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Dissertations / Theses on the topic 'Holonomics'

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Published: 3 June 2025
Last updated: 31 July 2025

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1

Flygare, Mattias. "Holonomic versus nonholonomic constraints." Thesis, Karlstads universitet, Avdelningen för fysik och elektroteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-13378.

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Courses in analytical mechanics for undergraduate students are often limited to treatment of holonomic constraints, which are constraints on coordinates. The concept of nonholonomic constraints, constraints on velocities, is usually only mentioned briefly and it is easy to get a wrongful idea of what they are and how to treat them. This text explains and compares the methods of deriving the Euler-Lagrange equations and the consequences when imposing different kinds of constraints. One way to properly treat both holonomic and nonholonomic constraints is given, pinpointing the difficulties and c
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2

Moreno, Blanc Javier. "Improvement of the implementation of an Assistant Personal Robot." Doctoral thesis, Universitat de Lleida, 2017. http://hdl.handle.net/10803/457621.

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Aquesta memòria presenta la investigació realitzada amb l'objectiu de millorar la implementació d'un Assistent Personal Robòtic (APR) basat en un robot mòbil per aplicacions en entorns domèstics. Aquesta implementació de noves tecnologies robòtiques ha permès el desenvolupament de noves aplicacions d'assistència personal contribuin a millorar la qualitat de vida de les persones. La primera part de la memòria es centra en el desenvolupament mecànic, consistent en un sistema de mobilitat holonómic basat en l'ús de tres rodes omnidireccionals desfasades 120º. Per l´objectiu de la millora sobre
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3

Yuan, Hongliang. "Control of NonH=holonomic Systems." Doctoral diss., University of Central Florida, 2009. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2751.

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Many real-world electrical and mechanical systems have velocity-dependent constraints in their dynamic models. For example, car-like robots, unmanned aerial vehicles, autonomous underwater vehicles and hopping robots, etc. Most of these systems can be transformed into a chained form, which is considered as a canonical form of these nonholonomic systems. Hence, study of chained systems ensure their wide applicability. This thesis studied the problem of continuous feed-back control of the chained systems while pursuing inverse optimality and exponential convergence rates, as well as the feed-bac
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Mommers, Cornelis Johannes Gerardus. "Universal Quantum Computation Using Discrete Holonomies." Thesis, Uppsala universitet, Materialteori, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-444209.

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5

Aguirre, Sergio Julio Chion. "Teorema de holonomia normal." Universidade Federal de São Carlos, 2013. https://repositorio.ufscar.br/handle/ufscar/5896.

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Made available in DSpace on 2016-06-02T20:28:28Z (GMT). No. of bitstreams: 1 5611.pdf: 719770 bytes, checksum: 86c089b56af72cff83b5e7b8455ce765 (MD5) Previous issue date: 2013-08-30<br>Financiadora de Estudos e Projetos<br>In this work we will introduce the concept of normal holonomy and restricted normal holonomy of a riemannian submanifold. They are subgroups of the orthogonal matrices that are realized from parallel translating normal vectors, along loops and null-homotopic loops respectively, using the normal connection. We will proof that the restricted normal holonomy is a Lie subgroup
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Ortiz, Morales Daniel. "Virtual Holonomic Constraints: from academic to industrial applications." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-87707.

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Whether it is a car, a mobile phone, or a computer, we are noticing how automation and production with robots plays an important role in the industry of our modern world. We find it in factories, manufacturing products, automotive cruise control, construction equipment, autopilot on airplanes, and countless other industrial applications.         Automation technology can vary greatly depending on the field of application. On one end, we have systems that are operated by the user and rely fully on human ability. Examples of these are heavy-mobile equipment, remote controlled systems, helicopter
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7

Gu, Wenjiong. "Holonomic Elastoplastic Truss Design Using Displacement Based Optimization." Thesis, Virginia Tech, 2000. http://hdl.handle.net/10919/35508.

