Explorations of Intramolecular [5+2] Cycloadditions of Ring-Constrained Vinylcyclopropanes

The first example of a [5+2] cycloaddition reaction wherein the olefin of the vinylcyclopropyl moiety is constrained in a carbocycle was explored, and possible reasons on the lack of reactivity of the substrate were studied. A simple model substrate was synthesized and subjected to cycloaddition conditions to determine if the reason for the lack of reactivity was related to the complexity of the substrate, or if the lack of “conjugative character” of the cyclopropyl ring with respect to the olefin is responsible. A more complex bicyclic substrate possessing an angular methyl group at the ring junction was also synthesized and explored, with evidence supporting the current theory of deconjugation of the cyclopropyl moiety.

Sharing the Cost of a Public Good: an Incentive-Constrained Axiomatic Approach

We study the problem of provision and cost-sharing of a public good in large economies where exclusion, complete or partial, is possible. We search for incentive-constrained efficient allocation rules that display fairness properties. Population monotonicity says that an increase in population should not be detrimental to anyone. Demand monotonicity states that an increase in the demand for the public good (in the sense of a first-order stochastic dominance shift in the distribution of preferences) should not be detrimental to any agent whose preferences remain unchanged. Under suitable domain restrictions, there exists a unique incentive-constrained efficient and demand-monotonic allocation rule: the so-called serial rule. In the binary public good case, the serial rule is also the only incentive-constrained efficient and population-monotonic rule.

«Constrained-optimal strategy-proof assignment: beyond the groves mechanisms»

A single object must be allocated to at most one of n agents. Money transfers are possible and preferences are quasilinear. We offer an explicit description of the individually rational mechanisms which are Pareto-optimal in the class of feasible, strategy-proof, anonymous and envy-free mechanisms. These mechanisms form a one-parameter infinite family; the Vickrey mechanism is the only Groves mechanism in that family.

Quaterninic Kähler manifolds, constrained instantons, and the magic square

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

Synthesis of constrained tricyclic nucleosides and the core of nagilactone B

Cette thèse décrit deux thèmes principaux: 1) la conception, la synthèse, et l'évaluation biophysique des nucléosides tricycliques, et 2) la synthèse de nagilactone B, un produit naturel norditerpenoïde dilactone de la famille de produits naturels “podolactone”. Le premier chapitre décrit la stratégie de design rationnel des nucléosides nommé “restriction conformationnelle double” basée sur les études de modélisation structurales des duplex ADN–ARN modifiés. Cette stratégie implique un blocage du cycle furanose dans une configuration de type N- ou S, et une restriction de la rotation torsionelle autour de l’angle γ. La première contrainte a été incorporée avec un pont méthylène entre l’oxygène en position 2′ et le carbone 4′ du nucléoside. Cette stratégie a été inspirée par les acides nucléiques bloqués (ou “locked nucleic acid”, LNA). La deuxième contrainte a été réalisée en ajoutant un carbocycle supplémentaire dans l'échafaud de l’acide nucléique bloqué. Les défis synthétiques de la formation des nucléotides modifiés à partir des carbohydrates sont décrits ainsi que les améliorations aux stabilités thermiques qu’ils apportent aux duplex oligonucléïques dont ils font partie. Chapitres deux et trois décrivent le développement de deux voies synthétiques complémentaires pour la formation du noyau de nagilactone B. Ce produit naturel a des implications pour le syndrome de Hutchinson–Gilford, à cause de son habilité de jouer le rôle de modulateur de l’épissage d’ARN pré-messager de lamine A. Ce produit naturel contient sept stereocentres différents, dont deux quaternaires et deux comprenant un syn-1,2-diol, ainsi que des lactones à cinq ou six membres, où le cycle à six ressemble à un groupement α-pyrone. La synthèse a débuté avec la cétone de Wieland-Miescher qui a permis d’adresser les défis structurels ainsi qu’explorer les fonctionnalisations des cycles A, B et D du noyau de nagilactone B.

Evidence of a critical time in constrained Kinetic Ising models

We study the relaxational dynamics of the one-spin facilitated Ising model introduced by Fredrickson and Andersen. We show the existence of a critical time which separates an initial regime in which the relaxation is exponentially fast and aging is absent from a regime in which relaxation becomes slow and aging effects are present. The presence of this fast exponential process and its associated critical time is in agreement with some recent experimental results on fragile glasses.

Design and Development of a Remotely Operated Underwater Multi-Robot Manipulator Controller

For the scientific and commercial utilization of Ocean resources, the role of intelligent underwater robotic systems are of great importance. Scientific activities like Marine Bio-technology, Hydrographic mapping, and commercial applications like Marine mining, Ocean energy, fishing, aquaculture, cable laying and pipe lining are a few utilization of ocean resources. As most of the deep undersea exploration are beyond the reachability of divers and also as the use of operator controlled and teleoperated Remotely Operated Vehicles (ROVs) and Diver Transport Vehicles (DTVs) turn out to be highly inefficient, it is essential to have a fully automated system capable providing stable control and communication links for the unstructured undersea environment.

