-care labours /

Discussions concerning the challenges of combining work and family are certainly not new, and still actively continue. There is, however, a silence in the related literature regarding a comprehensive description of integrating specifically university academic ~. work and family responsibilities. This silence is especially evident for men who are parents as well as academics. With the participation of 4 key informants, this qualitative research study gave voice to men and women who participate in the academic labour of a Canadian university as professors, and as graduate students, along with the parenting labour of at least 1 child under the age of7. Methodology was developed to reveal in-depth perspectives regarding the work practices employed by 4 key informants as they combined intellectual and child-care responsibilities. Multiple data collection methods included journal reflections, day time observation sessions, a focus group, and a final evaluation questionnaire. Using research findings, together with information extrapolated from Three Models of the Family (Eichler, 1997), this study also took steps toward developing a Proposed "Three Models of the University," to offer explanation for the work practices of the key informants as academics/parents, and also for future consideration in university policy formation.

Developing a numerical inverse-theory-based extraction of orientation-dependent relaxation rates from partially- relaxed spectra

Second-rank tensor interactions, such as quadrupolar interactions between the spin- 1 deuterium nuclei and the electric field gradients created by chemical bonds, are affected by rapid random molecular motions that modulate the orientation of the molecule with respect to the external magnetic field. In biological and model membrane systems, where a distribution of dynamically averaged anisotropies (quadrupolar splittings, chemical shift anisotropies, etc.) is present and where, in addition, various parts of the sample may undergo a partial magnetic alignment, the numerical analysis of the resulting Nuclear Magnetic Resonance (NMR) spectra is a mathematically ill-posed problem. However, numerical methods (de-Pakeing, Tikhonov regularization) exist that allow for a simultaneous determination of both the anisotropy and orientational distributions. An additional complication arises when relaxation is taken into account. This work presents a method of obtaining the orientation dependence of the relaxation rates that can be used for the analysis of the molecular motions on a broad range of time scales. An arbitrary set of exponential decay rates is described by a three-term truncated Legendre polynomial expansion in the orientation dependence, as appropriate for a second-rank tensor interaction, and a linear approximation to the individual decay rates is made. Thus a severe numerical instability caused by the presence of noise in the experimental data is avoided. At the same time, enough flexibility in the inversion algorithm is retained to achieve a meaningful mapping from raw experimental data to a set of intermediate, model-free

REFLECT : logiciel de restitution des réflectances au sol pour l’amélioration de la qualité de l'information extraite des images satellitales à haute résolution spatiale