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A Displacement Based Optimization (DBO) approach was applied to truss design problems with material nonlinearities, to explore feasibility and verify efficiency of the approach to solve such problem. Various truss sizing problems with holonomic (path-independent) elastoplastic laws were investigated. This type of material nonlinearity allows us to naturally extend the linear elastic truss sizing in the DBO setting to nonlinear problems. A computer program that uses the commercially available optimizer DOT by VR&D and IMSL Linear Programming solver by Visual Numerics was developed to solve t
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8

Chyzak, Frédéric. "Fonctions holonomes en calcul formel." Phd thesis, Ecole Polytechnique X, 1998. http://tel.archives-ouvertes.fr/tel-00991717.

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Cette thèse montre comment le calcul formel permet la manipulation d'une grande classe de suites et fonctions solutions d'opérateurs linéaires, la classe des fonctions holonomes. Celle-ci contient de nombreuses fonctions spéciales, en une ou plusieurs variables, et de nom- breuses suites de la combinatoire. Un cadre théorique est tout d'abord introduit pour algorith- miser les propriétés de clôture de la classe holonome, pour y permettre un test à zéro et pour unifier les calculs différentiels sur les fonctions et les calculs de récurrences sur les suites. Ces méthodes s'appuient sur des calcu
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9

Krantz, Thomas. "Holonomie des connexions sans torsion." Nancy 1, 2007. http://docnum.univ-lorraine.fr/public/SCD_T_2007_0030_KRANTZ.pdf.

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Dans une premier temps nous étudions les représentations de dimension finie des algèbres de Lie en rapport avec le treillis des sous-représentations. Nous considérons le cas où la représentation laisse invariant deux paires de sous-espaces supplémentaires. Nous montrons que la représentation peut être décomposée dans ce cas en une somme de trois sous-représentations canoniques que nous caractérisons. Nous précisons les résultats dans le cas d'une représentation préservant deux sous-espaces supplémentaires et une forme réflexive, et aussi dans le cas métrique. Dans une deuxième partie géométriq
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10

Loray, Frank. "Feuilletages holomorphes à holonomie résoluble." Rennes 1, 1994. http://www.theses.fr/1994REN10023.

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Lorsqu'une singularite de feuilletage holomorphe admet une integrale premiere holomorphe ou multiforme liouvillienne, le groupe d'holonomie projective est abelien. Ce travail est une approche des singularites moins connues dont le groupe d'holonomie est resoluble. On y donne des criteres de resolubilite et des resultats de classification analytique pour les groupes de germes de diffeomorphismes dans le plan complexe. Nous en deduisons la classification analytique des singularites de feuilletages dont l'unique feuille analytique est un cusp puis nous montrons leur rigidite topologique. En decri
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11

Krantz, Thomas Bérard Bergery Lionel. "Holonomie des connexions sans torsion." [S.l.] : [s.n.], 2007. http://www.scd.uhp-nancy.fr/docnum/SCD_T_2007_0030_KRANTZ.pdf.

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12

KARLSSON, AKMAL, and TARA MOHAMMED-AMIN. "Holonomic Spherical Mobile Robot : Omnidirectional spherical body robot using wireless control." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279805.

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The purpose of this project was to construct a holonomic mobile robot driven with omni wheels. That would enable movement in all degrees of freedom. The finished product was a robot platform within a spherical shell body controlled by input commands defining speed and direction from a wireless communication medium. The platform was iteratively designed and constructed with parts made out of laser cut acrylic plastic. By using omni wheels powered by Direct Current (DC) motors, which will be described further, the holonomic drive could be realized as the wheel hubs were placed on the platform wi
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13

Mauny, Johan Raphaël. "Modélisation dynamique des systèmes non-holonomes intermittents : application à la bicyclette." Thesis, Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2018. http://www.theses.fr/2018IMTA0113.

