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Nordmann, Arne [Verfasser], and Jochen J. [Akademischer Betreuer] Steil. "Modeling of motion primitive architectures using domain-specific languages / Arne Nordmann ; Betreuer: Jochen J. Steil." Bielefeld : Universitätsbibliothek Bielefeld, 2016. http://d-nb.info/1117134954/34.
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Grymin, David J. "Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles." Diss., Virginia Tech, 2013. http://hdl.handle.net/10919/24520.
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This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems.
A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically feasible trajectories are generated in real-time through concatenation of pre-specified motion primitives. The motion planning task is posed as a search over a directed graph, and the applicability of informed graph search techniques is investigated. Specifically, a locally greedy algorithm with effective backtracking ability is developed and compared to weighted A* search. The greedy algorithm shows an advantage with respect to solution cost and computation time when larger motion primitive libraries that do not operate on a regular state lattice are utilized. Linearization of the nonlinear system equations about the motion primitive library results in a hybrid linear time-varying model, and an optimal control algorithm using the L2-induced norm as the performance measure is applied to ensure that the system tracks the desired trajectory. The ability of the resulting controller to closely track the trajectory obtained from the motion planner, despite various disturbances and uncertainties, is demonstrated through simulation.
Additionally, an approach for obtaining dynamically feasible reference trajectories and feedback controllers for a small unmanned aerial vehicle (UAV) based on an aerodynamic model derived from flight tests is presented. The modeling approach utilizes the two step method (TSM) with stepwise multiple regression to determine relevant explanatory terms for the aerodynamic models. Dynamically feasible trajectories are then obtained through the solution of an optimal control problem using pseudospectral optimal control software. Discrete-time feedback controllers are then obtained to regulate the vehicle along the desired reference trajectory. Simulations in a realistic operational environment as well as flight testing with the feedback controller demonstrate the capabilities of the approach.
The TSM is also applied for system identification of an aircraft using motion capture data. In this application, time domain system identification techniques are used to identify both linear and nonlinear aerodynamic models of large-amplitude pitching motions driven by control surface deflections. The resulting models are assessed based on both their predictive capabilities as well as simulation results.<br>Ph. D.
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DELHAISSE, BRIAN. "Exploiting Prior Knowledge in Robot Motion Skills Learning." Doctoral thesis, Università degli studi di Genova, 2020. http://hdl.handle.net/11567/999052.
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This thesis presents a new robot learning framework, its application to exploit prior knowledge by encoding movement primitives in the form of a novel motion library, and the transfer of such knowledge to other robotic platforms in the form of shared latent spaces.
In robot learning, it is often desirable to have robots that learn and acquire new skills rapidly. However, existing methods are specific to a certain task defined by the user, as well as time consuming to train. This includes for instance end-to-end models that can require a substantial amount of time to learn a certain skill. Such methods often start with no prior knowledge or little, and move slowly from erratic movements to the specific required motion. This is very different from how animals and humans learn motion skills. For instance, zebras in the African Savannah can learn to walk in few minutes just after being born. This suggests that some kind of prior knowledge is encoded into them. Leveraging this information may help improve and accelerate the learning and generation of new skills. These observations raise questions such as: how would this prior knowledge be represented? And how much would it help the learning process? Additionally, once learned, these models often do not transfer well to other robotic platforms requiring to teach to each other robot the same skills. This significantly increases the total training time and render the demonstration phase a tedious process. Would it be possible instead to exploit this prior knowledge to accelerate the learning process of new skills by transferring it to other robots? These are some of the questions that we are interested to investigate in this thesis. However, before examining these questions, a practical tool that allows one to easily test ideas in robot learning is needed. This tool would have to be easy-to-use, intuitive, generic, modular, and would need to let the user easily implement different ideas and compare different models/algorithms. Once implemented, we would then be able to focus on our original questions.
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Almehio, Yasser. "A Cumulative Framework for Image Registration using Level-line Primitives." Thesis, Paris 11, 2012. http://www.theses.fr/2012PA112155.
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Nous proposons dans cette thèse une nouvelle approche cumulative de recalage d'images basée sur des primitives construites à partir des lignes de niveaux. Les lignes de niveaux sont invariantes par rapport aux diverses perturbations affectant l'image tels que les changements de contraste. Par ailleurs, leur abondance dans une image suggère naturellement un processus de décision cumulatif. Nous proposons alors un algorithme récursif d'extraction des lignes de niveaux simple et efficace qui extrait les lignes par groupes rectiligne appelés ``segments''. Les segments sont ensuite groupés -- sous contrainte de proximité -- en fonction du modèle de transformation recherchée et afin de faciliter le calcul des invariants. Les primitives construites ont alors la forme de Z, Y ou W et sont classées en fonction de leur fiabilité, ce qui participe au paramétrage du processus de décision cumulatif. Le vote est multi-tours et constitué d'une phase préliminaire de construction de listes de préférences inspiré de la technique des mariages stables. Les primitives votent à une itération donnée en fonction de leur fiabilité. Chaque itération fournit ainsi un estimé de la transformation recherchée que le tour suivant peut raffiner. Ce procédé multi-tours permet, de ce fait, d'éliminer les ambiguïtés d'appariement générées par les motifs répétitifs présents dans les images. Notre approche a été validée pour recaler des images sous différents modèles de transformations allant de la plus simple (similarité) à la plus complexe (projective). Nous montrons dans cette thèse comment le choix pertinent de primitives basées sur les lignes de niveaux en conjonction avec un processus de décision cumulatif permet d'obtenir une méthode de recalage d'images robuste, générique et complète, fournissant alors différents niveaux de précision et pouvant ainsi s'appliquer à différents contextes<br>In this thesis, we propose a new image registration method that relies on level-line primitives. Level-lines are robust towards contrast changes and proposed primitives inherit their robustness. Moreover, their abundance in the image is well adapted to a cumulative matching process based on a multi-stage primitive election procedure. We propose a simple recursive tracking algorithm to extract level lines by straight sets called "segments". Segments are then grouped under proximity constraints to construct primitives (Z, Y and W shapes) that are classified into categories according to their reliability. Primitive shapes are defined according to the transformation model. The cumulative process is based on a preliminary step of preference lists construction that is inspired from the stable marriage matching algorithm. Primitives vote in a given voting stage according to their reliability. Each stage provides a coarse estimate of the transformation that the next stage gets to refine. This process, in turn, eliminate gradually the ambiguity happened by incorrect correspondences. Our additional contribution is to validate further geometric transformations, from simple to complex ones, completing the path "similarity, affine, projective". We show in this thesis how the choice of level lines in conjunction with a cumulative decision process allows defining a complete robust registration approach that is tested and evaluated on several real image sequences including different type of transformations
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Mangin, Olivier. "Emergence de concepts multimodaux : de la perception de mouvements primitifs à l'ancrage de mots acoustiques." Thesis, Bordeaux, 2014. http://www.theses.fr/2014BORD0002/document.
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Cette thèse considère l'apprentissage de motifs récurrents dans la perception multimodale. Elle s'attache à développer des modèles robotiques de ces facultés telles qu'observées chez l'enfant, et elle s'inscrit en cela dans le domaine de la robotique développementale.Elle s'articule plus précisément autour de deux thèmes principaux qui sont d'une part la capacité d'enfants ou de robots à imiter et à comprendre le comportement d'humains, et d'autre part l'acquisition du langage. A leur intersection, nous examinons la question de la découverte par un agent en développement d'un répertoire de motifs primitifs dans son flux perceptuel. Nous spécifions ce problème et établissons son lien avec ceux de l'indétermination de la traduction décrit par Quine et de la séparation aveugle de source tels qu'étudiés en acoustique.Nous en étudions successivement quatre sous-problèmes et formulons une définition expérimentale de chacun. Des modèles d'agents résolvant ces problèmes sont également décrits et testés. Ils s'appuient particulièrement sur des techniques dites de sacs de mots, de factorisation de matrices et d'apprentissage par renforcement inverse. Nous approfondissons séparément les trois problèmes de l'apprentissage de sons élémentaires tels les phonèmes ou les mots, de mouvements basiques de danse et d'objectifs primaires composant des tâches motrices complexes. Pour finir nous étudions le problème de l'apprentissage d'éléments primitifs multimodaux, ce qui revient à résoudre simultanément plusieurs des problèmes précédents. Nous expliquons notamment en quoi cela fournit un modèle de l'ancrage de mots acoustiques<br>This thesis focuses on learning recurring patterns in multimodal perception. For that purpose it develops cognitive systems that model the mechanisms providing such capabilities to infants; a methodology that fits into thefield of developmental robotics.More precisely, this thesis revolves around two main topics that are, on the one hand the ability of infants or robots to imitate and understand human behaviors, and on the other the acquisition of language. At the crossing of these topics, we study the question of the how a developmental cognitive agent can discover a dictionary of primitive patterns from its multimodal perceptual flow. We specify this problem and formulate its links with Quine's indetermination of translation and blind source separation, as studied in acoustics.We sequentially study four sub-problems and provide an experimental formulation of each of them. We then describe and test computational models of agents solving these problems. They are particularly based on bag-of-words techniques, matrix factorization algorithms, and inverse reinforcement learning approaches. We first go in depth into the three separate problems of learning primitive sounds, such as phonemes or words, learning primitive dance motions, and learning primitive objective that compose complex tasks. Finally we study the problem of learning multimodal primitive patterns, which corresponds to solve simultaneously several of the aforementioned problems. We also details how the last problems models acoustic words grounding
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Williams, Ben H. "Extracting motion primitives from natural handwriting data." Thesis, University of Edinburgh, 2009. http://hdl.handle.net/1842/3221.
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Humans and animals can plan and execute movements much more adaptably and reliably than current computers can calculate robotic limb trajectories. Over recent decades, it has been suggested that our brains use motor primitives as blocks to build up movements. In broad terms a primitive is a segment of pre-optimised movement allowing a simplified movement planning solution. This thesis explores a generative model of handwriting based upon the concept of motor primitives. Unlike most primitive extraction studies, the primitives here are time extended blocks that are superimposed with character specific offsets to create a pen trajectory. This thesis shows how handwriting can be represented using a simple fixed function superposition model, where the variation in the handwriting arises from timing variation in the onset of the functions. Furthermore, it is shown how handwriting style variations could be due to primitive function differences between individuals, and how the timing code could provide a style invariant representation of the handwriting. The spike timing representation of the pen movements provides an extremely compact code, which could resemble internal spiking neural representations in the brain. The model proposes an novel way to infer primitives in data, and the proposed formalised probabilistic model allows informative priors to be introduced providing a more accurate inference of primitive shape and timing.
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Mirko, Raković. "Sinteza i realizacija dvonožnog hoda putem primitiva." Phd thesis, Univerzitet u Novom Sadu, Fakultet tehničkih nauka u Novom Sadu, 2013. http://www.cris.uns.ac.rs/record.jsf?recordId=85600&source=NDLTD&language=en.