RÉSUMÉ - Les images satellitales multispectrales, notamment celles à haute résolution spatiale (plus fine que 30 m au sol), représentent une source d’information inestimable pour la prise de décision dans divers domaines liés à la gestion des ressources naturelles, à la préservation de l’environnement ou à l’aménagement et la gestion des centres urbains. Les échelles d’étude peuvent aller du local (résolutions plus fines que 5 m) à des échelles régionales (résolutions plus grossières que 5 m). Ces images caractérisent la variation de la réflectance des objets dans le spectre qui est l’information clé pour un grand nombre d’applications de ces données. Or, les mesures des capteurs satellitaux sont aussi affectées par des facteurs « parasites » liés aux conditions d’éclairement et d’observation, à l’atmosphère, à la topographie et aux propriétés des capteurs. Deux questions nous ont préoccupé dans cette recherche. Quelle est la meilleure approche pour restituer les réflectances au sol à partir des valeurs numériques enregistrées par les capteurs tenant compte des ces facteurs parasites ? Cette restitution est-elle la condition sine qua non pour extraire une information fiable des images en fonction des problématiques propres aux différents domaines d’application des images (cartographie du territoire, monitoring de l’environnement, suivi des changements du paysage, inventaires des ressources, etc.) ? Les recherches effectuées les 30 dernières années ont abouti à une série de techniques de correction des données des effets des facteurs parasites dont certaines permettent de restituer les réflectances au sol. Plusieurs questions sont cependant encore en suspens et d’autres nécessitent des approfondissements afin, d’une part d’améliorer la précision des résultats et d’autre part, de rendre ces techniques plus versatiles en les adaptant à un plus large éventail de conditions d’acquisition des données. Nous pouvons en mentionner quelques unes : - Comment prendre en compte des caractéristiques atmosphériques (notamment des particules d’aérosol) adaptées à des conditions locales et régionales et ne pas se fier à des modèles par défaut qui indiquent des tendances spatiotemporelles à long terme mais s’ajustent mal à des observations instantanées et restreintes spatialement ? - Comment tenir compte des effets de « contamination » du signal provenant de l’objet visé par le capteur par les signaux provenant des objets environnant (effet d’adjacence) ? ce phénomène devient très important pour des images de résolution plus fine que 5 m; - Quels sont les effets des angles de visée des capteurs hors nadir qui sont de plus en plus présents puisqu’ils offrent une meilleure résolution temporelle et la possibilité d’obtenir des couples d’images stéréoscopiques ? - Comment augmenter l’efficacité des techniques de traitement et d’analyse automatique des images multispectrales à des terrains accidentés et montagneux tenant compte des effets multiples du relief topographique sur le signal capté à distance ? D’autre part, malgré les nombreuses démonstrations par des chercheurs que l’information extraite des images satellitales peut être altérée à cause des tous ces facteurs parasites, force est de constater aujourd’hui que les corrections radiométriques demeurent peu utilisées sur une base routinière tel qu’est le cas pour les corrections géométriques. Pour ces dernières, les logiciels commerciaux de télédétection possèdent des algorithmes versatiles, puissants et à la portée des utilisateurs. Les algorithmes des corrections radiométriques, lorsqu’ils sont proposés, demeurent des boîtes noires peu flexibles nécessitant la plupart de temps des utilisateurs experts en la matière. Les objectifs que nous nous sommes fixés dans cette recherche sont les suivants : 1) Développer un logiciel de restitution des réflectances au sol tenant compte des questions posées ci-haut. Ce logiciel devait être suffisamment modulaire pour pouvoir le bonifier, l’améliorer et l’adapter à diverses problématiques d’application d’images satellitales; et 2) Appliquer ce logiciel dans différents contextes (urbain, agricole, forestier) et analyser les résultats obtenus afin d’évaluer le gain en précision de l’information extraite par des images satellitales transformées en images des réflectances au sol et par conséquent la nécessité d’opérer ainsi peu importe la problématique de l’application. Ainsi, à travers cette recherche, nous avons réalisé un outil de restitution de la réflectance au sol (la nouvelle version du logiciel REFLECT). Ce logiciel est basé sur la formulation (et les routines) du code 6S (Seconde Simulation du Signal Satellitaire dans le Spectre Solaire) et sur la méthode des cibles obscures pour l’estimation de l’épaisseur optique des aérosols (aerosol optical depth, AOD), qui est le facteur le plus difficile à corriger. Des améliorations substantielles ont été apportées aux modèles existants. Ces améliorations concernent essentiellement les propriétés des aérosols (intégration d’un modèle plus récent, amélioration de la recherche des cibles obscures pour l’estimation de l’AOD), la prise en compte de l’effet d’adjacence à l’aide d’un modèle de réflexion spéculaire, la prise en compte de la majorité des capteurs multispectraux à haute résolution (Landsat TM et ETM+, tous les HR de SPOT 1 à 5, EO-1 ALI et ASTER) et à très haute résolution (QuickBird et Ikonos) utilisés actuellement et la correction des effets topographiques l’aide d’un modèle qui sépare les composantes directe et diffuse du rayonnement solaire et qui s’adapte également à la canopée forestière. Les travaux de validation ont montré que la restitution de la réflectance au sol par REFLECT se fait avec une précision de l’ordre de ±0.01 unités de réflectance (pour les bandes spectrales du visible, PIR et MIR), même dans le cas d’une surface à topographie variable. Ce logiciel a permis de montrer, à travers des simulations de réflectances apparentes à quel point les facteurs parasites influant les valeurs numériques des images pouvaient modifier le signal utile qui est la réflectance au sol (erreurs de 10 à plus de 50%). REFLECT a également été utilisé pour voir l’importance de l’utilisation des réflectances au sol plutôt que les valeurs numériques brutes pour diverses applications courantes de la télédétection dans les domaines des classifications, du suivi des changements, de l’agriculture et de la foresterie. Dans la majorité des applications (suivi des changements par images multi-dates, utilisation d’indices de végétation, estimation de paramètres biophysiques, …), la correction des images est une opération cruciale pour obtenir des résultats fiables. D’un point de vue informatique, le logiciel REFLECT se présente comme une série de menus simples d’utilisation correspondant aux différentes étapes de saisie des intrants de la scène, calcul des transmittances gazeuses, estimation de l’AOD par la méthode des cibles obscures et enfin, l’application des corrections radiométriques à l’image, notamment par l’option rapide qui permet de traiter une image de 5000 par 5000 pixels en 15 minutes environ. Cette recherche ouvre une série de pistes pour d’autres améliorations des modèles et méthodes liés au domaine des corrections radiométriques, notamment en ce qui concerne l’intégration de la FDRB (fonction de distribution de la réflectance bidirectionnelle) dans la formulation, la prise en compte des nuages translucides à l’aide de la modélisation de la diffusion non sélective et l’automatisation de la méthode des pentes équivalentes proposée pour les corrections topographiques.