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Cette thèse traite de la modélisation dynamique des systèmes non-holonomes intermittents et de son application à la bicyclette 3D de Whipple. Pour cela, nous nous sommes appuyés sur un ensemble d'outils en mécanique géométrique (réduction Lagrangienne et projection dans le noyau des contraintes cinématiques essentiellement). Dans un premier temps, nous avons traité le cas de la bicyclette persistante. En définissant l'espace des configurations du vélo comme un fibré principal de groupe structural SE(3), nous avons obtenu un modèle des points de contact et des contraintes exempt de toute non-li
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14

Sawon, Justin. "Homomorphisms of semi-holonomic verma modules : an exceptional case /." Title page, contents and abstract only, 1996. http://web4.library.adelaide.edu.au/theses/09SM/09smS2707.pdf.

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15

Yang, Yin. "Nonlinear control and state estimation of holonomic indoor airship." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=106573.

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Three full-state optimal controllers are proposed to fulfill the requirements of flying an indoor holonomic airship in real-time, namely, hovering control, set-point control and continuous reference tracking. In the hovering control design, the airship is assumed to be a quasi stationary plant, and an infinite horizon linear quadratic regulator (LQR) operating in again scheduling manner is employed. Meanwhile, a controller based on the state-dependent Riccati equation (SDRE) and ad hoc feedforward compensation is synthesized to tackle the set-point control problem. Lastly, a continuous tracker
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16

JEAN, FREDERIC. "Complexites pour les systemes non-holonomes." Paris 6, 1998. http://www.theses.fr/1998PA066170.

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Cette these de geometrie sous-riemannienne s'articule en deux parties. Une premiere partie est consacree a l'etude de deux quantites dont on montrera qu'elles sont equivalentes, la complexite de la planification de trajectoires non-holonomes d'une part, et d'autre part la mesure d'entropie des sous-varietes unidimensionnelles. On estime ces quantites en fonction des coordonnees de la tangente a une sous-variete dans une base de l'algebre de lie de controle et du vecteur de croissance. Il apparait en particulier que la dimension de hausdorff peut etre non seulement superieure a la dimension top
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17

Abdel, Gadir Basil. "Analyse microlocale des systèmes différentiels holonomes." Grenoble 1, 1992. http://www.theses.fr/1992GRE10071.

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Nous nous placerons dans le contexte analytique-complexe. Les systemes differentiels holonomes traduisent algebriquement les systemes differentiels lineaires surdetermines maximaux, et ils generalisent les fibres vectoriels a connexion integrale. La question de leur classification (jusqu'ici limitee au cas des systemes a singularite reguliere et a celui d'une variable) a ete entreprise par un certain nombre d'auteurs, parmi lesquels il faut notamment citer m. Kashiwara et b. Malgrange. Dans cette direction nous contribuons aux resultats lies a la description microlocale (i. E. Locale sur l'esp
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18

Rebahi, Yacine. "Irrégularité des D-modules algébriques holonomes." Université Joseph Fourier (Grenoble ; 1971-2015), 1996. http://www.theses.fr/1996GRE10205.

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Ce travail est consacre a l'etude de l'irregularite des systemes differentiels algebriques holonomes. Nous demontrons que les complexes de solutions de type exponentiel, associes a ces systemes, sont a cohomologie constructible et nous calculons leur caracteristique d'euler poincare. Pour cela, et dans le cas d'un fibre de rang un, nous utilisons un passage a l'infini qui nous permet de nous ramener a des resultats connus pour des solutions formelles de croissance appropriee pour des systemes analytiques holonomes. D'autre part, si nous microlocalisons nos constructions, nous obtenons des resu
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19

Kult, David. "Quantum Holonomies : Concepts and Applications to Quantum Computing and Interferometry." Doctoral thesis, Uppsala University, Quantum Chemistry, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-8185.

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<p>Quantum holonomies are investigated in different contexts.</p><p>A geometric phase is proposed for decomposition dependent evolution, where each component of a given decomposition of a mixed state evolves independently. It is shown that this geometric phase only depends on the path traversed in the space of decompositions.</p><p>A holonomy is associated to general paths of subspaces of a Hilbert space, both discrete and continuous. This opens up the possibility of constructing quantum holonomic gates in the open path setting. In the discrete case it is shown that it is possible to associate
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20

Victorino, Alessandro Correa. "Controle de trajetoria e estabilização de robos moveis não-holonomicos." [s.n.], 1998. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264494.