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U tezi je prikazan novi metod za sintezu i realizaciju dvonožnogveštačkog hoda koji se zasniva na upotrebi jednostavnih pokreta čijimje kombinovanjem moguće realizovati kompleksne pokrete kao što jehod, a čiji se parametri mogu menjati tokom kretanja. Time je omogućenoda se na osnovu informacija o nameravanom kretanju i stanja okolineizvrši sinteza kretanja izborom i kombinacijom jednostavnihbazičnih pokreta koje se nazivaju primitivi. Takođe je omogućeno da se,tokom izvršavanja hoda bez njegovog prekida, menjaju parametrikretanja kao što su brzina hoda, dužina koraka, pravac kretanja ivisina podizanja noge tokom prenosne faze. Potvrda je data krozeksperimentalne rezultate koji su sprovedeni simulacijom nadinamičkom modelu humanoidnog robota.<br>This dissertation presents new method for the synthesis and realization ofbiped artificial walk based on the use of simple movements that can becombined in order to achieve complex movements such as walk, whereas itis possible to change the motion parameters at any time. It means that,based on the information about intended movement and current state of theenvironment, it is possible to synthesize motion by selecting and tying simplemovements, i.e. motion primitives. It also enables the robot to changewalking parameters online such as walking speed, direction of walk, footlength during swing phase and step length. Proof of this method is given byexperimental results obtained during the simulation on a dynamic model ofhumanoid robot.
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Blanchon, Sylvain. "Etude de la diversité phénotypique et génotypique des dyskinésies ciliaires primitives : vers une prise en charge personnalisée." Thesis, Paris Est, 2016. http://www.theses.fr/2016PESC0073.
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Rosado, José Fernando Fachada. "Adaptive biped locomotion from a single demonstration using motion primitives." Doctoral thesis, Universidade de Aveiro, 2016. http://hdl.handle.net/10773/17303.
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Doutoramento em Engenharia Eletrotécnica<br>Este trabalho aborda o problema de capacidade de imitação da locomoção
humana através da utilização de trajetórias de baixo nível codificadas com
primitivas de movimento e utilizá-las para depois generalizar para novas
situações, partindo apenas de uma demonstração única. Assim, nesta linha de
pensamento, os principais objetivos deste trabalho são dois: o primeiro é
analisar, extrair e codificar demonstrações efetuadas por um humano, obtidas
por um sistema de captura de movimento de forma a modelar tarefas de
locomoção bípede. Contudo, esta transferência não está limitada à simples
reprodução desses movimentos, requerendo uma evolução das capacidades
para adaptação a novas situações, assim como lidar com perturbações
inesperadas. Assim, o segundo objetivo é o desenvolvimento e avaliação de
uma estrutura de controlo com capacidade de modelação das ações, de tal
forma que a demonstração única apreendida possa ser modificada para o robô
se adaptar a diversas situações, tendo em conta a sua dinâmica e o ambiente
onde está inserido.
A ideia por detrás desta abordagem é resolver o problema da generalização a
partir de uma demonstração única, combinando para isso duas estruturas
básicas. A primeira consiste num sistema gerador de padrões baseado em
primitivas de movimento utilizando sistemas dinâmicos (DS). Esta abordagem
de codificação de movimentos possui propriedades desejáveis que a torna ideal
para geração de trajetórias, tais como a possibilidade de modificar determinados
parâmetros em tempo real, tais como a amplitude ou a frequência do ciclo do
movimento e robustez a pequenas perturbações. A segunda estrutura, que está
embebida na anterior, é composta por um conjunto de osciladores acoplados
em fase que organizam as ações de unidades funcionais de forma coordenada.
Mudanças em determinadas condições, como o instante de contacto ou
impactos com o solo, levam a modelos com múltiplas fases. Assim, em vez de
forçar o movimento do robô a situações pré-determinadas de forma temporal, o
gerador de padrões de movimento proposto explora a transição entre diferentes
fases que surgem da interação do robô com o ambiente, despoletadas por
eventos sensoriais. A abordagem proposta é testada numa estrutura de
simulação dinâmica, sendo que várias experiências são efetuadas para avaliar
os métodos e o desempenho dos mesmos.<br>This work addresses the problem of learning to imitate human locomotion actions
through low-level trajectories encoded with motion primitives and generalizing
them to new situations from a single demonstration. In this line of thought, the
main objectives of this work are twofold: The first is to analyze, extract and
encode human demonstrations taken from motion capture data in order to model
biped locomotion tasks. However, transferring motion skills from humans to
robots is not limited to the simple reproduction, but requires the evaluation of
their ability to adapt to new situations, as well as to deal with unexpected
disturbances. Therefore, the second objective is to develop and evaluate a
control framework for action shaping such that the single-demonstration can be
modulated to varying situations, taking into account the dynamics of the robot
and its environment.
The idea behind the approach is to address the problem of generalization from
a single-demonstration by combining two basic structures. The first structure is
a pattern generator system consisting of movement primitives learned and
modelled by dynamical systems (DS). This encoding approach possesses
desirable properties that make them well-suited for trajectory generation, namely
the possibility to change parameters online such as the amplitude and the
frequency of the limit cycle and the intrinsic robustness against small
perturbations. The second structure, which is embedded in the previous one,
consists of coupled phase oscillators that organize actions into functional
coordinated units. The changing contact conditions plus the associated impacts
with the ground lead to models with multiple phases. Instead of forcing the robot’s
motion into a predefined fixed timing, the proposed pattern generator explores
transition between phases that emerge from the interaction of the robot system
with the environment, triggered by sensor-driven events. The proposed approach
is tested in a dynamics simulation framework and several experiments are
conducted to validate the methods and to assess the performance of a humanoid
robot.
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Neas, Charles Bennett. "A Greedy Search Algorithm for Maneuver-Based Motion Planning of Agile Vehicles." Thesis, Virginia Tech, 2010. http://hdl.handle.net/10919/36213.
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This thesis presents a greedy search algorithm for maneuver-based motion planning of agile vehicles. In maneuver-based motion planning, vehicle maneuvers are solved offline and saved in a library to be used during motion planning. From this library, a tree of possible vehicle states can be generated through the search space. A depth-first, library-based algorithm called AD-Lib is developed and used to quickly provide feasible trajectories along the tree. AD-Lib combines greedy search techniques with hill climbing and effective backtracking to guide the search process rapidly towards the goal. Using simulations of a four-thruster hovercraft, AD-Lib is compared to existing suboptimal search algorithms in both known and unknown environments with static obstacles. AD-Lib is shown to be faster than existing techniques, at the expense of increased path cost. The motion planning strategy of AD-Lib along with a switching controller is also tested in an environment with dynamic obstacles.<br>Master of Science
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Vögele, Anna Magdalena [Verfasser]. "Patterns in Motion - From the Detection of Primitives to Steering Animations / Anna Magdalena Vögele." Bonn : Universitäts- und Landesbibliothek Bonn, 2016. http://d-nb.info/1122193777/34.
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Knepper, Ross A. "On the Fundamental Relationships Among Path Planning Alternatives." Research Showcase @ CMU, 2011. http://repository.cmu.edu/dissertations/180.
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Robotic motion planning aspires to match the ease and efficiency with which humans move through and interact with their environment. Yet state of the art robotic planners fall short of human abilities; they are slower in computation, and the results are often of lower quality. One stumbling block in traditional motion planning is that points and paths are often considered in isolation. Many planners fail to recognize that substantial shared information exists among path alternatives. Exploitation of the geometric and topological relationships among path alternatives can therefore lead to increased efficiency and competency. These benefits include: better-informed path sampling, dramatically faster collision checking, and a deeper understanding of the trade-offs in path selection.
In path sampling, the principle of locality is introduced as a basis for constructing an adaptive, probabilistic, geometric model to influence the selection of paths for collision test. Recognizing that collision testing consumes a sizable majority of planning time and that only collision-free paths provide value in selecting a path to execute on the robot, this model provides a significant increase in efficiency by circumventing collision testing paths that can be predicted to collide with obstacles.
In the area of collision testing, an equivalence relation termed local path equivalence, is employed to discover when the work of testing a path has been previously performed. The swept volumes of adjoining path alternatives frequently overlap, implying that a continuum of intermediate paths exists as well. By recognizing such neighboring paths with related shapes and outcomes, up to 90% of paths may be tested implicitly in experiments, bypassing the traditional, expensive collision test and delivering a net 300% boost in collision test performance. Local path equivalence may also be applied to the path selection problem in order to recognize higher-level navigation options and make smarter choices. This thesis presents theoretical and experimental results in each of these three areas, as well as inspiration on the connections to how humans reason about moving through spaces.
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Soulet, Arnaud. "Un cadre générique de découverte de motifs sous contraintes fondées sur des primitives." Phd thesis, Université de Caen, 2006. http://tel.archives-ouvertes.fr/tel-00123185.
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La découverte de motifs est une tâche centrale pour<br />l'extraction de connaissances dans les bases de données. Cette thèse<br />traite de l'extraction de motifs locaux sous contraintes. Nous<br />apportons un éclairage nouveau avec un cadre combinant des primitives<br />monotones pour définir des contraintes quelconques. La variété de ces<br />contraintes exprime avec précision l'archétype des motifs recherchés<br />par l'utilisateur au sein d'une base de données. Nous proposons alors<br />deux types d'approche d'extraction automatique et générique malgré les<br />difficultés algorithmiques inhérentes à cette tâche. Leurs efficacités<br />reposent principalement sur l'usage de conditions nécessaires pour<br />approximer les variations de la contrainte. D'une part, des méthodes<br />de relaxations permettent de ré-utiliser les nombreux algorithmes<br />usuels du domaines. D'autre part, nous réalisons des méthodes<br />d'extraction directes dédiées aux motifs ensemblistes pour les données<br />larges ou corrélées en exploitant des classes d'équivalences. Enfin,<br />l'utilisation de nos méthodes ont permi la découverte de phénomènes<br />locaux lors d'applications industrielles et médicales.
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Cowley, Edwe Gerrit. "Kinodynamic planning for a fixed-wing aircraft in dynamic, cluttered environments : a local planning method using implicitly-defined motion primitives." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/80077.
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Thesis (MScEng)--Stellenbosch University, 2013.<br>ENGLISH ABSTRACT: In order to navigate dynamic, cluttered environments safely, fully autonomous Unmanned
Aerial Vehicles (UAVs) are required to plan conflict-free trajectories between two states
in position-time space efficiently and reliably. Kinodynamic planning for vehicles with
non-holonomic dynamic constraints is an NP-hard problem which is usually addressed
using sampling-based, probabilistically complete motion planning algorithms. These algorithms
are often applied in conjunction with a finite set of simple geometric motion
primitives which encapsulate the dynamic constraints of the vehicle. This ensures that
composite trajectories generated by the planning algorithm adhere to the vehicle dynamics.
For many vehicles, accurate tracking of position-based trajectories is a non-trivial
problem which demands complicated control techniques with high energy requirements.
In an effort to reduce control complexity and thus also energy consumption, a generic
Local Planning Method (LPM), able to plan trajectories based on implicitly-defined motion
primitives, is developed in this project. This allows the planning algorithm to construct
trajectories which are based on simulated results of vehicle motion under the
control of a rudimentary auto-pilot, as opposed to a more complicated position-tracking
system. The LPM abstracts motion primitives in such a way that it may theoretically be
made applicable to various vehicles and control systems through simple substitution of
the motion primitive set.
