Fractional dynamics in the trajectory control of redundant manipulators

Under the pseudoinverse control, robots with kinematical redundancy exhibit an undesirable chaotic joint motion which leads to an erratic behavior. This paper studies the complexity of fractional dynamics of the chaotic response. Fourier and wavelet analysis provides a deeper insight, helpful to know better the lack of repeatability problem of redundant manipulators. This perspective for the study of the chaotic phenomena will permit the development of superior trajectory control algorithms.

Nonlinear dynamics of the patient’s response to drug effect during general anesthesia

In today’s healthcare paradigm, optimal sedation during anesthesia plays an important role both in patient welfare and in the socio-economic context. For the closed-loop control of general anesthesia, two drugs have proven to have stable, rapid onset times: propofol and remifentanil. These drugs are related to their effect in the bispectral index, a measure of EEG signal. In this paper wavelet time–frequency analysis is used to extract useful information from the clinical signals, since they are time-varying and mark important changes in patient’s response to drug dose. Model based predictive control algorithms are employed to regulate the depth of sedation by manipulating these two drugs. The results of identification from real data and the simulation of the closed loop control performance suggest that the proposed approach can bring an improvement of 9% in overall robustness and may be suitable for clinical practice.

Nonlinear dynamics of the patient’s response to drug effect during general anesthesia

In today’s healthcare paradigm, optimal sedation during anesthesia plays an important role both in patient welfare and in the socio-economic context. For the closed-loop control of general anesthesia, two drugs have proven to have stable, rapid onset times: propofol and remifentanil. These drugs are related to their effect in the bispectral index, a measure of EEG signal. In this paper wavelet time–frequency analysis is used to extract useful information from the clinical signals, since they are time-varying and mark important changes in patient’s response to drug dose. Model based predictive control algorithms are employed to regulate the depth of sedation by manipulating these two drugs. The results of identification from real data and the simulation of the closed loop control performance suggest that the proposed approach can bring an improvement of 9% in overall robustness and may be suitable for clinical practice.

Evaluation of the reconstruction limits of a frequency-independent crosshole georadar waveform inversion scheme in the presence of dispersion

Waveform tomographic imaging of crosshole georadar data is a powerful method to investigate the shallow subsurface because of its ability to provide images of pertinent petrophysical parameters with extremely high spatial resolution. All current crosshole georadar waveform inversion strategies are based on the assumption of frequency-independent electromagnetic constitutive parameters. However, in reality, these parameters are known to be frequency-dependent and complex and thus recorded georadar data may show significant dispersive behavior. In this paper, we evaluate synthetically the reconstruction limits of a recently published crosshole georadar waveform inversion scheme in the presence of varying degrees of dielectric dispersion. Our results indicate that, when combined with a source wavelet estimation procedure that provides a means of partially accounting for the frequency-dependent effects through an "effective" wavelet, the inversion algorithm performs remarkably well in weakly to moderately dispersive environments and has the ability to provide adequate tomographic reconstructions.

Task-Dependent Oscillatory Brain Activity During Oculomotor Delayed Response Task

This study used three Oculomotor Delayed Response (ODR) tasks to investigate the unique cognitive demands during the delay period. Changes in alpha power were used to index cognitive efforts during the delay period. Continuous EEGs from 25 healthy young adults (18-34 years) were recorded using dense electrode array. The data was analyzed by 6-cycle Morlet wavelet decompositions in the frequency range of 2-30 Hz to create time- frequency decompositions for four midline electrode sites. The 99% confidence intervals using the bootstrapped 20% trimmed mean of the 10 Hz frequency were used to examine the differences among conditions. Compared to two Memory conditions (Match and Non-Match), Control condition yielded significant differences in all frequencies over the entire trial period, suggesting a cognitive state difference. Compared to Match condition, the Non–Match condition had lower alpha activity during the delay period at each midline electrode site reflecting the higher cognitive effort required.

Développement et validation d'un instrument non-invasifde caractérisation du comportement musculaire respiratoire

Réalisé en cotutelle avec l'Université Joseph Fourier École Doctorale Ingénierie pour la Santé,la Cognition et l'Environnement (France)

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.