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Orientadores: Paulo Roberto G. Kurka, Euripedes G. O. Nobrega<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica<br>Made available in DSpace on 2018-07-23T15:12:36Z (GMT). No. of bitstreams: 1 Victorino_AlessandroCorrea_M.pdf: 6845491 bytes, checksum: 9903819bc3d57ffa32aaed40f2334f6f (MD5) Previous issue date: 1998<br>Resumo: Robô Móvel Não-holonômico com rodas (RMN) é um sistema mecânico caracterizado por restrições cinemáticas não integráveis. Esta classe de sistemas mecânicos apresenta sérios problemas para o estudo de controle e estabilização,
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Volland, Kirk N. "Design, construction and testing of a prototype holonomic autonomous vehicle." Thesis, Monterey, Calif. : Naval Postgraduate School, 2007. http://bosun.nps.edu/uhtbin/hyperion-image.exe/07Dec%5FVolland.pdf.

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Thesis (M.S. in Applied Physics)--Naval Postgraduate School, December 2007.<br>Thesis Advisor(s): Harkins, Richard. "December 2007." Description based on title screen as viewed on January 24, 2008. Includes bibliographical references (p. 189-192). Also available in print.
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Hayes, Matthew John D. "Kinematic analysis of planar parallel manipulators with holonomic higher pairs." Thesis, McGill University, 1996. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=24059.

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This thesis presents a detailed kinematic analysis of a 3-degree-of-freedom planar parallel manipulator with holonomic higher pairs. The manipulator consists of a circular disk which rolls without slip on the non-grounded rigid links of each of three 2R serial legs.<br>The first portion of the thesis is devoted to the review of the geometric and mathematical tools used in the kinematic analysis. Planar isometries and group theory are used in the developmental of the inverse kinematics (IK) algorithm. Kinematic mapping and Grobner bases are important for the forward kinematics (FK) algorithm.<b
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Töyrä, Daniel. "Fidelity of geometric and holonomic quantum gates for spin systems." Thesis, Uppsala universitet, Teoretisk kemi, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-222152.

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Geometric and holonomic quantum gates perform transformations that only dependon the geometry of a loop covered by the parameters controlling the gate. Thesegates require adiabatic time evolution, which is achieved in the limit when the looptakes infinite time to complete. However, it is of interest to also know thetransformation properties of the gates for finite run times. It has been shown [Phys.Rev. A 73, 022327 (2006)] that some holonomic gates for a trapped ion system showrevival structures, i.e., for some finite run time the gate performs the sametransformation as it does in the adiabat
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Herterich, Emmi. "Sequential Holonomic Quantum Gates : Open Path Holonomy in Λ-configuration". Thesis, Uppsala universitet, Materialteori, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-296137.

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In the Λ-system, non-adiabatic holonomic quantum phases are used to construct holonomic quantum gates. An interesting approach would be to implement open path holonomies in the Λ-system. By dividing the loop into two curve segments with a unitary transformation between them, universality can be reached. In doing so the exibility of the scheme has been increased by the fact that one single full pulse is now enough for universality, and we have achieved a clearer proof of the geometric property of the Λ system.<br>I ett Λ-system så används icke-adiabatiska holonoma kvantfaser för att bygga holon
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25

Cunha, João Alexandre da Silva Costa e. "Holonomic control and behaviours for the CAMBADA robotic soccer team." Master's thesis, Universidade de Aveiro, 2009. http://hdl.handle.net/10773/2127.