The LPM, which is based on a variation of the Levenberg-Marquardt Algorithm (LMA),
is integrated into a well-known Probabilistic Roadmap (PRM) kinodynamic planning algorithm
which is known to work well in dynamic and cluttered environments. The complete
motion planning algorithm is tested thoroughly in various simulated environments,
using a vehicle model and controllers which have been previously verified against a real
UAV during practical flight tests.<br>AFRIKAANSE OPSOMMING: Ten einde dinamiese, voorwerpryke omgewings veilig te navigeer, word daar vereis dat
volledig-outonome onbemande lugvoertuie konflikvrye trajekte tussen twee posisie-tydtoestande
doeltreffend en betroubaar kan beplan. Kinodinamiese beplanning is ’n NPmoeilike
probleem wat gewoonlik deur middel van probabilisties-volledige beplanningsalgoritmes
aangespreek word . Hierdie algoritmes word dikwels in kombinasie met ’n
eindige stel eenvoudige geometriese maneuvers, wat die dinamiese beperkings van die
voertuig omvat, ingespan. Sodanig word daar verseker dat trajekte wat deur die beplaningsalgoritme
saamgestel is aan die dinamiese beperkings van die voertuig voldoen.
Vir baie voertuie, is die akkurate volging van posisie-gebaseerde trajekte ’n nie-triviale
probleem wat die gebruik van ingewikkelde, energie-intensiewe beheertegnieke vereis.
In ’n poging om beheer-kompleksiteit, en dus energie-verbruik, te verminder, word ’n generiese
plaaslike-beplanner voorgestel. Hierdie algoritme stel die groter kinodinamiese
beplanner in staat daartoe om trajekte saam te stel wat op empiriese waarnemings van
voertuig-trajekte gebaseer is. ’n Eenvoudige beheerstelsel kan dus gebruik word, in
teenstelling met die meer ingewikkelde padvolgingsbeheerders wat benodig word om
eenvoudige geometriese trajekte akkuraat te volg. Die plaaslike-beplanner abstraeer
maneuvers in so ’n mate dat dit teoreties op verskeie voertuie en beheerstelsels van
toepassing gemaak kan word deur eenvoudig die maneuver-stel te vervang.
Die plaaslike-beplanner, wat afgelei is van die Levenberg-Marquardt-Algoritme (LMA),
word in ’n welbekende “Probabilistic Roadmap” (PRM) kinodinamiese-beplanningsalgoritme
geïntegreer. Dit word algemeen aanvaar dat die PRM effektief werk in dinamiese, voorwerpryke
omgewings. Die volledige beplanningsalgoritme word deeglik in verskeie, gesimuleerde
omgewings getoets op ’n voertuig-model en -beheerders wat voorheen vir
akkuraatheid teenoor ’n werklike voertuig gekontroleer is tydens praktiese vlugtoetse.
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Johansson, Åke, and Joel Wikner. "Learning-Based Motion Planning and Control of a UGV With Unknown and Changing Dynamics." Thesis, Linköpings universitet, Reglerteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-176923.
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Research about unmanned ground vehicles (UGVs) has received an increased amount of attention in recent years, partly due to the many applications of UGVs in areas where it is inconvenient or impossible to have human operators, such as in mines or urban search and rescue. Two closely linked problems that arise when developing such vehicles are motion planning and control of the UGV. This thesis explores these subjects for a UGV with an unknown, and possibly time-variant, dynamical model. A framework is developed that includes three components: a machine learning algorithm to estimate the unknown dynamical model of the UGV, a motion planner that plans a feasible path for the vehicle and a controller making the UGV follow the planned path. The motion planner used in the framework is a lattice-based planner based on input sampling. It uses a dynamical model of the UGV together with motion primitives, defined as a sequence of states and control signals, which are concatenated online in order to plan a feasible path between states. Furthermore, the controller that makes the vehicle follow this path is a model predictive control (MPC) controller, capable of taking the time-varying dynamics of the UGV into account as well as imposing constraints on the states and control signals. Since the dynamical model is unknown, the machine learning algorithm Bayesian linear regression (BLR) is used to continuously estimate the model parameters online during a run. The parameter estimates are then used by the MPC controller and the motion planner in order to improve the performance of the UGV. The performance of the proposed motion planning and control framework is evaluated by conducting a series of experiments in a simulation study. Two different simulation environments, containing obstacles, are used in the framework to simulate the UGV, where the performance measures considered are the deviation from the planned path, the average velocity of the UGV and the time to plan the path. The simulations are either performed with a time-invariant model, or a model where the parameters change during the run. The results show that the performance is improved when combining the motion planner and the MPC controller with the estimated model parameters from the BLR algorithm. With an improved model, the vehicle is capable of maintaining a higher average velocity, meaning that the plan can be executed faster. Furthermore, it can also track the path more precisely compared to when using a less accurate model, which is crucial in an environment with many obstacles. Finally, the use of the BLR algorithm to continuously estimate the model parameters allows the vehicle to adapt to changes in its model. This makes it possible for the UGV to stay operational in cases of, e.g., actuator malfunctions.
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Vieira, Hiparco Lins. "Redução do custo computacional do algoritmo RRT através de otimização por eliminação." Universidade de São Paulo, 2014. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-05092014-163621/.
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A aplicação de técnicas baseadas em amostragem em algoritmos que envolvem o planejamento de trajetórias de robôs tem se tornado cada vez mais difundida. Deste grupo, um dos algoritmos mais utilizados é chamado Rapidly-exploring Random Tree (RRT), que se baseia na amostragem incremental para calcular de forma eficiente os planos de trajetória do robô evitando colisões com obstáculos. Vários esforços tem sido realizados a fim de reduzir o custo computacional do algoritmo RRT, visando aplicações que necessitem de respostas mais rápidas do algoritmo, como, por exemplo, em ambientes dinâmicos. Um dos dilemas relacionados ao RRT está na etapa de geração de primitivas de movimento. Se várias primitivas são geradas, permitindo o robô executar vários movimentos básicos diferentes, um grande custo computacional é gasto. Por outro lado, quando poucas primitivas são geradas e, consequentemente, poucos movimentos básicos são permitidos, o robô pode não ser capaz de encontrar uma solução para o problema, mesmo que esta exista. Motivados por este problema, um método de geração de primitivas de movimento foi proposto. Tal método é comparado com os métodos tradicional e aleatório de geração de primitivas, considerando não apenas o custo computacional de cada um, mas também a qualidade da solução obtida. O método proposto é aplicado ao algoritmo RRT, que depois é aplicado em um caso de estudo em um ambiente dinâmico. No estudo de caso, o algoritmo RRT otimizado é avaliado em termos de seus custos computacionais durante planejamentos e replanejamento de trajetória. As simulações são realizadas em dois simuladores: um desenvolvido em linguagem Python e outro em Matlab.<br>The application of sample-based techniques in path-planning algorithms has become year-by-year more widespread. In this group, one of the most widely used algorithms is the Rapidly-exploring Random Tree (RRT), which is based on an incremental sampling of configurations to efficiently compute the robot\'s path while avoiding obstacles. Many efforts have been made to reduce RRT computational costs, targeting, in particular, applications in which quick responses are required, e.g., in dynamic environments. One of the dilemmas posed by the RRT arises from its motion primitives generation. If many primitives are generated to enable the robot to perform a broad range of basic movements, a signicant computational cost is required. On the other hand, when only a few primitives are generated, thus, enabling a limited number of basic movements, the robot may be unable to find a solution to the problem, even if one exists. To address this quandary, an optimized method for primitive generation is proposed. This method is compared with the traditional and random primitive generation methods, considering not only computational cost, but also the quality of local and global solutions that may be attained. The optimized method is applied to the RRT algorithm, which is then used in a case study in dynamic environments. In the study, the modied RRT is evaluated in terms of the computational costs of its planning and replanning. The simulations were developed to access the effectiveness and efficiency of the proposed algorithm.
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Obentheuer, Marius [Verfasser], and Karsten [Akademischer Betreuer] Berns. "Transfer of Human Motion Primitives for Digital Human Model Control in the Scope of Ergonomic Assessment / Marius Obentheuer ; Betreuer: Karsten Berns." Kaiserslautern : Technische Universität Kaiserslautern, 2020. http://d-nb.info/1216104891/34.
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Ara?jo, Vitor Menegheti Ugulino de. "T?cnicas visuais de localiza??o e mapeamento simult?neos sem extra??o de primitivas geom?tricas da imagem." Universidade Federal do Rio Grande do Norte, 2011. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15369.
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Previous issue date: 2011-07-29<br>In Simultaneous Localization and Mapping (SLAM - Simultaneous Localization and Mapping), a robot placed in an unknown location in any environment must be able to create
a perspective of this environment (a map) and is situated in the same simultaneously, using only information captured by the robot s sensors and control signals known.
Recently, driven by the advance of computing power, work in this area have proposed to use video camera as a sensor and it came so Visual SLAM. This has several approaches
and the vast majority of them work basically extracting features of the environment, calculating the necessary correspondence and through these estimate the required parameters.
This work presented a monocular visual SLAM system that uses direct image registration to calculate the image reprojection error and optimization methods that minimize this error and thus obtain the parameters for the robot pose and map of the environment directly from the pixels of the images. Thus the steps of extracting and matching features are not needed, enabling our system works well in environments where traditional approaches have difficulty. Moreover, when addressing the problem of SLAM as proposed in this work we avoid a very common problem in traditional approaches, known as error propagation. Worrying about the high computational cost of this approach have been tested several
types of optimization methods in order to find a good balance between good estimates and processing time. The results presented in this work show the success of this system
in different environments<br>No SLAM (Simultaneous Localization and Mapping), um rob? posicionado em uma localiza??o desconhecida de um ambiente qualquer deve ser capaz de construir uma perspectiva
deste ambiente (um mapa) e se localizar no mesmo simultaneamente, utilizando apenas informa??es captadas pelos sensores do rob? e muitas vezes sinais de controle
conhecidos. Recentemente, impulsionados pelo avan?o computacional, trabalhos nessa ?rea propuseram
usar c?mera de v?deo como sensor e surgiu assim o SLAM Visual. Este possui v?rias abordagens e a grande maioria delas funcionam, basicamente, extraindo caracter?sticas
do ambiente, calculando as devidas correspond?ncias e atrav?s destas, e de filtros estat?sticos, estimam os par?metros necess?rios. Neste trabalho ? apresentado um sistema de SLAM Visual Monocular que utiliza registro direto de imagem para calcular o erro de reproje??o entre imagens e m?todos de
otimiza??o que minimizam esse erro e assim obter os par?metros relativos ? pose do rob? e o mapa do ambiente diretamente dos pixels das imagens. Dessa forma as etapas de extra??o e correspond?ncia de caracter?sticas s?o dispensadas, possibilitando que nosso sistema funcione bem em ambientes onde as abordagens tradicionais teriam dificuldades.
Al?m disso, ao se abordar o problema do SLAM da forma proposta nesse trabalho evitase um problema muito comum nas abordagens tradicionais, conhecido como acumulo do
erro. Preocupando-se com o elevado custo computacional desta abordagem foram testados v?rios tipos de m?todos de otimiza??o afim de achar um bom equil?brio entre boas estimativas e tempo de processamento. Os resultados apresentados neste trabalho comprovam o funcionamento desse sistema em diferentes ambientes
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Bouchard, Isabelle. "Hercule à la défense du christianisme : l'utilisation du mythe d'Hercule dans les ouvrages chrétiens entre le IIe et IVe siècle." Thesis, Université Laval, 2008. http://www.theses.ulaval.ca/2008/25714/25714.pdf.