Acculturation institutionnelle du chercheur, de l’enseignant et des élèves de 1re secondaire présentant des difficultés d’apprentissage dans la conception et la gestion de situations-problèmes impliquant des nombres rationnels

Notre recherche s’intéresse à la transformation des rapports aux nombres rationnels d’élèves de 1re secondaire présentant des difficultés d’apprentissage. Comme le montrent plusieurs recherches, le défi majeur auquel sont confrontés les enseignants, ainsi que les chercheurs, est de ne pas s’enliser dans le cercle vicieux d’une réduction des enjeux de l’apprentissage des nombres rationnels et des possibilités d’apprentissage de l’élève en difficultés d’apprentissage, cet élève n’ayant pas ainsi la chance de mettre à l’épreuve ses connaissances, d’oser s’engager dans une démarche de construction de connaissances et d’apprécier les effets de son engagement cognitif. Afin de relever ce défi, nous avons misé sur l’intégration harmonieuse de situations problèmes. Il nous a semblé que, dans une démarche d’acculturation, l’approche écologique soit tout indiquée pour penser une «dé-transposition/re-transposition didactique» (Antibi et Brousseau, 2000) et reconstruire une mémoire porteuse d’espoirs (Brousseau et Centeno, 1998). Notre recherche vise à: 1) caractériser la progression des démarches d’acculturation institutionnelle de l’enseignant, du chercheur et des élèves et leurs effets sur les processus d’élaboration et de gestion des situations d’enseignement; 2) préciser l’évolution des connaissances, des habitus et des rapports des élèves aux nombres rationnels. Notre intégration en classe, d’une durée de 6 mois, nous a permis d’apprécier les effets du processus d’acculturation. Nous avons noté des changements importants dans la topogénèse et la chronogénèse des savoirs (Mercier, 1995); alors qu’à notre entrée, l’enseignante adoptait la démarche suivante, soit effectuer un exposé des savoirs et des démarches que les élèves devaient consigner dans leurs notes de cours, afin de pouvoir par la suite s’y référer pour effectuer des exercices et résoudre des problèmes, elle modifiait progressivement cette démarche en proposant des problèmes qui pouvaient permettre aux élèves de coordonner diverses connaissances et de construire ainsi des savoirs auxquels ils pouvaient faire référence dans la construction de leurs notes de cours qu’ils pouvaient par la suite consulter pour effectuer divers exercices. Nous avons également pu apprécier les effets de l’intégration de diverses représentations des nombres rationnels sur l’avancée du temps didactique (Mercier, 1995) et la transformation des rapports et habitus des élèves aux nombres rationnels (Bourdieu, 1980). Ces changements se sont manifestés, entre autres, par : a) un investissement important lors de situations complexes; b) l’adoption de pratiques mathématiques plus attentives aux données numériques et aux relations entre ces données; c) l’apparition de conduites « inusitées » [ex. coordination de divers registres sémiotiques,exploitation de compositions additives/multiplicatives et d’écritures non conventionnelles]. De telles conduites sont similaires à celles observées dans plusieurs recherches effectuées auprès d’une population d’élèves qui ne présentent pas de difficultés d’apprentissage (Moss et Case, 1999). Les résultats de notre recherche soutiennent donc l’importance indéniable de considérer les élèves en difficultés comme étant mathématiquement compétents, comme le soulignent Empson (2003) et Houssart (2002). Il nous semble enfin important de souligner que le travail sur la représentation des nombres rationnels a constitué une niche particulièrement fertile, pour un travail fondamental sur les nombres rationnels, travail qui puisse permettre aux élèves de poursuivre plus harmonieusement leurs apprentissages, les nombres rationnels étant des objets de savoir incontournables.