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Mestrado em Engenharia de Computadores e Telemática<br>CAMBADA é a equipa de futebol robótico da liga de tamanho médio do RoboCup criada por investigadores do grupo ATRI do IEETA da Universidade de Aveiro. Esta dissertação apresenta as contribuições desenvolvidas no controlo do movimento holonómico e comportamentos de alto-nível. Ao nível do controlo do movimento, várias restrições que afectam o movimento holonómico foram tratadas. Isto é de vital importância visto que dado o ambiente altamente dinâmico de um jogo de futebol é crucial mover e posicionar os robots eficazmente no campo. Ao nivel
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de, Castro Portugal Pedro Vinicius. "Implementing a One Qubit Holonomic Quantum Gate in aBosonic Environment." Thesis, Uppsala universitet, Materialteori, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-386605.

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27

Maya, Mauro. "Commande référencée capteur des robots non holonomes." Phd thesis, École Nationale Supérieure des Mines de Paris, 2007. http://tel.archives-ouvertes.fr/tel-00142742.

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Ce travail de thèse concerne la synthèse de commandes référencées capteur pour les robots non holonomes, dans le cadre de l'approche par fonctions transverses, ainsi que l'étude de la robustesse de ces lois de commande.<br />La commande de robots non holonomes a été très étudiée ces quinze dernières années. Cependant, lorsque l'on souhaite stabiliser la pose complète du robot, la synthèse de lois de commande robustes vis-à-vis d'erreurs d'estimation de l'état du robot (qui dans la pratique découlent typiquement d'erreurs sur les modèles des capteurs) reste un problème ouvert. La problématique
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Maya, Méndez Mauro. "Commande référencée capteur des robots non holonomes." Paris, ENMP, 2007. http://www.theses.fr/2007ENMP1452.

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Ce travail de thèse concerne la synthèse de commandes référencées capteur pour les robots non holonomes, dans le cadre de l'approche par fonctions transverses, ainsi que l'étude de la robustesse de ces lois de commande. La commande de robots non holonomes a été très étudiée ces quinze dernières années. Cependant, lorsque l'on souhaite stabiliser la pose complète du robot, la synthèse de lois de commande robustes vis-à-vis d'erreurs d'estimation de l'état du robot (qui dans la pratique découlent typiquement d'erreurs sur les modèles des capteurs) reste un problème ouvert. La problématique princ
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Souères, Philippe. "Commande optimale et robots mobiles non holonomes." Toulouse 3, 1993. http://www.theses.fr/1993TOU30221.

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Le travail présenté dans ce mémoire s'inscrit dans le cadre de la planification de trajectoires pour robots mobiles non holonomes. Il concerne la recherche de trajectoires optimales. Le principal modèle étudie est un robot de type voiture, astreint à se déplacer tangentiellement à son axe principal sur des trajectoires dont la courbure est bornée. L'auteur montre comment caractériser complètement un plus court chemin entre deux configurations quelconques. Ce travail s'appuie sur des résultats d'autres auteurs déterminant une famille réduite de trajectoires, suffisamment riche pour toujours con
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Quispe, Julio Leo Fonseca. "Folheações holomorfas com grupo de holonomia prescrito." Universidade Federal de Minas Gerais, 2014. http://hdl.handle.net/1843/EABA-9NCJDF.

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Let F be a foliation de ned by a holomorphic vector eld X on a neighborhood of 0 2 C2 and let G be a group of holomorphic germs of di eomorphisms at 0. We address to the question on whether G is conjugated to the projective holonomy group associated to F. Our aim in this work is to study Lins Neto's article [2] that provides a partial solution to this problem. Teorema. Let G = fg1; :::; gg be a group of germs at 0 2 C of holomorphic di eomorphisms with leave 0 xed and such that g1; :::; g and g1 g are linearizable. Then there is a germ holomorphic vector eld X, with a singularity at 0 2 C2, s
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31

Lonmo, Victor. "Dynamics based control of a mobile robot with non-holonomic constraints." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1996. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp04/mq26344.pdf.

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32

Stroot, Holger [Verfasser]. "Strong Approximation of Stochastic Mechanical Systems with Holonomic Constraints / Holger Stroot." München : Verlag Dr. Hut, 2019. http://d-nb.info/1196415595/34.