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Benammar, Riyadh. "Détection non-supervisée de motifs dans les partitions musicales manuscrites." Thesis, Lyon, 2019. http://www.theses.fr/2019LYSEI112.
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Cette thèse s'inscrit dans le contexte de la fouille de données appliquées aux partitions musicales manuscrites anciennes et vise une recherche de motifs mélodiques ou rythmiques fréquents définis comme des séquences de notes répétitives aux propriétés caractéristiques. On rencontre un grand nombre de déclinaisons possibles de motifs : les transpositions, les inversions et les motifs dits « miroirs ». Ces motifs permettent aux musicologues d'avoir un niveau d'analyse approfondi sur les œuvres d'un compositeur ou d'un style musical. Dans un contexte d'exploration de corpus de grande taille où les partitions sont juste numérisées et non transcrites, une recherche automatisée de motifs vérifiant des contraintes ciblées devient un outil indispensable à leur étude. Pour la réalisation de l'objectif de détection de motifs fréquents sans connaissance a priori, nous sommes partis d'images de partitions numérisées. Après des étapes de prétraitements sur l'image, nous avons exploité et adapté un modèle de détection et de reconnaissance de primitives musicales (tête de notes, hampes...) de la famille de réseaux de neurones à convolutions de type Region-Proposal CNN (RPN). Nous avons ensuite développé une méthode d'encodage de primitives pour générer une séquence de notes en évitant la tâche complexe de transcription complète de l'œuvre manuscrite. Cette séquence a ensuite été analysée à travers l'approche CSMA (Contraint String Mining Algorithm) que nous avons conçue pour détecter les motifs fréquents présents dans une ou plusieurs séquences avec une prise en compte de contraintes sur leur fréquence et leur taille, ainsi que la taille et le nombre de sauts autorisés (gaps) à l'intérieur des motifs. La prise en compte du gap a ensuite été étudiée pour contourner les erreurs de reconnaissance produites par le réseau RPN évitant ainsi la mise en place d'un système de post-correction des erreurs de transcription des partitions. Le travail a été finalement validé par l'étude des motifs musicaux pour des applications d'identification et de classification de compositeurs<br>This thesis is part of the data mining applied to ancient handwritten music scores and aims at a search for frequent melodic or rhythmic motifs defined as repetitive note sequences with characteristic properties. There are a large number of possible variations of motifs: transpositions, inversions and so-called "mirror" motifs. These motifs allow musicologists to have a level of in-depth analysis on the works of a composer or a musical style. In a context of exploring large corpora where scores are just digitized and not transcribed, an automated search for motifs that verify targeted constraints becomes an essential tool for their study. To achieve the objective of detecting frequent motifs without prior knowledge, we started from images of digitized scores. After pre-processing steps on the image, we exploited and adapted a model for detecting and recognizing musical primitives (note-heads, stems...) from the family of Region-Proposal CNN (RPN) convolution neural networks. We then developed a primitive encoding method to generate a sequence of notes without the complex task of transcribing the entire manuscript work. This sequence was then analyzed using the CSMA (Constraint String Mining Algorithm) approach designed to detect the frequent motifs present in one or more sequences, taking into account constraints on their frequency and length, as well as the size and number of gaps allowed within the motifs. The gap was then studied to avoid recognition errors produced by the RPN network, thus avoiding the implementation of a post-correction system for transcription errors. The work was finally validated by the study of musical motifs for composers identification and classification
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Péron, Pascal. "Écriture et spatialité dans le noyau primitif du cycle de la croisade." Paris 10, 2004. http://www.theses.fr/2004PA100049.
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A la fin du XIIe siècle, trois chansons de geste -noyau primitif d'un cycle qui comprendra par la suite de multiples branches- rapportent les exploits des héros de la première croisade (Antioche, Jérusalem) ainsi que les aventures de quelques chevaliers capturés par les turcs au cours de l'éxpédition (les Chétifs). Ainsi, pour la première fois dans l'épopée romane, l'action dans sa quasi-totalité se déroule en terre orientale, terre estrange, mais aussi Terre sainte et seuil de ces contrées lointaines et légendaires dont les images nourrissent à cette époque les rêves de l'Occident. Parce qu'elle intègre ces nouvelles dimensions de la spatialité épique, la chanson de geste est amenée, dans une certaine mesure, à modifier son écriture, tout en marquant sa volonté de se référer à unr tradition. L'étude de la spatialité, telle qu'elle s'inscrit dans le texte de ces trois poèmes, permet de mettre à jour leur spécificité<br>At the end of the 12th century, three chansons de geste -primitive core of a cycle which will enclose many branches later- relate the exploits of the heroes of the first crusade (Antioche, Jérusalem) as well as the adventures of a few knights captured by the Turks during the expedition (Les Chétifs). So, for the first time in the romanic epic, the action almost entirely takes place on oriental land, estrange land, but also Holy Land and gate to these faraway and legendary regions whose images nuture the dreams of the Occident at that time. Because it integrates these new dimensions of th epic spatiality, the chanson de geste is driven, to some extent, to modify its writing, showing in the mean time its will to belong to a tradition. The study of spatiality, as it is inscribed in the text of these three poems, enables us to throw in to light their specificity
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Badang, Geneviève. "Les Africains entre cultes ancestraux et christianisme : permanence du dilemme dans la littérature négro-africaine. Le cas de six auteurs francophones." Paris 4, 1996. http://www.theses.fr/1996PA040240.
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L'irruption du christianisme en un milieu déjà religieux, les diverses expressions de la foi chrétienne qui portent la marque de la civilisation occidentale, fortement imprégnée des logiques aristotélicienne, platonicienne puis cartésienne, a déstabilisé les mentalités africaines différentes de celles de l'occident. L'implantation du christianisme avec des méthodes brutales, a surpris et révolté certains africains. Le christianisme a été présenté comme l'unique voie de salut. L'africain était mis en demeure de choisir entre son patrimoine culturel et religieux, fondement de son existence humaine et quotidienne, et le christianisme qu'on lui apportait. Ce christianisme apparaissait comme le vecteur implicite des valeurs de la civilisation occidentale. Placé devant le devoir imposé de choisir, l'africain répondra par le refus ou par une obéissance apparente. Le dilemme suscité par l'obligation d'un choix pour l'un ou l'autre camp se heurte à la supériorité accordée au christianisme et au mépris des rites et croyances des africains. Rites ancestraux, rites chrétiens : le même mot circonscrit pour l'africain la même réalité. Qu'il s'agisse de dieu ou de l'être suprême ayant un nom spécifique dans chaque culture, les cultes et les rites s'adressent à une même réalité. Il est difficile aux africains de vivre dans leur culture noire, l'intégralité des exigences du christianisme<br>The irruption of Christianism in an already religious ground, the several expressions of the Christian faith in its occidental form, as well as the occidental logical mind, have destabilised the African mentalities. The implantation of the Christianism, with its brutal ways, has surprised and revolted some of the African people. The Christianism has been shown as the only way of salvation. The African man had to choose between his cultural inheritance, and the Christian one. The Christianism was the screen of occidental values. Through this dilemma, the African man was facing the despise of his African traditional believes. It is hard for the African people to live in their African culture and to fulfil the Christian duties. That for their behaviour has been called "syncretism". If the language and the way to behave are the expression of a culture, the African people should deculture themselves to be converted to Christianity ? That is how the first missionaries thought
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Ulysse, Sterlin. "Problématique de l'autre : écriture et peinture haïtiennes en question." Thesis, Toulouse 2, 2015. http://www.theses.fr/2015TOU20073.
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Les premiers discours sur l’art en Haïti ont été envisagés à partir de la question de l’autre. Il s’agissait de savoir comment la littérature aiderait à définir une identité haïtienne. Ce travail interroge la littérature et la peinture sur la problématique de l’autre, l’autre du dedans, où l’altérité se joue entre les membres d’une même société. Les productions artistiques et culturelles populaires sont analysées à travers le prisme de l’art naïf qui est à la base de la réflexion sur le rapport entre littérature et peinture. Dans un premier temps, les représentations du monde rural par le mouvement indigéniste sont explorées dans les discours littéraires et picturaux, afin de voir si la pratique a su répondre aux objectifs théoriques énoncés par les penseurs du mouvement. Dans un second temps, le dialogue entre la littérature et peinture est traité à partir de plusieurs points de vue : culturel, social, esthétique, en nous appuyant sur les romans suivants, La contrainte de l’inachevé d’Anthony Phelps, L’Énigme du retour de Dany Laferrière et Yanvalou pour Charly de Lyonel Trouillot. Tandis qu’en peinture nos analyses se réfèrent aux toiles de André Normil, Wilson Bigaud, Wilbert Laurent ou Pétion Savain, entre autres<br>The first writings on art in Haiti were based on the questioning of otherness - the aim was to know how literature could help define a Haitian identity. This dissertation uses literature and painting to explore this issue of otherness – an otherness inside, in which otherness lies between the members of a same society. The popular artistic and cultural productions are analyzed through the perspective of Naïve Art which gives birth to this reflection on the interaction between literature and painting. The representations of the rural world by the indigenous movement are first explored in literary and pictorial works, in order to see if practice could match the theoretical objectives established by the thinkers of the movement. The dialogue between literature and painting is then explored through several perspectives – cultural, social, esthetic ones, while studying the following novels, La contrainte de l’inachevé by Anthony Phelps, L’Énigme du retour by Dany Laferrière and Yanvalou pour Charly by Lyonel Trouillot. In painting, our analyses notably refer to the works of André Normil, Wilson Bigaud, Wilbert Laurent or Pétion Savain among others
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Lefèvre, Olivier. "Tertullien et le jeûne dans les premiers siècles de l'Eglise chrétienne : édition, traduction, commentaire du "De ieiuniis aduersus psychicos"." Paris 4, 2009. http://www.theses.fr/2009PA040013.
