An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms, leading to an optimization criterion for repeatable control of redundant manipulators, and avoiding the joint angle drift problem. Computer simulations performed based on redundant and hyper-redundant planar manipulators show that, when the end-effector traces a closed path in the workspace, the robot returns to its initial configuration. The solution is repeatable for a workspace with and without obstacles in the sense that, after executing several cycles, the initial and final states of the manipulator are very close.

Fractional Dynamics in the Rayleigh's Piston

This paper studies the dynamics of the Rayleigh piston using the modeling tools of Fractional Calculus. Several numerical experiments examine the effect of distinct values of the parameters. The time responses are transformed into the Fourier domain and approximated by means of power law approximations. The description reveals characteristics usual in Fractional Brownian phenomena.

Web based content and hybrid teaching: student perceptions of the effectiveness of using web based content and hyper-linked teaching units in teaching hybrid business and marketing post secondary classes /

This exploratory, descriptive action research study is based on a survey of a sample of convenience consisting of 172 college and university marketing students, and 5 professors who were experienced in teaching in an internet based environment. The students that were surveyed were studying e-commerce and international business in 3^^ and 4*'' year classes at a leading imiversity in Ontario and e-commerce in 5^ semester classes at a leading college. These classes were taught using a hybrid teaching style with the contribution of a large website that contained pertinent text and audio material. Hybrid teaching employs web based course materials (some in the form of Learning Objects) to deliver curriculimi material both during the attended lectures and also for students accessing the course web page outside of class hours. The survey was in the form on an online questionnaire. The research questions explored in this study were: 1. What factors influence the students' ability to access and learn from web based course content? 2. How likely are the students to use selected elements of internet based curriculum for learning academic content? 3. What is the preferred physical environment to facilitate learning in a hybrid environment? 4. How effective are selected teaching/learning strategies in a hybrid environment? The findings of this study suggest that students are very interested in being part of the learning process by contributing to a course web site. Specifically, students are interested in audio content being one of the formats of online course material, and have an interest in being part of the creation of small audio clips to be used in class.

Low frequency Raman scattering in amorphous materials: fused quartz, "pyrex" boro-silicate glass and soda-lime silicate glass

Raman scattering in the region 20 to 100 cm -1 for fused quartz, "pyrex" boro-silicate glass, and soft soda-lime silicate glass was investigated. The Raman spectra for the fused quartz and the pyrex glass were obtained at room temperature using the 488 nm exciting line of a Coherent Radiation argon-ion laser at powers up to 550 mW. For the soft soda-lime glass the 514.5 nm exciting line at powers up to 660 mW was used because of a weak fluorescence which masked the Stokes Raman spectrum. In addition it is demonstrated that the low-frequency Raman coupling constant can be described by a model proposed by Martin and Brenig (MB). By fitting the predicted spectra based on the model with a Gaussian, Poisson, and Lorentzian forms of the correlation function, the structural correlation radius (SCR) was determined for each glass. It was found that to achieve the best possible fit· from each of the three correlation functions a value of the SCR between 0.80 and 0.90 nm was required for both quartz and pyrex glass but for the soft soda-lime silicate glass the required value of the SCR. was between 0.50 and 0.60 nm .. Our results support the claim of Malinovsky and Sokolov (1986) that the MB model based on a Poisson correlation function provides a universal fit to the experimental VH (vertical and horizontal polarizations) spectrum for any glass regardless of its chemical composition. The only deficiency of the MB model is its failure to fit the experimental depolarization spectra.

Properties and algorithms of the hyper-star graph and its related graphs

The hyper-star interconnection network was proposed in 2002 to overcome the drawbacks of the hypercube and its variations concerning the network cost, which is defined by the product of the degree and the diameter. Some properties of the graph such as connectivity, symmetry properties, embedding properties have been studied by other researchers, routing and broadcasting algorithms have also been designed. This thesis studies the hyper-star graph from both the topological and algorithmic point of view. For the topological properties, we try to establish relationships between hyper-star graphs with other known graphs. We also give a formal equation for the surface area of the graph. Another topological property we are interested in is the Hamiltonicity problem of this graph. For the algorithms, we design an all-port broadcasting algorithm and a single-port neighbourhood broadcasting algorithm for the regular form of the hyper-star graphs. These algorithms are both optimal time-wise. Furthermore, we prove that the folded hyper-star, a variation of the hyper-star, to be maixmally fault-tolerant.