The role of European Union integration in post-communist democratization in Bulgaria and Macedonia

Cette recherche porte sur la dimension interprétative de l'intégration européenne et sur son rôle dans la démocratisation au sein des pays postcommunistes. Je focalise mon attention sur la signification pour les gens desdits pays que revêtent la participation politique, la compétence politique, et l’action collective. Cette signification prend forme selon des circonstances spécifiques, agencées par les relations de pouvoir asymétriques avec l’Union européenne (UE). J’examine la littérature sur le rôle de l'intégration européenne dans la démocratisation des pays postcommunistes et je distingue deux paradigmes théoriques principaux : un premier qui met l'accent sur le processus institutionnel, l’autre sur le processus instrumental stratégique. Au sein de ces deux approches, je présente différents auteurs qui voient l'UE soit comme un facteur pro-démocratique, soit comme un facteur antidémocratique dans le contexte postcommuniste de transition politique. Cette recherche ne suit pas théoriquement et méthodologiquement les études contenues dans la revue de la littérature. Plutôt, elle s’appuie sur un modèle théorique inspiré des recherches de McFalls sur la réunification culturelle allemande après 1989. Ce modèle, sans négliger les approches institutionnelles et stratégiques, met l’accent sur d'autres écoles théoriques, interprétatives et constructivistes. Mes conclusions se basent sur les résultats de séjours d'étude dans deux pays postcommunistes : la Bulgarie, membre de l'UE depuis 2007, et la Macédoine, pays-candidat. J’ai recours à des méthodes qualitatives et à des techniques ethnographiques qui triangulent des résultats puisés à des sources multiples et variées pour exposer des trajectoires dynamiques de changement culturel influencées par l'intégration européenne. Les conclusions montrent sous quelles conditions les idéaux-types de changement politique conventionnels, soit institutionnel ou stratégique, représentent des modèles utiles. Je présente aussi leurs limitations. Ma conclusion principale est que l'intégration européenne représente un phénomène complexe dans le monde des significations. C’est un facteur qui est simultanément un amplificateur et un inhibiteur de la culture politique démocratique. Les gens créent des sous-cultures différentes où des interprétations multiples du processus d'intégration européenne mènent à des effets dissemblables sur la participation politique, la compétence et l’action collective. La conversation discursive entre les gens qui composent de telles sous-cultures distinctes peut produire des effets divergents au niveau national. Cette recherche n’est pas une analyse de l’UE comme mécanisme institutionnel ; elle ne pose ainsi pas l’UE comme une institution qui détermine directement le processus de démocratisation postcommuniste. Plutôt, elle s’intéresse au processus d’intégration européenne en tant qu’interaction qui affecte la culture politique au sein des pays postcommunistes, et à la manière dont cette dernière peut agir sur le processus de démocratisation. Mon point d’intérêt central n’est donc pas l’européanisation ou le processus de devenir « comme l’Europe », à moins que l’européanisation ne devienne une composante de la culture politique avec des conséquences sur le comportement politique des acteurs.