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Rikovitch, Nir. "Kinodynamic non-holonomic motion planning for UAVs: a minimum energy approach." Thesis, McGill University, 2014. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=121538.

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This thesis presents a minimum energy optimal sampling-based motion planning algorithm, MEAQR RRT*, specifically for systems with non-linear dynamics, non-holonomic and actuation constraints. The motion planner developed is intended for unmanned aerial systems (UAS) whether they be fixed or rotary wing. The eventual implementation in this thesis revolves around a quadrotor platform. This work extends the algorithms presented previously by Webb et al. and Glassman et al. by formulating a fixed-final-state-free-final-time open loop state space pseudometric for nearest neighbours search and the a
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Williamson, Benjamin. "Developing a holonomic iROV as a tool for kelp bed mapping." Thesis, University of Bath, 2013. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.600219.

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Kelp beds support a vast and diverse ecosystem including marine mammals, fish, invertebrates, other algae and epibiota, yet these kelp beds can be highly ephemeral. Mapping the density and distribution of kelp beds, and assessing change over yearly cycles, are important objectives for coastal oceanography. However, nearshore habitat mapping is challenging, affected by dynamic currents, tides, shallow depths, frequent non-uniform obstacles and often turbid water. Noisy and often incomplete sensor data compound a lack of landmarks available for navigation. The intelligent, position-aware holonom
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Eng, Donald S. "State estimation for a holonomic omniwheel robot using a particle filter." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/61159.

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Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 62).<br>The holonomic robot platform designed for the Opera of the Future must perform continuously on stage in a 10 meter by 20 meter world for one hour. The robot interacts with twelve other robots, stage elements, and human performers. Fast, accurate, and continuous state estimation for robot pose is a critical component for robots to safely perform on stage in front of a live audience. A cust
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Wilson, Lance J. "Design, modeling, control, and simulation of a redundant, holonomic RoboCup goalie." Ohio University / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175715475.

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Eynard-Bontemps, Hélène. "Sur deux questions connexes de connexité concernant les feuilletages et leurs holonomies." Phd thesis, Ecole normale supérieure de lyon - ENS LYON, 2009. http://tel.archives-ouvertes.fr/tel-00436304.

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Les deux questions de connexité auxquelles on s'intéresse concernent : – l'espace des feuilletages de codimension 1 sur une variété de dimension 3 ; – l'espace des représentations du groupe Z^2 dans le groupe des difféomorphismes lisses de l'intervalle. Le résultat principal, qu'on démontre dans la seconde partie de la thèse, est le suivant : si deux feuilletages de codimension 1 sur une variété close de dimension 3 ont des sous-fibrés tangents homotopes, on peut les relier par un chemin de feuilletages. Cet énoncé cache une subtilité : si les feuilletages donnés sont lisses, le chemin obtenu
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Genaro, Rafael 1989. "Grupo de holonomia e o teorema de Berger." [s.n.], 2013. http://repositorio.unicamp.br/jspui/handle/REPOSIP/306399.

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Orientador: Rafael de Freitas Leão<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Instituto de Matemática Estatística e Computação Científica<br>Made available in DSpace on 2018-08-23T07:15:26Z (GMT). No. of bitstreams: 1 Genaro_Rafael_M.pdf: 1032495 bytes, checksum: 30e0fabb7aa149ab240fc0b3ae0b6d46 (MD5) Previous issue date: 2013<br>Resumo: Dada uma conexão sobre um fibrado vetorial podemos usá-la para construir o transporte paralelo de elementos do fibrado ao longo de curvas da variedade base. Esta operação nos fornece isomorfismos lineares entre as fibras do fibrado em que
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39

Bigonnet, Bruno. "Holonomie et graphe de certains feuilletages avec singularites." Toulouse 3, 1986. http://www.theses.fr/1986TOU30165.