Elementary steps in aqueous proton transfer reactions : a first principles molecular dynamics study

La nature des acides dans un environnement aqueux est primordiale dans de nombreux aspects de la chimie et de la biologie. La caractéristique principale d'un acide est sa capacité à transférer un proton vers une molécule d'eau ou vers n'importe quelle base, mais ce procédé n'est pas aussi simple qu'il y paraît. Il peut au contraire être extrêmement complexe et dépendre de manière cruciale de la solvatation des différents intermédiaires de réaction impliqués. Cette thèse décrit les études computationnelles basées sur des simulations de dynamique moléculaire ab initio qui ont pour but d'obtenir une description à l'échelle moléculaire des divers procédés de transferts de proton entre acide et bases dans un milieu aqueux. Pour cela, nous avons étudié une serie de système, dont l'acide hydrofluorique aqueux, l'acide trifluoroacétique aqueux, et un système modèle constitué d'un phénol et d'une entité carboxylate reliés entre eux par une molécule d'eau en solution aqueuse. Deux états intermédiaires ont été identifiés pour le transfert d'un proton depuis un acide. Ces intermédiaires apparaissent stabilisés par un motif local de solvatation via des ponts H. Leurs signatures spectroscopiques ont été caractérisées au moyen de la spectroscopie infrarouge, en utilisant le formalisme de la dynamique moléculaire ab initio, qui inclut l'effet quantique nucléaire de manière explicite. Cette étude a aussi identifié trois chemins de réaction élémentaire, qui sont responsable pour le transfert d'un proton d'un acide à une base, ainsi que leurs échelles de temps caractéristiques. Les conclusions tirées de ces études sont discutées dans les détails, au niveau moléculaire, avec une emphase sur les comparaisons entre les résultats théoriques et les mesures expérimentales obtenues dans a littérature ou via des collaborateurs.

Spatial and Temporal Variability of some Meteorological Parameters over Tropical Indian Ocean

The objective of the present study is to understand the spatial and temporal variability of sea surface temperature(SST), precipitable water, zonal and meridional components of wind stress over the tropical Indian Ocean to understand the different scales of variability of these features of Indian Ocean. Empirical Orthogonal Function (EOF) and wavelet analysis techniques are utilized to understand the standing oscillations and multi scale oscillations respectively. The study has been carried out over Indian Ocean and South Indian Ocean. For the present study, NCEP/NCAR(National Center for Environmental Prediction National Center for Atmospheric Research) reanalyzed daily fields of sea surface temperature, zonal and meridional surface wind components and precipitable water amount during 1960-1998 are used. The principle of EOF analysis and the methodology used for the analysis of spatial and temporal variance modes.

Some Efficient Representations of 3D Information based on Octress

The thesis introduced the octree and addressed the complete nature of problems encountered, while building and imaging system based on octrees. An efficient Bottom-up recursive algorithm and its iterative counterpart for the raster to octree conversion of CAT scan slices, to improve the speed of generating the octree from the slices, the possibility of utilizing the inherent parallesism in the conversion programme is explored in this thesis. The octree node, which stores the volume information in cube often stores the average density information could lead to “patchy”distribution of density during the image reconstruction. In an attempt to alleviate this problem and explored the possibility of using VQ to represent the imformation contained within a cube. Considering the ease of accommodating the process of compressing the information during the generation of octrees from CAT scan slices, proposed use of wavelet transforms to generate the compressed information in a cube. The modified algorithm for generating octrees from the slices is shown to accommodate the eavelet compression easily. Rendering the stored information in the form of octree is a complex task, necessarily because of the requirement to display the volumetric information. The reys traced from each cube in the octree, sum up the density en-route, accounting for the opacities and transparencies produced due to variations in density.

Characteristics of Upper Troposphere and Lower Stratosphere in Relation to Asian Summer Monsoon

The present work is an attempt to understand the characteristics of the upper troposphere and lower stratosphere over the Asian summer monsoon region, more specifically over the Indian subcontinent. Mainly three important parameters are taken such as zonal wind, temperature and ozone over the UT/LS of the Asian summer monsoon region. It made a detailed study of its interannual variability and characteristics of theses parameters during the Indian summer monsoon period. Monthly values of zonal wind and temperature from the NCEP/NCAR reanalysis for the period 1960-2002 are used for the present study. Also the daily overpass total ozone data for the 12 Indian stations (from low latitude to high latitudes) from the TOMS Nimbus 7 satellite for the period 1979 to 1992 were also used to understand the total ozone variation over the Indian region. The study reveals that if QBO phases in the stratosphere is easterly or weak westerly then the respective monsoon is found to be DRY or below Normal . On the other hand, if the phase is westerly or weak easterly the respective Indian summer monsoon is noted as a WET year. This connection of stratospheric QBO phases and Indian summer monsoon gives more insight in to the long-term predictions of Indian summer monsoon rainfall. Wavelet analysis and EOF methods are the two advanced statistical techniques used in the present study to explore more information of the zonal wind that from the smaller scale to higher scale variability over the Asian summer monsoon region. The interannual variability of temperature for different stratospheric and tropospheric levels over the Asian summer monsoon region have been studied. An attempt has been made to understand the total ozone characteristics and its interannual variablilty over 12 Indian stations spread from south latitudes to north latitudes. Finally it found that the upper troposphere and lower stratosphere contribute significantly to monsoon variability and climate changes. It is also observed that there exists a link between the stratospheric QBO and Indian summer monsoon