Designing a Robust Pitch Angle Controller for a 2‐Motor‐Pitch‐System in a Large Wind Turbine

Für große Windenergieanlagen werden neue Pitchregler wie Einzelblattregler oder Turmdämpfungsregler entwickelt. Während diese neuen Pitchregler die Elemente der Windenergieanlagen entlasten, wird das Pitchantriebssystem stärker belastet. Die Pitchantriebe müssen weitaus häufiger bei höherer Amplitude arbeiten. Um die neuen Pitchregler nutzen zu können, muss zunächst das Problem der Materialermüdung der Pitchantriebssysteme gelöst werden. Das Getriebespiel in Getrieben und zwischen Ritzeln und dem Zahnkranz erhöht die Materialermüdung in den Pitchantriebssystemen. In dieser Studie werden als Lösung zwei Pitchantriebe pro Blatt vorgeschlagen. Die beiden Pitchantriebe erzeugen eine Spannung auf dem Pitchantriebssystem und kompensieren das Getriebespiel. Drehmomentspitzen, die eine Materialermüdung verursachen, treten bei diesem System mit zwei Pitchmotoren nicht mehr auf. Ein Reglerausgang wird via Drehmomentverteiler auf die beiden Pitchantriebe übertragen. Es werden mehrere Methoden verglichen und der leistungsfähigste Drehmomentverteiler ausgewählt. Während die Pitchantriebe in Bewegung sind, ändert sich die Spannung auf den Getrieben. Die neuen Pitchregler verstellen den Pitchwinkel in einer sinusförmigen Welle. Der Profilgenerator, der derzeit als Pitchwinkelregler verwendet wird, kann eine Phasenverzögerung im sinusförmigen Pitchwinkel verursachen. Zusätzlich erzeugen große Windenergieanlagen eine hohe Last, die sich störend auf die Pitchbewegung auswirkt. Änderungen der viskosen Reibung und Nichtlinearität der Gleitreibung bzw. Coulombsche Reibung des Pitchregelsystems erschweren zudem die Entwicklung eines Pitchwinkelreglers. Es werden zwei robuste Regler (H∞ und μ–synthesis ) vorgestellt und mit zwei herkömmlichen Reglern (PD und Kaskadenregler) verglichen. Zur Erprobung des Pitchantriebssystems und des Pitchwinkelreglers wird eine Prüfanordnung verwendet. Da der Kranz nicht mit einem Positionssensor ausgestattet ist, wird ein Überwachungselement entwickelt, das die Kranzposition meldet. Neben den beiden Pitchantrieben sind zwei Lastmotoren mit dem Kranz verbunden. Über die beiden Lastmotoren wird das Drehmoment um die Pitchachse einer Windenergieanlage simuliert. Das Drehmoment um die Pitchachse setzt sich zusammen aus Schwerkraft, aerodynamischer Kraft, zentrifugaler Belastung, Reibung aufgrund des Kippmoments und der Beschleunigung bzw. Verzögerung des Rotorblatts. Das Blatt wird als Zweimassenschwinger modelliert. Große Windenergieanlagen und neue Pitchregler für die Anlagen erfordern ein neues Pitchantriebssystem. Als Hardware-Lösung bieten sich zwei Pitchantriebe an mit einem robusten Regler als Software.

Site Controller: A System for Computer-Aided Civil Engineering and Construction

A revolution\0\0\0 in earthmoving, a $100 billion industry, can be achieved with three components: the GPS location system, sensors and computers in bulldozers, and SITE CONTROLLER, a central computer system that maintains design data and directs operations. The first two components are widely available; I built SITE CONTROLLER to complete the triangle and describe it here. SITE CONTROLLER assists civil engineers in the design, estimation, and construction of earthworks, including hazardous waste site remediation. The core of SITE CONTROLLER is a site modelling system that represents existing and prospective terrain shapes, roads, hydrology, etc. Around this core are analysis, simulation, and vehicle control tools. Integrating these modules into one program enables civil engineers and contractors to use a single interface and database throughout the life of a project.

Virtual Model Control of a Hexapod Walking Robot

Since robots are typically designed with an individual actuator at each joint, the control of these systems is often difficult and non-intuitive. This thesis explains a more intuitive control scheme called Virtual Model Control. This thesis also demonstrates the simplicity and ease of this control method by using it to control a simulated walking hexapod. Virtual Model Control uses imagined mechanical components to create virtual forces, which are applied through the joint torques of real actuators. This method produces a straightforward means of controlling joint torques to produce a desired robot behavior. Due to the intuitive nature of this control scheme, the design of a virtual model controller is similar to the design of a controller with basic mechanical components. The ease of this control scheme facilitates the use of a high level control system which can be used above the low level virtual model controllers to modulate the parameters of the imaginary mechanical components. In order to apply Virtual Model Control to parallel mechanisms, a solution to the force distribution problem is required. This thesis uses an extension of Gardner`s Partitioned Force Control method which allows for the specification of constrained degrees of freedom. This virtual model control technique was applied to a simulated hexapod robot. Although the hexapod is a highly non-linear, parallel mechanism, the virtual models allowed text-book control solutions to be used while the robot was walking. Using a simple linear control law, the robot walked while simultaneously balancing a pendulum and tracking an object.