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Le De ieiuniis aduersus psychicos est un des derniers écrits de Tertullien, marqué par son rapprochement avec la secte de Montan. Ce traité, dont il ne reste aucune trace manuscrite, excepté quelques rares témoins patristiques et médiévaux, s’articule autour d’un double objectif : le premier est orienté vers une défense de la pratique du jeûne, en particulier de la xérophagie et de la station, dont l’ancienneté, est garantie par les multiples exemples tirés de l’Ancien et du Nouveau Testament, en vue de justifier le grief de nouveauté lancé par les psychiques. Le second se cache derrière le style polémique et la rhétorique subtile d’une argumentation précise et efficace : le jeûne est le premier instrument du salut donné par Dieu à l’homme afin de recouvrer la grâce perdue au moment du péché originel qui est un péché de gourmandise. Le jeûne s’inscrit donc dans le cadre d’une réflexion à la fois sotériologique puisque l’homme doit tout mettre en œuvre pour se réconcilier avec Dieu et eschatologique puisqu’il se prépare ainsi à affronter les puissances de la chair et les persécutions des derniers temps. Au lieu de la formule « mangeons et buvons, car demain nous mourons », Tertullien en propose une autre : « jeûnons, car demain nous mourons » (Iei. 17, 5). L’originalité de ce traité, très souvent mal compris, ne réside pas tant dans la polémique formelle qui le motive que dans la double information qu’il donne : il s’agit d’un texte capital dans l’histoire des pratiques alimentaires et religieuses de la société romaine de Carthage au début du IIIe siècle ap. J. -C ; il s’impose également dans l’histoire littéraire et mystique de l’Église, par l’originalité de son auteur<br>De ieiuniis aduersus psychicos is one of last papers of Tertullian, marked by his link with the sect of Montan. This treaty, of which there are no more handwritten records, except from some rare patristics and medieval witnesses, articulates around a double objective : the first one is directed to a defense of the practice of fasting, in particular the xerophagy and the station, from which the antiquity is guaranteed by the multiple examples taken from the Ancient and the New Testament to justify the grievances of novelty thrown by psychics. The second hides behind the polemical style and the subtle rhetoric of a precise and effective argumentation: fasting is the first instrument of the safety given by God to Man so as to recover the grace lost at the time of the Original Sin, which is a sin of greed. Fasting thus joins within the framework of a reflection both soteriologic because Man has to implement everything to become reconciled with God and because he therefore/thus gets ready to face the powers of flesh and the persecutions of the end of time. Instead of the formula " let us eat and let us drink, because tomorrow we will die ", Tertullian offers another one: " let us fast, because tomorrow we will die " (Iei. 17, 5). The originality of this treaty, very often misunderstood, does not live so much in the formal debate which motivates it as in the double information it gives: it is about a major text in the history of food and religious practices of the Roman society of Carthage at the beginning of the third century A. D; it also imposes itself in the literary and mystic history of the Church, by the originality of its author
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Trivellone, Alessia. "L'hérésie médiévale et les images : l'iconographie de l'hérétique en Occident (fin Xe siècle-1230)." Poitiers, 2005. http://www.theses.fr/2005POIT5014.
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La thèse explore le phénomène de l'hérésie médiévale à travers l'étude de l'iconographie de l'hérétique en Europe entre la fin du Xe siècle et 1230. Les images du XIe siècle, représentant les hérétiques de l'Antiquité tardive (par exemple Arius, Faustus, etc. ), témoignent de la redécouverte de l'hérésie ancienne, opérée dans diverses régions à partir d'une réflexion sur des thèmes orthodoxes. Dans les images du XIIe siècle, l'hérésie est insérée dans des représentations de prophéties. Au cours de la troisième décennie du XIIIe siècle, sont enfin figurés les hérétiques "contemporains" (Publicains, Albigeois, etc. ). La thèse montre que la construction de l'image de l'hérétique, et donc de l'idée d'hérésie, est le résultat d'une actualisation de l'hérésie ancienne et de sa projection à un niveau eschatologique. Enfin, la représentation des hérétiques contemporains, apparue deux siècles après les premières condamnations pour hérésie, atteste de l'ancrage de l'idée dans le quotidien<br>The thesis explores medieval heresy through the study of the iconography of heretics in Europe, between the end of the 10th C. And 1230. In the 11th C. , the greatest part of reproductions represent heretics of the first centuries of Chritianity (Arius, Faustus. . . ). These images are testimonial of the rediscovery of heresy of Antiquity, practised in different regions and starting from a reflection on orthodox subjects. In the reproductions of the 12th C. , heresy is connected to the representation of prophecies. During the third decade of the 13th C. , we find images of "contemporary" heretics (Publicani, Albigenses. . . ). This thesis proves that the idea of heresy in 11th C. Derives from the updating of heresy of the Antiquity and its projection on an eschatological plan. The representation of contemporary heretics, which appeared two centuries after the first sentences against heresy, underlines that in the final phase of this evolution, the idea of heresy was brought back to daily life
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CORNES, CRISTINA. "Conception d'un langage de haut niveau de representation de preuves : recurrence par filtrage de motifs unification en presence de types inductifs primitifs synthese de lemmes d'inversion." Paris 7, 1997. http://www.theses.fr/1997PA077193.
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Les systemes de preuves bases sur les theories des types offrent un cadre uniforme qui permet de programmer, specifier et prouver. L'utilisateur dispose d'un langage de programmation, d'un langage de specification et d'outils qui l'aident a raisonner formellement sur son programme. Dans le but de rapprocher dans ces systemes la syntaxe des definitions de fonctions de celle des mathematiques et des langages de programmation a la ml, nous etudions les preuves de terminaison de fonctions recursives definies equationnellement. A partir de la methode de synthese de preuves proposee par gilles dowek pour les systemes de types purs, et celle proposee par hassan saidi pour le systeme t de godel, nous proposons une methode de synthese de preuves pour le calcul des constructions inductives (cci). Ce calcul est une theorie des types tres riche, avec types polymorphes, types dependants et types inductifs primitifs (par exemple, les types algebriques et les predicats inductifs). Cette methode est complete, et fournit un cadre general ou definir des strategies de recherche de preuves. La completude se paye par la non terminaison. Nous etudions donc des restrictions qui terminent et qui permettent de resoudre une certaine classe de problemes de filtrage et d'unification du second ordre dans cci. Nous analysons aussi la derivation de principes d'analyse par cas specialises (dits principes d'inversion), technique necessaire pour resoudre une classe large de problemes de filtrage. Ces restrictions, que l'on peut considerer comme des algorithmes de compilation, synthetisent des preuves explicites a partir de notations plus implicites, dans l'esprit de la compilation des motifs dans un langage fonctionnel. Ceci permet d'incorporer au langage de specification du systeme de preuves la notation par filtrage de motifs aussi bien pour ecrire des programmes que des preuves.
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Mimouni, Simon Claude. "Genèse et évolution des traditions anciennes sur le sort final de Marie (la Dormition et l'Assomption)." Paris, EPHE, 1992. http://www.theses.fr/1992EPHEA002.
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Les traditions anciennes antérieures au VIIIe siècle, sur le sort final de Marie forment un ensemble vaste et extrêmement complexe. Les traditions littéraires sur la dormition et l'assomption représentent une pièce majeure du dossier. Mais elles ne peuvent être situées et classées que si on considère également les traditions topologiques s'y rapportant. La présente recherche vise donc à éclairer la genèse et l'évolution des traditions anciennes sur le sort final de marie en examinant aussi bien les traditions littéraires que les traditions topologiques. L'objectif principal et majeur de cette recherche est d'essayer de voir plus clair dans la masse de ces traditions. En tout état de cause, ce travail doit être regardé avant tout comme une recherche préliminaire à une édition et étude critique des écrits que l'on désigne sous l'expression générique d’histoire de la dormition et de l'assomption de Marie. Le repérage de groupes de traditions, avec leur histoire propre et celle de leurs contacts et contaminations, permet l'accès à une connaissance plus précise de la genèse et de l'évolution de croyances qui joueront un rôle majeur dans la spiritualité et la doctrine chrétienne. Ce repérage de traditions fait ressortir dans chaque groupe un ou plusieurs textes dont l'importance, généralement non reconnue jusqu'ici, est majeur. L'étude des sanctuaires, des fêtes et des traditions en rapport avec le culte marial de la ville sainte et de ses environs apporte une contribution substantielle à l'histoire de la Jérusalem chrétienne et byzantine<br>Before the 8th century, ancient traditions concerning the Virgin Mary’s final fate are numerous and extremely complex. Literary traditions concerning the Virgin Mary’s dormition and assumption constitute a central element of these traditions. A study of their clarification and historical situation cannot be achieved without an examination of topological traditions. The present research aims at clarifying the origins and evolution of these ancient traditions with a combined study of literary and topological traditions. The main objective of this research is to come to a better understanding of these numerous traditions. These ages should be taken primarily as a preliminary study for a critical edition of these texts often entitled under the generic designation "history of the dormition and assumption of Mary". A survey of groups of traditions, with their own history of contacts and influences, leads to a more precise knowledge of the origins and evolutions of beliefs which will lay a leading role in Christian spirituality and doctrine this survey of traditions brings to light in each group of texts one or several texts of manor importance, although it is not acknowledged until now. The study of sanctuaries, feasts and traditions related to the marial cult of the holy city and is environment substantially contributes to the history of Jerusalem
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Therrien, Philippe. "La règle des syzygies et le dualisme dans les Homélies et les Reconnaissances pseudo-clémentines : études littéraires." Master's thesis, Université Laval, 2016. http://hdl.handle.net/20.500.11794/27233.
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Les Homélies et les Reconnaissances du Pseudo-Clément, aussi appelées Pseudo-Clémentines, sont des témoins privilégiés du foisonnement intellectuel et théologique des premiers siècles chrétiens. Alors que la recherche moderne a longtemps tenté de déterminer les différentes étapes de leur constitution (ne posant pour seule conclusion certaine que l’existence d’un « Écrit de base » à leur origine), le présent mémoire offre une enquête littéraire qui permettra de situer l’état final des Pseudo-Clémentines dans leur contexte rédaction, en établissant comment elles dialoguent avec les principaux groupes religieux de leur milieu (chrétiens, judéo-chrétiens, juifs, gnostiques et païens). Dans ce cadre, cette étude définit le dualisme pseudo-clémentin selon ses quatre aspects : la règle de syzygies ou des couples antagonistes, qui veut que tout, dans la création, soit organisé par Dieu en couples opposés ; les prophéties masculine et féminine, dont la première apporte la vérité alors que la seconde apporte le mensonge ; la doctrine des deux rois, dont l’un, qui est bon, gouverne le royaume du monde à venir, alors que l’autre, qui est mauvais, règne sur le monde présent ; la doctrine des deux voies, dont l’une mène au salut et l’autre à la perdition. Après une analyse de ces thèmes au sein des Pseudo-Clémentines, qui révèle les différences qui existent entre les deux textes, ces mêmes motifs sont recherchés dans la littérature apparentée, en particulier dans les textes gnostiques de la bibliothèque de Nag Hammadi, les textes découverts à Qumrân et la littérature judéo-chrétienne. Les conclusions dégagées permettent de définir précisément le dualisme des Homélies et celui des Reconnaissances, d’identifier des fonctions polémiques et rhétoriques de ce dualisme et de cerner des groupes religieux possiblement alliés et ennemis des Pseudo-Clémentines.<br>Pseudo-Clement’s Homilies and Recognitions, also called the Pseudo-Clementines, are important witnesses of the intellectual and theological explosion that took place in the first Christian centuries. Modern research tried for a long time to elucidate the multiples steps of their constitution, and the only result was that the existence of a ‘‘ Basic Writing’’ that had been the source material for the Pseudo-Clementines. This master’s thesis presents a literary investigation that will resituates the Pseudo-Clementines in their final form in the context of their redaction, while establishing their relations to the main religious groups of their milieu (Christians, Judeo-Christians, Jews, Gnostics and Pagans). This study defines the four aspects of the Pseudo-Clementine’s dualism : the rule of syzygies or antagonist couples, which states that everything in the creation is organized by God in opposite couples ; male and female prophecies, in which the first one brings truth while the second one brings falseness ; the doctrine of the two kings, in which one, who is good, rules the kingdom of the world to come and the other, who is evil, rules the present world ; the doctrine of the two ways, in which one leads to salvation, the other to damnation. After an analysis of these themes in the Pseudo-Clementines, one that reveals the differences between the two texts, this project looks for these patterns in similar literature, especially in the Gnostics writings of the library of Nag Hammadi, the Qumrân’s scrolls and Judeo-Christian literature. The other results are the identification of the dualism's polemic and its rhetorical functions, as well as the establishment of possible religious allies and enemies of the Pseudo-Clementines.