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On considere des feuilletages avec singularites au sens de sussmann et stefan, tels qu'ils s'introduisent en theorie du controle et en geometrie symplectique: la dimension des feuilles croit au voisinage des feuilles singulieres. On sait que, dans le cas regulier, les graphes des relations d'equivalence regulieres locales definies par les plaques se recollent en un groupoide differentiable, qui est le groupoide d'holonomie d'ehresmann, ou le "graphe" de winkelnkemper-connes, et qui determine le revetement d'holonomie de chaque feuille. On etend ici cette notion a certains feuilletages singulie
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40

Bigonnet, Bruno. "Holonomie et graphe de certains feuilletages avec singularités." Grenoble 2 : ANRT, 1986. http://catalogue.bnf.fr/ark:/12148/cb37596024h.

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41

Khennouf, Hayate. "Stabilisation de systèmes mécaniques avec contraintes non holonomes." Grenoble INPG, 1995. http://www.theses.fr/1995INPG0154.

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Determiner une loi de commande par retour d'etat permettant de stabiliser une classe de systemes mecaniques non holonomes est l'objet de cette these. L'interet particulier pour les systemes avec contraintes non holonomes s'explique par deux faits essentiels. D'une part, ces systemes trouvent de nombreuses applications dans le domaine industriel, et d'autre part ils presentent une singularite qui ne permet pas l'utilisation des methodes classiques de stabilisation. En effet, les systemes nonholonomes, bien que commandables, ne sont pas asymptotiquement stabilisables par retour d'etat continu st
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42

Valdmanis, Mikelis. "Localization and navigation of a holonomic indoor airship using on-board sensors." Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=97204.

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Two approaches to navigation and localization of a holonomic, unmanned, indoor airship capable of 6-degree-of-freedom (DOF) motion using on-board sensors are presented. First, obstacle avoidance and primitive navigation were attempted using a light-weight video camera. Two optical flow algorithms were investigated. Optical flow estimates the motion of the environment relative to the camera by computing temporal and spatial fluctuations of image brightness. Inferences on the nature of the visible environment, such as obstacles, would then be made based on the optical flow field. Results showed
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43

LIMA, A. G. "Fases Geométricas e Holonomias em um Ambiente com Violação de Simetria de Lorentz." Universidade Federal do Espírito Santo, 2015. http://repositorio.ufes.br/handle/10/7496.

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Made available in DSpace on 2018-08-01T22:30:02Z (GMT). No. of bitstreams: 1 tese_9030_Tese final André Gonçalves de Lima.pdf: 705806 bytes, checksum: 5f49dfbd29e1ef34ffa8556d3c6351c4 (MD5) Previous issue date: 2015-07-03<br>Esta tese tem como objetivo central a obtenção de fases geométricas quânticas no cenário em que ocorre a violação de simetria de Lorentz. Nós obtivemos análogos de fases geométricas para a dinâmica não relativística de uma partícula neutra com momento de dipolo magnético permanente em diversos cenários que envolvem a violação de simetria. A violação de simetria é induzi
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44

Abou-Samah, Michel. "A kinematically compatible framework for collaboration of multiple non-holonomic wheeled mobile robots /." Thesis, McGill University, 2001. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=33952.

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We examined the design, development and implementation of a modular system of multiple, wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially driven wheeled mobile robot (WMR) with a passive, two-degree-of-freedom, planar revolute jointed arm mounted in the plane parallel to the base of the WMR.<br>The composite multi-degree-of-freedom vehicle, formed by placing a common object on the end-effector of two such mobile manipulator systems, possesses the ability to change its relat
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Seiler, Konstantin. "Fast trajectory generation and correction for non-holonomic systems exploiting Lie group symmetries." Thesis, The University of Sydney, 2013. http://hdl.handle.net/2123/10117.