Regulation of Protein Turnover during Hyper-osmotic Stress in Skeletal Muscle

The purpose of this study was to examine the effect of hyper-osmotic stress on protein turnover in skeletal muscle tissue using an established in-vitro model. Rat EDL muscles were incubated in either hyper-osmotic (400 ± 10 Osm) or isoosmotic (290 ± 10 Osm) custom-modified media (Gibco). L-[14C]-U-phenylalanine (n=8) and cycloheximide (n=8) were used to quantify protein synthesis and degradation, respectively. Western blotting analyses was performed to determine the activation of protein synthesis and degradation pathways. During hyperosmotic stress, protein degradation increased (p<0.05), while protein synthesis was decreased (p<0.05) as compared to the iso-osmotic condition. The decline in protein synthesis was accompanied by a decrease (p<0.05) in p70s6 kinase phosphorylation, while the increase in protein degradation was associated with an increase (p<0.05) in autolyzed calpain. Therefore, hyper-osmotic extracellular stress results in an intracellular catabolic environment in mammalian skeletal muscle tissue.

Hyper-inflation au Bresil.

Rapport de recherche

Variation des biomarqueurs dans le spectre visible non résolu de la Terre

L’évolution rapide des technologies de détection et de caractérisation des exoplanètes depuis le début des années 1990 permet de croire que de nouveaux instruments du type Terrestrial Planet Finder (TPF) pourront prendre les premiers spectres d’exoplanètes semblables à la Terre d’ici une ou deux décennies. Dans ce contexte, l’étude du spectre de la seule planète habitée connue, la Terre, est essentielle pour concevoir ces instruments et analyser leurs résultats. Cette recherche présente les spectres de la Terre dans le visible (390-900 nm), acquis lors de 8 nuits d’observation étalées sur plus d’un an. Ces spectres ont été obtenus en observant la lumière cendrée de la Lune avec le télescope de 1.6 m de l’Observatoire du Mont-Mégantic (OMM). La surface de la Lune réfléchissant de manière diffuse la lumière provenant d’une portion de la Terre, ces spectres sont non résolus spatialement. L’évolution de ces spectres en fonction de la lumière réfléchie à différentes phases de Terre est analogue à celle du spectre d’une exoplanète, dont la phase change selon sa position autour de l’étoile. L'eau, l'oxygène et l'ozone de l’atmosphère, détectés dans tous nos spectres, sont des biomarqueurs dont la présence suggère l’habitabilité de la planète et/ou la présence d’une activité biologique. Le Vegetation Red Edge (VRE), une autre biosignature spectrale, dû aux organismes photosynthétiques à la surface, est caractérisé par l’augmentation de la réflectivité autour de 700 nm. Pour les spectres de 5 nuits, cette augmentation a été évaluée entre -5 et 15% ±~5%, après que les contributions de la diffusion de Rayleigh, des aérosols et d’une large bande moléculaire de l’ozone aient été enlevées. Les valeurs mesurées sont cohérentes avec la présence de végétation dans la phase de la Terre contribuant au spectre, mais s’étendent sur une plage de variations plus large que celles trouvées dans la littérature (0-10%). Cela pourrait s’expliquer par des choix faits lors de la réduction des données et du calcul du VRE, ou encore par la présence d’autres éléments de surface ou de l’atmosphère dont la contribution spectrale autour de 700 nm serait variable.

Vector boson scattering at high energy at the LHC

Thèse numérisée par la Division de la gestion de documents et des archives de l'Université de Montréal

De la figure monstrueuse : de l'homme-spectacle à l'hyper-mâle ou une tentative de définition de mon histoire secrète

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

L'hyper-théâtralité du personnage dans la dramaturgie de Réjean Ducharme

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

Composition d'oeuvres pour hyper-flûtes et traitement audionumérique interactif

La version intégrale de cette thèse est disponible uniquement pour consultation individuelle à la Bibliothèque de musique de l’Université de Montréal (www.bib.umontreal.ca/MU).

STUDIES ON SCATTERING AND QUASI-NORMAL MODES IN BLACK HOLE SPACE-TIMES

The question of stability of black hole was first studied by Regge and Wheeler who investigated linear perturbations of the exterior Schwarzschild spacetime. Further work on this problem led to the study of quasi-normal modes which is believed as a characteristic sound of black holes. Quasi-normal modes (QNMs) describe the damped oscillations under perturbations in the surrounding geometry of a black hole with frequencies and damping times of oscillations entirely fixed by the black hole parameters.In the present work we study the influence of cosmic string on the QNMs of various black hole background spacetimes which are perturbed by a massless Dirac field.