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Pettipiece, Timothy. "Counting the cosmos : Five-Part Numeric Patterning in the Manichaean Kephalaia." Thesis, Université Laval, 2006. http://www.theses.ulaval.ca/2006/23889/23889.pdf.
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Soler, Joelle. "Ecritures du voyage dans la littérature latine tardive." Paris 4, 2001. http://www.theses.fr/2001PA040133.
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Dans leurs récits factuels, les voyageurs romains représentent leurs parcours comme des itinéraires de fondation, au terme desquels leur identité gréco-romaine et celle du paysage traversé sont fortement affirmées. En revanche, la fiction d'Apulée élabore une toute autre image du voyage, qui est conçu comme une exploration au cours de laquelle le voyageur va à la rencontre de ce qui lui est étranger, au risque de perdre sa propre identité. Fondation ou exploration, réalité ou fiction, telle est l'alternative qui informe, à Rome, la représentation du parcours individuel. Que deviennent ces conceptions chez les écrivains chrétiens ? D'une part, certains introduisent une rupture plus profonde dans l'histoire du récit de voyage : l'exploration de terres lointaines et étrangères, la Palestine ou la Thébai͏̈de, devient le moyen, pour le pélerin d'Occident, de fonder son identité chrétienne<br>In their factual narratives, Roman travelers represent their itineraries as means of foundation, through which they can assert their Greco-Roman identity and that of the landscape they cross. In contrast, the fiction of Apuleius elaborates a very different image of traveling, conceived as an exploration through which the traveler encounters the foreign, at the risk of losing his/her identity. .
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Jin, Fenghua. "La pensée religieuse de Maurice Barrès." Thesis, Bordeaux 3, 2016. http://www.theses.fr/2016BOR30005/document.
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Maurice Barrès, en tant qu’un des plus grands maîtres à la fin du XIXe siècle et au début du XXe siècle de la France, exerce une grande influence dans la société française. Souvent réduit par la critique d’aujourd’hui au nationalisme, Barrès est cependant plus riche que ce que l’histoire en a retenu puisque sa pensée peut elle-même se décrire comme une trilogie, individualisme, nationalisme, catholicisme. Né dans une famille catholique, il conserve ses racines religieuses et dans son oeuvre, la présence de la religion est partout. Nous pourrions même affirmer que l’œuvre de Maurice Barrès est un exercice spirituel pour connaître la vérité : ses œuvres sont comme des expériences qui vont au bout du compte l’amener vers Dieu. Après l’individualisme et le nationalisme, l’écrivain trouve la voie de son salut dans le catholicisme. La pensée religieuse de Barrès occupe une grande place dans son œuvre, et cet aspect ne doit pas être négligé si l’on veut comprendre le grand écrivain. C’est un sujet riche et intéressant, qui mérite d’être exploité et étudié. De plus, sa pensée est tellement particulière que Barrès, lui-même, s’interroge dans un cahier : « Suis-je croyant ? Suis-je athée ? » Alors, cette étude présente tente à éclaircir la pensée religieuse du grand maître dans une période historique de la France. Et cette période si riche sur le plan des événements intellectuels permet aussi de comprendre mieux la France contemporaine, qui se saisit aujourd’hui à nouveau de mots comme « terre », « racine », « identité », etc<br>As one of the greatest writers in the late XIXth and early XXth century in France, Maurice Barrès has greatly influenced the French society. Often reduced to nationalism by critics, however, Barrès is much richer than what history has withheld, since his thoughts could be described as a trilogy : individualism, nationalism and Catholicism. Born in a Catholic family, he retains his religious roots and the religion is clearly omnipresent in his works. The works of Maurice Barrès could be considered as the spiritual exercises and experiences that will ultimately bring him to the Supreme Being - God. After individualism and nationalism, the writer finds his own way of salvation in Catholicism. The religion occupies a large place in the works of Barrès. Nevertheless, this aspect should not be overlooked if we want to better understand his thoughts. The religious thought of Barrès is a rich and interesting topic that deserves to be studied and exploited. His thought is so special in the sense that Barrès questions his beliefs; he says in his personal diary : “Am I a believer ? Am I an atheist ?” This present study attempts to explain the religious thought of the great master during a specific period of French history. This period, which is very rich in terms of intellectual events, enables us to have a better view of contemporary France and the new acceptance of words such as “earth”, “root”, “identity”, etc
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Zhang, Liang. "Le progrès perpétuel (ΕIIΕΚΤΑΣΙΣ) selon Saint Grégoire de Nysse : études sur la terminologie, les fondements, les moyens et les effets". Thesis, Université de Lorraine, 2022. http://www.theses.fr/2022LORR0101.
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Par « épectase », une idée fondamentale de Grégoire de Nysse, on désigne habituellement le progrès perpétuel de l'âme vers et dans la perfection de la vertu (cf. Ph 3, 13-14). Le mot « épectase », qui vient du terme grec ἐπεκτείνω, possède-t-il un sens unique ou a-t-il des significations nuancées chez Grégoire ? Quelles sont les éléments constitutifs du progrès perpétuel, la dimension rationnelle comme le soutient Ekkehard Mühlenberg, ou la dimension mystique comme le montre Jean Daniélou ? Est-il méthodologiquement justifié d'étudier Grégoire et les Pères de l'Église en distinguant dans leurs œuvres la philosophie, la théologie, l'anthropologie…, alors qu'ils ne le font pas eux-mêmes ? La thèse tente d'étudier d'une manière synthétique l'épectase en vue de montrer son originalité par rapport au monde grec et sa place dans les œuvres et la pensée de Grégoire. La thèse commence par une analyse des termes et des textes concernés en vue d'éclairer les significations du terme ἐπεκτείνω dans les différents contextes et de voir la continuité et l'évolution de la pensée de Grégoire. La deuxième partie traite des fondements du progrès perpétuel. La différence infranchissable entre le Créateur et les créatures est essentielle : Dieu est immuable tandis que l'être humain est soumis à la loi du changement ; Dieu est infini et illimité tandis que l'être humain ne l'est pas par nature, mais il possède une sorte d'« infinité » grâce à la participation à Dieu ; l'être humain peut connaître certaines choses de Dieu mais ne peut jamais comprendre totalement Dieu. L'humanité est créée à l'image de Dieu, ce qui manifeste à la fois la ressemblance et la dissemblance avec Dieu ; elle doit devenir davantage semblable à Dieu sans jamais lui devenir identique. La troisième partie essaie de montrer les moyens du progrès. Pour manifester sa pensée, Grégoire utilise souvent des images comme la course, l'échelle, le vol, la montagne…, et donne des modèles comme Moïse, l'Épouse, Paul, David, Basile… La purification continuelle et la divinisation sont aussi des moyens. La vraie liberté selon Grégoire est de toujours choisir le bien et de maintenir ce choix. La dernière partie traite les effets du progrès perpétuel. L'impact le plus remarquable est l'aspect spirituel voire mystique dans lequel nous trouvons de nombreux oxymores et d'expressions paradoxales. Il est important de souligner l'aspect eschatologique en montrant les relations entre l'épectase, l'état originel, et l'apocatastase. Si tous les trois manifestent la perfection, quels sont les liens entre eux ?<br>The perpetual progress of the soul towards the perfection of virtue is usually designated as "epektasis", a basic concept of Gregory of Nyssa (cf. Phil 3, 13-14). Does the word "epektasis", which comes from the Greek term ἐπεκτείνω, have a single meaning or different meanings in Gregory? What are the treasures of the perpetual progress? Is it more about the rational dimension as Ekkehard Mühlenberg focuses on, or the mystical dimension as Jean Daniélou shows? Is it methodologically justified to study Gregory and the Fathers of the Church by distinguishing in their works philosophy, theology, anthropology, etc., when they did not do so themselves? Are there other methods to study the Fathers? The thesis tries to study in a synthetic way the epektasis to show its originality and its place in Gregory's works and thoughts. The thesis begins with an analysis of the relevant terms and texts to clarify the meanings of the term ἐπεκτείνω in the contexts and demonstrates the continuity and evolution of Gregory's thought. The second part deals with the foundations of perpetual progress. The radical difference between the Creator and the creatures is essential: God is immutable while human beings are always changing; God is infinite and limitless while human beings are not by nature but possesses a kind of “infinity” by participation in God; human beings can acquire certain knowledge about God but can never completely understand God. Humanity is created in the image of God, which manifests both likeness and unlikeness to God; he must become more like God without ever becoming identical. The third part tries to show the means of progress. To manifest his thoughts, Gregory often uses images such as the race, the ladder, the flight, the mountain, etc., and takes Moses, the Spouse, Paul, David, Basil, etc. as models of epektasis. Continual purification and divinization are also means. True freedom according to Gregory is to always choose the good and to maintain this choice. The last part deals with the effects of perpetual progress. The most remarkable impact is the spiritual or even mystical aspect in which we find many oxymorons and paradoxical expressions. It is important to emphasize the eschatological aspect by showing the relations between epektasis, the original state and apocatastasis. If all three manifest the perfection, what are the links between them?
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Nikolajevic, Konstanca. "Système décisionnel dynamique et autonome pour le pilotage d'un hélicoptère dans une situation d'urgence." Thesis, Valenciennes, 2016. http://www.theses.fr/2016VALE0008/document.