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Sampling based motion planning is a popular motion planning technique for systems with many degrees of freedom in continuous state spaces. In particular the class of Rapidly exploring Random Tree algorithms (RRTs) has wide-spread use as they can be applied to a broad range of systems. Subsequently many extensions and variations to the RRT algorithm are known today. Many results, however, are not applicable in the case of non-holonomic and underactuated systems due to the difficulty in obtaining the required length-of-shortest-path distance metric and corresponding local planner. Instead, by fo
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Jackson, Christopher. "Non-Holonomic Tomography: A Method for Assessing Various State-Preparation and Measurement Correlations." Thesis, University of Oregon, 2017. http://hdl.handle.net/1794/22794.

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The following dissertation investigates a problem related to the practice of quantum tomography, where one usually estimates the parameters associated with quantum states or measurements. In particular, the question answered is whether and how one could detect if states and measurements are correlated. A similar question answered is how one could detect state-preparation non-localities and measurement non-localities in multiqudit systems. The solution involves an analysis of certain matrix quantities called \emph{partial determinants}. Partial determinants are an application of the
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47

FRUCHARD, Matthieu. "Méthodologies pour la commande de manipulateurs mobiles non-holonomes." Phd thesis, École Nationale Supérieure des Mines de Paris, 2005. http://tel.archives-ouvertes.fr/tel-00010344.

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Cette thèse se place dans le cadre de la commande des manipulateurs mobiles hybrides holonomes/ non-holonomes, c'est-à-dire <br />des robots constitués d'un bras manipulateur embarqué sur une plate-forme porteuse. L'objectif de <br />ce travail est de fournir un cadre méthodologique pour la synthèse de lois de commande par retour d'état de tels systèmes, en <br />partant du constat qu'une stratégie de coordination entre la plate-forme et le manipulateur requiert génériquement de commander la <br />situation complète de la plate-forme. L'originalité des deux nouvelles approches proposées est de
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BONNAFOUS, David. "Exécution réactive de trajectoires pour robots mobiles non-holonomes." Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2003. http://tel.archives-ouvertes.fr/tel-00011080.

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Ce mémoire aborde le problème de l'exécution d'une trajectoire pour un robot mobile à roues soumis à des contraintes non-holonomes. Le but est de développer une méthode permettant d'éviter les collisions dûes aux erreurs de localisation du robot dans son environnement, aux obstacles inconnus et aux imprécisions du plan de l'environnement. La méthode s'appuie sur une technique générique de déformation de trajectoire. Les obstacles perçus au cours du mouvement génèrent des forces virtuelles qui repoussent la trajectoire au loin tout en garantissant le respect des contraintes non-holonomes. La mé
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Belato, Debora. "Analise não linear de sistemas dinamicos holonomos não ideais." [s.n.], 2002. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264610.

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Orientadores : Hans Ingo Weber, Jose Manoel Balthazar, João Maurício Rosário<br>Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica<br>Made available in DSpace on 2018-08-01T20:05:10Z (GMT). No. of bitstreams: 1 Belato_Debora_D.pdf: 22468929 bytes, checksum: b008a52ab3fb5afd92f7489482994f7e (MD5) Previous issue date: 2002<br>Resumo: Sistemas dinâmicos da mecânica muitas vezes unem o comportamento descrito por leis de movimento à dinâmica do seu funcionamento. Sua solução passa por hipóteses simplificadoras adotadas para obter um modelo matemático representa
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50

Sekhavat, Sépanta. "Planification de mouvements sans collisions pour systèmes non holonomes." Toulouse, INPT, 1996. http://www.theses.fr/1996INPT106H.

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Meme en l'absence d'obstacle la planification de mouvements pour un systeme non holonome (soumis a des contraintes cinematiques) n'est pas une tache aisee. L'evitement d'obstacle augmente encore la difficulte du probleme. Nous donnons une solution de ce probleme en combinant un planificateur geometrique sans collisions ignorant les contraintes non holonomes du systeme avec un planificateur local respectant ces dernieres contraintes mais ignorant les obstacles. Nous definissons une propriete topologique tp pour le planificateur local, traduisant la propriete de commandabilite locale du systeme.
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