Reinforcement Learning by Policy Search

One objective of artificial intelligence is to model the behavior of an intelligent agent interacting with its environment. The environment's transformations can be modeled as a Markov chain, whose state is partially observable to the agent and affected by its actions; such processes are known as partially observable Markov decision processes (POMDPs). While the environment's dynamics are assumed to obey certain rules, the agent does not know them and must learn. In this dissertation we focus on the agent's adaptation as captured by the reinforcement learning framework. This means learning a policy---a mapping of observations into actions---based on feedback from the environment. The learning can be viewed as browsing a set of policies while evaluating them by trial through interaction with the environment. The set of policies is constrained by the architecture of the agent's controller. POMDPs require a controller to have a memory. We investigate controllers with memory, including controllers with external memory, finite state controllers and distributed controllers for multi-agent systems. For these various controllers we work out the details of the algorithms which learn by ascending the gradient of expected cumulative reinforcement. Building on statistical learning theory and experiment design theory, a policy evaluation algorithm is developed for the case of experience re-use. We address the question of sufficient experience for uniform convergence of policy evaluation and obtain sample complexity bounds for various estimators. Finally, we demonstrate the performance of the proposed algorithms on several domains, the most complex of which is simulated adaptive packet routing in a telecommunication network.

Geometric Structure of the Adaptive Controller of the Human Arm

The objects with which the hand interacts with may significantly change the dynamics of the arm. How does the brain adapt control of arm movements to this new dynamic? We show that adaptation is via composition of a model of the task's dynamics. By exploring generalization capabilities of this adaptation we infer some of the properties of the computational elements with which the brain formed this model: the elements have broad receptive fields and encode the learned dynamics as a map structured in an intrinsic coordinate system closely related to the geometry of the skeletomusculature. The low--level nature of these elements suggests that they may represent asset of primitives with which a movement is represented in the CNS.

A Gain Scheduling Model Predictive Controller for Blood Glucose Control in Type 1 Diabetes

This paper presents a control strategy for blood glucose(BG) level regulation in type 1 diabetic patients. To design the controller, model-based predictive control scheme has been applied to a newly developed diabetic patient model. The controller is provided with a feedforward loop to improve meal compensation, a gain-scheduling scheme to account for different BG levels, and an asymmetric cost function to reduce hypoglycemic risk. A simulation environment that has been approved for testing of artificial pancreas control algorithms has been used to test the controller. The simulation results show a good controller performance in fasting conditions and meal disturbance rejection, and robustness against model–patient mismatch and errors in meal estimation

Geostatistics for constrained variables: positive data, compositions and probabilities. Applications to environmental hazard monitoring

Aquesta tesi estudia com estimar la distribució de les variables regionalitzades l'espai mostral i l'escala de les quals admeten una estructura d'espai Euclidià. Apliquem el principi del treball en coordenades: triem una base ortonormal, fem estadística sobre les coordenades de les dades, i apliquem els output a la base per tal de recuperar un resultat en el mateix espai original. Aplicant-ho a les variables regionalitzades, obtenim una aproximació única consistent, que generalitza les conegudes propietats de les tècniques de kriging a diversos espais mostrals: dades reals, positives o composicionals (vectors de components positives amb suma constant) són tractades com casos particulars. D'aquesta manera, es generalitza la geostadística lineal, i s'ofereix solucions a coneguts problemes de la no-lineal, tot adaptant la mesura i els criteris de representativitat (i.e., mitjanes) a les dades tractades. L'estimador per a dades positives coincideix amb una mitjana geomètrica ponderada, equivalent a l'estimació de la mediana, sense cap dels problemes del clàssic kriging lognormal. El cas composicional ofereix solucions equivalents, però a més permet estimar vectors de probabilitat multinomial. Amb una aproximació bayesiana preliminar, el kriging de composicions esdevé també una alternativa consistent al kriging indicador. Aquesta tècnica s'empra per estimar funcions de probabilitat de variables qualsevol, malgrat que sovint ofereix estimacions negatives, cosa que s'evita amb l'alternativa proposada. La utilitat d'aquest conjunt de tècniques es comprova estudiant la contaminació per amoníac a una estació de control automàtic de la qualitat de l'aigua de la conca de la Tordera, i es conclou que només fent servir les tècniques proposades hom pot detectar en quins instants l'amoni es transforma en amoníac en una concentració superior a la legalment permesa.