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Dans un contexte industriel aéronautique où les problématiques de sécurité constituent un facteur différentiateur clé, l’objectif de cette thèse est de répondre à la problématique ambitieuse de la réduction des accidents de type opérationnel. Les travaux de recherche s’inscrivent dans le domaine des systèmes d’alarmes pour l’évitement de collision qui ne font pas une analyse approfondie des solutions d’évitement par rapport à la situation de danger. En effet, les situations d’urgence en vol ne bénéficient pas à ce jour d’une représentation et d’un guide des solutions associées formels. Bien que certains systèmes d’assistance existent et qu’une partie de la connaissance associée aux situations d’urgence ait pu être identifiée, la génération dynamique d’une séquence de manœuvres sous fortes contraintes de temps et dans un environnement non connu à l’avance représente une voie d’exploration nouvelle. Afin de répondre à cette question et de rendre objective la notion de danger, les travaux de recherche présentés dans cette thèse mettent en confrontation la capacité d’évolution d’un aéronef dans son environnement immédiat avec une enveloppe physique devenant contraignante. Afin de mesurer ce danger, les travaux de recherche ont conduit à construire un module de trajectoires capable d’explorer l’espace en 3D. Cela a permis de tirer des enseignements en terme de flexibilité des manœuvres d’évitement possibles à l’approche du sol. De plus l’elicitation des connaissances des pilotes et des experts d’Airbus Helicopters (ancien Eurocopter) mis en situation d’urgence dans le cas d’accidents reconstitués en simulation a conduit à un ensemble de paramètres pour l’utilisation de la méthode multicritère PROMETHEE II dans le processus de prise de décision relatif au choix de la meilleure trajectoire d’évitement et par conséquent à la génération d’alarmes anti-collision<br>In the aeronautics industrial context, the issues related to the safety constitute a highly differentiating factor. This PhD thesis addresses the challenge of operational type accident reduction. The research works are positioned and considered within the context of existing alerting equipments for collision avoidance, who don’t report a thorough analysis of the avoidance manoeuvres with respect to a possible threat. Indeed, in-flight emergency situations are various and do not all have a formal representation of escape procedures to fall back on. Much of operational accident scenarios are related to human mistakes. Even if systems providing assistance already exist, the dynamic generation of a sequence of manoeuvres under high constraints in an unknown environment remain a news research axis, and a key development perspective. In order to address this problematic and make the notion of danger objective, the research works presented in this thesis confront the capabilities of evolution of an aircraft in its immediate environment with possible physical constraints. For that purpose, the study has conducted to generate a module for trajectory generation in the 3D space frame, capable of partitioning and exploring the space ahead and around the aircraft. This has allowed to draw conclusions in terms of flexibility of escape manoeuvres on approach to the terrain. Besides, the elicitation of the Airbus Helicopters (former Eurocopter) experts knowledge put in emergency situations, for reconstituted accident scenarios in simulation, have permitted to derive a certain number of criteria and rules for parametrising the multicriteria method PROMETHEE II in the process for the relative decision-making of the best avoidance trajectory solution. This has given clues for the generation of new alerting rules to prevent the collisions
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Rabier, Delphine. "La pensée dévotionnelle et mystique dans la peinture des anciens Pays-Bas : XVè siècle - première moitié du XVIè siècle." Thesis, Tours, 2015. http://www.theses.fr/2015TOUR2018.
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Cette étude se propose de dégager les liens étroits qui unissent la production picturale des anciens Pays-Bas des XVe et XVIe siècles avec la mystique de Ruysbroeck l’Admirable et la pensée de la Dévotion moderne (devotio moderna). À partir d’un corpus comprenant des oeuvres de Jan van Eyck, Rogier van der Weyden, Petrus Christus, Hans Memling, Hugo van der Goes, le Maître à la vue de Sainte-Gudule, le Maître de 1499, le Maître d’Alkmaar, Jérôme Bosch ou encore Gérard David et Jan Mostaert, l’analyse fait apparaître que peinture et écrits se répondent et se subliment mutuellement. Dans une première partie, nous observerons la façon dont les peintres ont décliné la progression dynamique des différentes visions (active, intérieure et contemplative) et traité le phénomène de désimagination. Puis, dans un deuxième temps, notre étude mettra en lumière que l’image soutient grâce à différents procédés (mnémotechnique, participatif, etc.) les pratiques spirituelles et méditatives des fidèles. Enfin dans la dernière phase de notre analyse, nous nous intéresserons aux mises en images d’une idée clé définie par Ruysbroeck l’Admirable, et adaptée par les auteurs de la Dévotion moderne : dat ghemeine leven (la vie commune)<br>This study intends to investigate and clarify the links between the Early Netherlandish pictorial tradition (15th and 16th centuries) and mystical literature as exemplified by Ruysbroeck the Admirable and the authors associated with the Modern Devotion (devotio moderna). Focusing on a corpus of works by Jan van Eyck, Rogier van der Weyden, Petrus Christus, Hans Memling, Hugo van der Goes, the Master of the View of St Gudule, the Master of 1499, the Master of Alkmaar, Hieronymus Bosch, Gerard David and Jan Mostaert, this analysis brings to light that painting and writing enrich each other’s meaning. In the first part, we shall observe the ways in which the painters captured the dynamic progression of the various types of vision (active, internal and contemplative) as well as the ways in which they addressed the phenomenon of disimagination. The second part of this study will highlight the fact that the image supports the spiritual and meditative practices of the faithful through various processes and techniques (mnemonic, participative etc.). The third part of the analysis will focus on the visual treatment of a key idea defined by Ruysbroeck the Admirable, and adapted by the authors of the Modern Devotion: dat ghemeine leven (the common life)
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Dion, Françoise. "Diderot lecteur de "De l'homme" : l'état policé et l'état sauvage dans la "Réfutation" d'Helvétius." Clermont-Ferrand 2, 1995. http://www.theses.fr/1995CLF20077.
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En réfutant "De l'homme", Diderot oppose l'état policé et l'état sauvage, problème qu'Helvétius n'aborde à aucun moment. Pour tous 2, le bonheur réside dans un état à mi-chemin entre le policé et le sauvage. Mais, à partir de là, ils divergent. Pour Helvétius, l'homme doit être contrôlé : par l'éducation, la loi, dans ses biens, ses compliments, voire ses émotions ou sa pensée. Cette théorie attribue un rôle essentiel au pouvoir politique (le législateur, le souverain). L'homme non contrôlé est un sauvage agressif, et le sauvage est inférieur au civilisé. L'éducation doit donc tenir compte des tendances et des talents naturels, et en favoriser l'épanouissement ; trop contraignante, elle est destructrice. De même, la loi ne sera pas trop contraignante, mais empêchera la liberté de chacun d'empiéter sur la liberté de tous ; le contrôle s'exercera en 1er lieu sur le souverain. Helvétius choisit l'acquis contre l'inné, la culture contre la nature, le contrôle contre la liberté. En choisissant de voir dans les sauvages des hommes dotés de talents et de vertu, voire héroïques, Diderot fait le choix inverse<br>IN HIS REFUTATION OF DE L'HOMME, DIDEROT OPPOSES THE SAVAGE AND THE CIVILIZED STATES. THERE ARE MANY REASONS FOR THIS : HIS CONTRIBUTION TO THE HISTOIRE DES DEUX INDES ; HIS REFLECTION ON THE CIVILISATION IN RUSSIA, WHERE HE WAS STAYIND AT THE TIME; AND THE FACT THAT HELVETIUS'S BOOK IS PLAINLY PARTIAL TO CIVILIZED CONDITION. BOTH PHILOSOPHERS THINK THAT HAPINESS LIES IN A CONDITION NEITHER IN THE SAVAGE NOR IN THE CIVILIZED CONDITION, BUT SOMEWHERE IN BETWEEN. FROM THERE. THEY DIVERGE. HELVETIUS THINKS THAT MAN MUST BE CONTROLLED BY EDUCATION AND BY LAW; HIS POSSESSIONS, BEHAVIOR, EMOTIONS AND EVEN HIS THINKING MUST BE CONTROLLED. IN THIS THEORY, POLITICAL POWER (THE LEGISLATOR, THE SOVEREIGN) PLAYS AN ESSENTIAL ROLE. THE MAN WHO IS NOT CONTROLLED IS AN AGGRESSIVE SAVAGE. AND THE SAVAGE IS INFERIOR TO THE CIVILIZED MAN. ON THE CONTRARY, DIDEROT THINKS THAT THE SAVAGE without EDUCATION AND LAWS, IS AS WORTHY AS THE CIVILIZED MAN. THUS EDUCATION MUST BE BASED ON INNATE TENDENCIES AND TALENTS, AND ENABLE THEM TO FLOURISCH. TO MUCH CONSTRAINT IN EDUCATION CAN BE DESTRUCTIVE. LAWS SHOULD NOT BE TOO LIMITATING FOR THE SAME REASON; THEY MUST PREVENT AN INDIVIDUAL'S LIBERTY FROM INFRINIGING UPON THE LIBERTY OF OTHERS: SO THE SOVEREGN MUST BE THE FIRST TO BE CONTROLLED. HELVETIUS CHOOSES THE ACQUIRED INSTEAD OF THE INNATE, CULTURE INSTEAD OF NATURE, CONTROL INSTEAD OF
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Ariño-Durand, Miguel. "La Vie de la bienheureuse Vierge Marie dans les traditions apocryphes syro-orientales." Thesis, Paris 4, 2014. http://www.theses.fr/2014PA040113.
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Femme à la destinée unique, la Vierge Marie a suscité intérêt, passion et engouement tout au long des siècles de l’Ère chrétienne. Elle a inspiré artistes, écrivains et prédicateurs et sa vie a fait l’objet de récits exemplaires. La Vie de la Vierge traverse l’histoire de la littérature syriaque. Ce ne sont pas moins de 23 manuscrits syro-orientaux qui sont parvenus jusqu’à nous. Relativement récents puisqu’ils ont été copiés de 1243 à 1917 AD, ils plongent leurs racines dans des textes bien plus anciens. Dans un premier volume, la copie d’un manuscrit de la fin du XIIIe siècle, conservé au monastère Notre-Dame des Semences d’Alqoš, dans l’Irak actuel, a été choisie, en raison de son exhaustivité, pour une édition complète et une première traduction en français. Un apparat critique très important puisqu’il concerne 18 manuscrits – 5 manuscrits ne sont malheureusement pas accessibles actuellement – vient compléter ce travail d’édition et permet l’établissement d’un stemma qui met en lumière l’existence de quatre familles de manuscrits, avec un manuscrit singulier, copie d’une version syro-orientale originelle aujourd’hui perdue. Dans un second volume, le commentaire de l’œuvre souligne la singularité de ce texte apocryphe chrétien syro-oriental. Il s’agit bien pour son auteur d’annoncer le Christ Jésus qui, par son incarnation, vient rétablir la création déchue dans son harmonie originelle et racheter l’humanité. Il le fait en présentant la vie de Marie, sa mère. Elle est alors la femme qui transcende toutes époques et tous lieux et devient une incarnation de l’éternel féminin<br>A woman with a singular destiny, the Virgin Mary has caused interest, enthusiasm and even passion throughout the centuries of the Christian era. She has inspired artists, writers and preachers; and her life has been the object of narratives to be imitated. The Life of the Virgin can be found over the course of the history of Syriac literature. There are no fewer than 23 Syro-Oriental manuscripts that have come down to us. They are relatively recent. There were copied from 1243 to 1917 AD, with roots in much older texts. In the first volume, a copy of a manuscript from the end of the 13th century, kept at the monastery of Our Lady of the Seeds in Alqoš, in modern day Iraq, has been chosen, because of its exhaustiveness to serve as a complete edition and a first translation into French. It contains a very important critical apparatus since it compares 18 manuscripts, unfortunately, however, 5 manuscripts are not accessible currently. This apparatus complements this edition and allows for the establishment of a stemma which clarifies the existence of four families of manuscripts, with a single manuscript, that is a copy of an original Syro-Oriental version now lost. In the second volume, the commentary on the text underlines the uniqueness of this Syro-Oriental Christian apocryphal writing. It is clear that its author wants to announce Jesus Christ who, by his incarnation, comes to restore fallen creation to its original harmony and to redeem humanity. He does this by presenting the life of Mary, his mother. She is then the woman who transcends all times and places and becomes the incarnation of the éternel féminin
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Skliris, Dionysios. "Le concept de tropos chez Maxime le Confesseur." Thesis, Paris 4, 2015. http://www.theses.fr/2015PA040206.