Comparison Study of Pattern Synthesis Techniques Using Neural Networks

In this paper, a comparison study among three neuralnetwork algorithms for the synthesis of array patterns is presented. The neural networks are used to estimate the array elements' excitations for an arbitrary pattern. The architecture of the neural networks is discussed and simulation results are presented. Two new neural networks, based on radial basis functions (RBFs) and wavelet neural networks (WNNs), are introduced. The proposed networks offer a more efficient synthesis procedure, as compared to other available techniques

An investigation into observational characteristics of rainfall and temperature in Central Northeast India—a historical perspective 1889–2008

Mann–Kendall non-parametric test was employed for observational trend detection of monthly, seasonal and annual precipitation of five meteorological subdivisions of Central Northeast India (CNE India) for different 30-year normal periods (NP) viz. 1889–1918 (NP1), 1919–1948 (NP2), 1949–1978 (NP3) and 1979–2008 (NP4). The trends of maximum and minimum temperatures were also investigated. The slopes of the trend lines were determined using the method of least square linear fitting. An application of Morelet wavelet analysis was done with monthly rainfall during June– September, total rainfall during monsoon season and annual rainfall to know the periodicity and to test the significance of periodicity using the power spectrum method. The inferences figure out from the analyses will be helpful to the policy managers, planners and agricultural scientists to work out irrigation and water management options under various possible climatic eventualities for the region. The long-term (1889–2008) mean annual rainfall of CNE India is 1,195.1 mm with a standard deviation of 134.1 mm and coefficient of variation of 11%. There is a significant decreasing trend of 4.6 mm/year for Jharkhand and 3.2 mm/day for CNE India. Since rice crop is the important kharif crop (May– October) in this region, the decreasing trend of rainfall during themonth of July may delay/affect the transplanting/vegetative phase of the crop, and assured irrigation is very much needed to tackle the drought situation. During themonth of December, all the meteorological subdivisions except Jharkhand show a significant decreasing trend of rainfall during recent normal period NP4. The decrease of rainfall during December may hamper sowing of wheat, which is the important rabi crop (November–March) in most parts of this region. Maximum temperature shows significant rising trend of 0.008°C/year (at 0.01 level) during monsoon season and 0.014°C/year (at 0.01 level) during post-monsoon season during the period 1914– 2003. The annual maximum temperature also shows significant increasing trend of 0.008°C/year (at 0.01 level) during the same period. Minimum temperature shows significant rising trend of 0.012°C/year (at 0.01 level) during postmonsoon season and significant falling trend of 0.002°C/year (at 0.05 level) during monsoon season. A significant 4– 8 years peak periodicity band has been noticed during September over Western UP, and 30–34 years periodicity has been observed during July over Bihar subdivision. However, as far as CNE India is concerned, no significant periodicity has been noticed in any of the time series.

Intraseasonal oscillation of total precipitable water over North Indian Ocean and its application in the diagnostic study of coastal rainfall

TRMM Microwave Imager (TMI) is reported to be a useful sensor to measure the atmospheric and oceanic parameters even in cloudy conditions. Vertically integrated specific humidity, Total Precipitable Water (TPW) retrieved from the water vapour absorption channel (22GHz.) along with 10m wind speed and rain rate derived from TMI is used to investigate the moisture variation over North Indian Ocean. Intraseasonal Oscillations (ISO) of TPW during the summer monsoon seasons 1998, 1999, and 2000 over North Indian Ocean is explored using wavelet analysis. The dominant waves in TPW during the monsoon periods and the differences in ISO over Arabian Sea and Bay of Bengal are investigated. The northward propagation of TPW anomaly and its coherence with the coastal rainfall is also studied. For the diagnostic study of heavy rainfall spells over the west coast, the intrusion of TPW over the North Arabian Sea is seen to be a useful tool.

PSWT Based Linear Predictive Coding and Development of a Parallel Multiple Subsequence Structure for DWT Computation

During 1990's the Wavelet Transform emerged as an important signal processing tool with potential applications in time-frequency analysis and non-stationary signal processing.Wavelets have gained popularity in broad range of disciplines like signal/image compression, medical diagnostics, boundary value problems, geophysical signal processing, statistical signal processing,pattern recognition,underwater acoustics etc.In 1993, G. Evangelista introduced the Pitch- synchronous Wavelet Transform, which is particularly suited for pseudo-periodic signal processing.The work presented in this thesis mainly concentrates on two interrelated topics in signal processing,viz. the Wavelet Transform based signal compression and the computation of Discrete Wavelet Transform. A new compression scheme is described in which the Pitch-Synchronous Wavelet Transform technique is combined with the popular linear Predictive Coding method for pseudo-periodic signal processing. Subsequently,A novel Parallel Multiple Subsequence structure is presented for the efficient computation of Wavelet Transform. Case studies also presented to highlight the potential applications.