Numerical Simulation of Two-Part Underwater Towing System

The motion instability is an important issue that occurs during the operation of towed underwater vehicles (TUV), which considerably affects the accuracy of high precision acoustic instrumentations housed inside the same. Out of the various parameters responsible for this, the disturbances from the tow-ship are the most significant one. The present study focus on the motion dynamics of an underwater towing system with ship induced disturbances as the input. The study focus on an innovative system called two-part towing. The methodology involves numerical modeling of the tow system, which consists of modeling of the tow-cables and vehicles formulation. Previous study in this direction used a segmental approach for the modeling of the cable. Even though, the model was successful in predicting the heave response of the tow-body, instabilities were observed in the numerical solution. The present study devises a simple approach called lumped mass spring model (LMSM) for the cable formulation. In this work, the traditional LMSM has been modified in two ways. First, by implementing advanced time integration procedures and secondly, use of a modified beam model which uses only translational degrees of freedoms for solving beam equation. A number of time integration procedures, such as Euler, Houbolt, Newmark and HHT-α were implemented in the traditional LMSM and the strength and weakness of each scheme were numerically estimated. In most of the previous studies, hydrodynamic forces acting on the tow-system such as drag and lift etc. are approximated as analytical expression of velocities. This approach restricts these models to use simple cylindrical shaped towed bodies and may not be applicable modern tow systems which are diversed in shape and complexity. Hence, this particular study, hydrodynamic parameters such as drag and lift of the tow-system are estimated using CFD techniques. To achieve this, a RANS based CFD code has been developed. Further, a new convection interpolation scheme for CFD simulation, called BNCUS, which is blend of cell based and node based formulation, was proposed in the study and numerically tested. To account for the fact that simulation takes considerable time in solving fluid dynamic equations, a dedicated parallel computing setup has been developed. Two types of computational parallelisms are explored in the current study, viz; the model for shared memory processors and distributed memory processors. In the present study, shared memory model was used for structural dynamic analysis of towing system, distributed memory one was devised in solving fluid dynamic equations.

DNA Sequence Representation methods

DNA sequence representation methods are used to denote a gene structure effectively and help in similarities/dissimilarities analysis of coding sequences. Many different kinds of representations have been proposed in the literature. They can be broadly classified into Numerical, Graphical, Geometrical and Hybrid representation methods. DNA structure and function analysis are made easy with graphical and geometrical representation methods since it gives visual representation of a DNA structure. In numerical method, numerical values are assigned to a sequence and digital signal processing methods are used to analyze the sequence. Hybrid approaches are also reported in the literature to analyze DNA sequences. This paper reviews the latest developments in DNA Sequence representation methods. We also present a taxonomy of various methods. A comparison of these methods where ever possible is also done

Numerical Simulation of Flows at Low Mach Numbers with Heat Sources

This work is concerned with finite volume methods for flows at low mach numbers which are under buoyancy and heat sources. As a particular application, fires in car tunnels will be considered. To extend the scheme for compressible flow into the low Mach number regime, a preconditioning technique is used and a stability result on this is proven. The source terms for gravity and heat are incorporated using operator splitting and the resulting method is analyzed.

On Nonlinear Preconditioners in Newton-Krylov-Methods for Unsteady Flows

The application of nonlinear schemes like dual time stepping as preconditioners in matrix-free Newton-Krylov-solvers is considered and analyzed. We provide a novel formulation of the left preconditioned operator that says it is in fact linear in the matrix-free sense, but changes the Newton scheme. This allows to get some insight in the convergence properties of these schemes which are demonstrated through numerical results.