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Les termes logos (raison) et tropos forment un couple qui est très significatif pour la pensée de Maxime le Confesseur (c. 580-662). Dans notre thèse, nous examinons les contextes dans lesquels Maxime le Confesseur emploie le terme tropos (mode) soit à l’intérieur du couple logos-tropos, soit de façon autonome. Nous ne traitons pas le concept de tropos comme un terme invariant intégré à une doctrine uniforme, mais plutôt comme un moyen ou un «outil» conceptuel qui aide Maxime à résoudre des problèmes très différents dans plusieurs domaines de sa pensée. Nous examinons les différents contextes dans lesquels Maxime le Confesseur utilise le couple logos-tropos ou le seul terme tropos, comme, par exemple, la logique, la relation entre l’universalité et la particularité, la théologie trinitaire, la question du mal et la Théodicée, la cosmologie, la théorie du progrès spirituel, la théorie de l’achèvement ontologique, la christologie et l’eschatologie. Dans chaque cas, nous insistons sur les termes qui sont déterminés par le mot tropos et sur les relations de contraste, d’opposition ou tout simplement de distinction qui se forment entre eux. Nous examinons également le champ lexical des mots qui sont relatifs au terme tropos. En général, le logos exprime la stabilité et la permanence qui est nécessaire pour qu’il y ait un sens contemplé par le sage, alors que le tropos signifie une modalité qui ouvre la possibilité de contingence, de surprise et d’innovation à l’intérieur de l’Histoire. L’emphase est plutôt mise sur le fait que le tropos est exactement une modalité qui peut coexister avec le logos sans l’annuler, altérer ou corrompre<br>The terms logos (reason) and tropos (mode) form a very important couple in the thought of Maximus the Confessor (c. 580-662). In our PhD thesis, we are examining the contexts in which Maximus the Confessor is using the term tropos (mode) either inside the couple logos-tropos or independently. We are not developing the concept of tropos as a uniform doctrine, but we are examining it mostly as a means or as a conceptual “tool” which helps Maximus solving very different problems in diverse domains of his thought. We thus examine the use of the term tropos in contexts such as logic, the philosophical relation between universality and particularity, Trinitarian theology, the question of evil or Theodicy, cosmology, the stages of spiritual progress, the theory of the ontological actualization of beings, Christology and eschatology. In each case, we are insisting in the terms which are determined by the word tropos, the terms which are determined by the word logos, as well as the relations of contrast, opposition or simple distinction between them. We are equally examining the lexical field that is related to the term tropos. In general, logos expresses the stability and the permanence that are necessary for the existence of a meaning which could be contemplated by the philosopher, whereas tropos means a modality which opens a space for contingence, surprise and innovation inside History. The emphasis is placed on the fact that tropos is exactly a modality which can coexist with logos without annulling, altering or corrupting it
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Chang, Guoting. "Robot Motion and Task Learning with Error Recovery." Thesis, 2013. http://hdl.handle.net/10012/7627.
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The ability to learn is essential for robots to function and perform services within a dynamic human environment. Robot programming by demonstration facilitates learning through a human teacher without the need to develop new code for each task that the robot performs. In order for learning to be generalizable, the robot needs to be able to grasp the underlying structure of the task being learned. This requires appropriate knowledge abstraction and representation. The goal of this thesis is to develop a learning by imitation system that abstracts knowledge of human demonstrations of a task and represents the abstracted knowledge in a hierarchical framework. The learning by imitation system is capable of performing both action and object recognition based on video stream data at the lower level of the hierarchy, while the sequence of actions and object states observed is reconstructed at the higher level of the hierarchy in order to form a coherent representation of the task. Furthermore, error recovery capabilities are included in the learning by imitation system to improve robustness to unexpected situations during task execution. The first part of the thesis focuses on motion learning to allow the robot to both recognize the actions for task representation at the higher level of the hierarchy and to perform the actions to imitate the task. In order to efficiently learn actions, the actions are segmented into meaningful atomic units called motion primitives. These motion primitives are then modeled using dynamic movement primitives (DMPs), a dynamical system model that can robustly generate motion trajectories to arbitrary goal positions while maintaining the overall shape of the demonstrated motion trajectory. The DMPs also contain weight parameters that are reflective of the shape of the motion trajectory. These weight parameters are clustered using affinity propagation (AP), an efficient exemplar clustering algorithm, in order to determine groups of similar motion primitives and thus, performing motion recognition. The approach of DMPs combined with APs was experimentally verified on two separate motion data sets for its ability to recognize and generate motion primitives. The second part of the thesis outlines how the task representation is created and used for imitating observed tasks. This includes object and object state recognition using simple computer vision techniques as well as the automatic construction of a Petri net (PN) model to describe an observed task. Tasks are composed of a sequence of actions that have specific pre-conditions, i.e. object states required before the action can be performed, and post-conditions, i.e. object states that result from the action. The PNs inherently encode pre-conditions and post-conditions of a particular event, i.e. action, and can model tasks as a coherent sequence of actions and object states. In addition, PNs are very flexible in modeling a variety of tasks including tasks that involve both sequential and parallel components. The automatic PN creation process has been tested on both a sequential two block stacking task and a three block stacking task involving both sequential and parallel components. The PN provides a meaningful representation of the observed tasks that can be used by a robot to imitate the tasks. Lastly, error recovery capabilities are added to the learning by imitation system in order to allow the robot to readjust the sequence of actions needed during task execution. The error recovery component is able to deal with two types of errors: unexpected, but known situations and unexpected, unknown situations. In the case of unexpected, but known situations, the learning system is able to search through the PN to identify the known situation and the actions needed to complete the task. This ability is useful not only for error recovery from known situations, but also for human robot collaboration, where the human unexpectedly helps to complete part of the task. In the case of situations that are both unexpected and unknown, the robot will prompt the human demonstrator to teach how to recover from the error to a known state. By observing the error recovery procedure and automatically extending the PN with the error recovery information, the situation encountered becomes part of the known situations and the robot is able to autonomously recover from the error in the future. This error recovery approach was tested successfully on errors encountered during the three block stacking task.
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Chen, Peiyi. "3D Motion Planning using Kinodynamically Feasible Motion Primitives in Unknown Environments." Thesis, 2011. http://hdl.handle.net/10012/6227.
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Autonomous vehicles are a great asset to society by helping perform many dangerous or tedious tasks. They have already been successfully employed for many practical applications, such as search and rescue, automated surveillance, exploration and mapping, sample collection, and remote inspection. In order to perform most tasks autonomously, the vehicle must be able to safely and efficiently navigate through its environment. The algorithms and techniques that allow an autonomous vehicle to find traversable paths to its destination defines the set of problems in robotics known as motion planning.
This thesis presents a new motion planner that is capable of finding collision-free paths through an unknown environment while satisfying the kinodynamic constraints of the vehicle. This is done using a two step process. In the first step, a collision-free path is generated using a modified Probabilistic Roadmap (PRM) based planner by assuming unexplored areas are obstacle-free. As obstacles are detected, the planner will replan the path as necessary to ensure that it remains collision-free. In complex environments, it is often necessary to increase the size of the PRM graph during the replanning step so that the graph remains connected. However, this causes the algorithm to slow down significantly over time. To mitigate these issues, the novel local sampling and PRM regeneration techniques are used to increase the computational efficiency of the replanning step. The local sampling technique biases the search towards the neighborhood of the obstacle blocking the path. This encourages the planner to generate small detours around the obstacle instead of rerouting the whole path. The PRM regeneration technique is used to remove all non-critical nodes from the PRM graph. This is used to bound the size of the PRM graph so that it does not grow increasingly large over time.
In the second step, the collision-free path is transformed into a series of kinodynamically feasible motion primitives using two novel algorithms: the heuristic re-sampling algorithm and the transformation algorithm. The heuristic re-sampling algorithm is a greedy heuristic algorithm that increases the clearance around the path while removing redundant segments. This algorithm can be applied to any piece-wise linear path, and is guaranteed to produce a solution that is at least as good as the initial path. The transformation algorithm is a method to convert a path into a series of kinodynamically feasible motion primitives. It is extremely efficient computationally, and can be applied to any piece-wise linear path.
To achieve good computational performance with PRM based planners, it is necessary to use sampling strategies that can efficiently form connected graphs through narrow and complex regions of the configuration space. Many proposed sampling methods attempt to bias the sample density in favor of these difficult to connect areas. However, these methods do not distinguish between samples that lie inside narrow passages and those that lie along convex borders. The orthogonal bridge test is a novel sampling technique that can identify and reject samples that lie along convex borders. This allows connected PRM graphs to be constructed with fewer nodes, which leads to less collision checking and reduced runtimes.
The presented algorithms are experimentally verified using an AR.Drone quadrotor unmanned aerial vehicle (UAV) and a custom built skid-steer unmanned ground vehicle (UGV). Using a simple kinematic model and a basic position controller, the AR.Drone is able to traverse a series of motion primitives with less than 0.3 m of crosstrack error. The skid-steer UGV is able to navigate through unknown environments filled with obstacles to reach a desired destination. Furthermore, the observed runtimes of the proposed motion planner suggest that it is fully capable of computing solution paths online. This is an important result, because online computation is necessary for efficient autonomous operations and it can not be achieved with many existing kinodynamic motion planners.
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Zhou, Haoying. "Imitation learning with dynamic movement primitives." Thesis, 2020. https://hdl.handle.net/2144/40948.
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Scientists have been working on making robots act like human beings for decades. Therefore, how to imitate human motion has became a popular academic topic in recent years. Nevertheless, there are infinite trajectories between two points in three-dimensional space. As a result, imitation learning, which is an algorithm of teaching from demonstrations, is utilized for learning human motion. Dynamic Movement Primitives (DMPs) is a framework for learning trajectories from demonstrations. Likewise, DMPs can also learn orientations given rotational movement's data. Also, the simulation is implemented on Robot Baxter which has seven degrees of freedom (DOF) and the Inverse Kinematic (IK) solver has been pre-programmed in the robot, which means that it is able to control a robot system as long as both translational and rotational data are provided. Taking advantage of DMPs, complex motor movements can achieve task-oriented regeneration without parametric adjustment and consideration of instability.
In this work, discrete DMPs is utilized as the framework of the whole system. The sample task is to move the objects into the target area using Robot Baxter which is a robotic arm-hand system. For more effective learning, a weighted learning algorithm called Local Weighted Regression (LWR) is implemented. To achieve the goal, the weights of basis functions are firstly trained from the demonstration using DMPs framework as well as LWR. Then, regard the weights as learning parameters and substitute the weights, desired initial state, desired goal state as well as time-correlated parameters into a DMPs framework. Ultimately, the translational and rotational data for a new task-specific trajectory is generated. The visualized results are simulated and shown in Virtual Robot Experimentation Platform (VREP). For accomplishing the tasks better, independent DMP is used for each translation or rotation axis. With relatively low computational cost, motions with relatively high complexity can also be achieved. Moreover, the task-oriented movements can always be successfully stabilized even though there are some spatial scaling and transformation as well as time scaling.
Twelve videos are included in supplementary materials of this thesis. The videos mainly describe the simulation results of Robot Baxter shown on Virtual Robot Experimentation Platform (VREP). The specific information can be found in the appendix.
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Chen-JungWang and 王禎溶. "Data Reducing with Motion Primitives for A Multi-Sensors 3D Action Reconstruction System." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/90654576675196441913.
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