Crystalline Order On Riemannian Manifolds With Variable Gaussian Curvature And Boundary

We investigate the zero temperature structure of a crystalline monolayer constrained to lie on a two-dimensional Riemannian manifold with variable Gaussian curvature and boundary. A full analytical treatment is presented for the case of a paraboloid of revolution. Using the geometrical theory of topological defects in a continuum elastic background we find that the presence of a variable Gaussian curvature, combined with the additional constraint of a boundary, gives rise to a rich variety of phenomena beyond that known for spherical crystals. We also provide a numerical analysis of a system of classical particles interacting via a Coulomb potential on the surface of a paraboloid.Comment: 12 pages, 8 figure

Horseshoe regularization for wavelet-based lensing inversion

Gravitational lensing, a phenomenon in astronomy, occurs when the gravitational field of a massive object, such as a galaxy or a black hole, bends the path of light from a distant object behind it. This bending results in a distortion or magnification of the distant object's image, often seen as arcs or rings surrounding the foreground object. The Starlet wavelet transform offers a robust approach to representing galaxy images sparsely. This technique breaks down an image into wavelet coefficients at various scales and orientations, effectively capturing both large-scale structures and fine details. The Starlet wavelet transform offers a robust approach to representing galaxy images sparsely. This technique breaks down an image into wavelet coefficients at various scales and orientations, effectively capturing both large-scale structures and fine details. The horseshoe prior has emerged as a highly effective Bayesian technique for promoting sparsity and regularization in statistical modeling. It aggressively shrinks negligible values while preserving important features, making it particularly useful in situations where the reconstruction of an original image from limited noisy observations is inherently challenging. The main objective of this thesis is to apply sparse regularization techniques, particularly the horseshoe prior, to reconstruct the background source galaxy from gravitationally lensed images. By demonstrating the effectiveness of the horseshoe prior in this context, this thesis tackles the challenging inverse problem of reconstructing lensed galaxy images. Our proposed methodology involves applying the horseshoe prior to the wavelet coefficients of lensed galaxy images. By exploiting the sparsity of the wavelet representation and the noise-suppressing behavior of the horseshoe prior, we achieve well-regularized reconstructions that reduce noise and artifacts while preserving structural details. Experiments conducted on simulated lensed galaxy images demonstrate lower mean squared error and higher structural similarity with the horseshoe prior compared to alternative methods, validating its efficacy as an efficient sparse modeling technique.Les lentilles gravitationnelles se produisent lorsque le champ gravitationnel d'un objet massif dévie la trajectoire de la lumière provenant d'un objet lointain, entraînant une distorsion ou une amplification de l'image de l'objet lointain. La transformation Starlet fournit une méthode robuste pour obtenir une représentation éparse des images de galaxies, capturant efficacement leurs caractéristiques essentielles avec un minimum de données. Cette représentation réduit les besoins de stockage et de calcul, et facilite des tâches telles que le débruitage, la compression et l'extraction de caractéristiques. La distribution a priori de fer à cheval est une technique bayésienne efficace pour promouvoir la sparsité et la régularisation dans la modélisation statistique. Elle réduit de manière agressive les valeurs négligeables tout en préservant les caractéristiques importantes, ce qui la rend particulièrement utile dans les situations où la reconstruction d'une image originale à partir d'observations bruitées est difficile. Étant donné la nature mal posée de la reconstruction des images de galaxies à partir de données bruitées, l'utilisation de la distribution a priori devient cruciale pour résoudre les ambiguïtés. Les techniques utilisant une distribution a priori favorisant la sparsité ont été efficaces pour relever des défis similaires dans divers domaines. L'objectif principal de cette thèse est d'appliquer des techniques de régularisation favorisant la sparsité, en particulier la distribution a priori de fer à cheval, pour reconstruire les galaxies d'arrière-plan à partir d'images de lentilles gravitationnelles. Notre méthodologie proposée consiste à appliquer la distribution a priori de fer à cheval aux coefficients d'ondelettes des images de galaxies lentillées. En exploitant la sparsité de la représentation en ondelettes et le comportement de suppression du bruit de la distribution a priori de fer à cheval, nous obtenons des reconstructions bien régularisées qui réduisent le bruit et les artefacts tout en préservant les détails structurels. Des expériences menées sur des images simulées de galaxies lentillées montrent une erreur quadratique moyenne inférieure et une similarité structurelle plus élevée avec la distribution a priori de fer à cheval par rapport à d'autres méthodes, validant son efficacité

Free and forced propagation of Bloch waves in viscoelastic beam lattices

Beam lattice materials can be characterized by a periodic microstructure realizing a geometrically regular pattern of elementary cells. Within this framework, governing the free and forced wave propagation by means of spectral design techniques and/or energy dissipation mechanisms is a major issue of theoretical interest with applications in aerospace, chemical, naval, biomedical engineering. The first part of the Thesis addresses the free propagation of Bloch waves in non-dissipative microstructured cellular materials. Focus is on the alternative formulations suited to describe the wave propagation in the bidimensional infinite material domain, according to the classic canons of linear solid or structural mechanics. Adopting the centrosymmetric tetrachiral cell as prototypical periodic topology, the frequency dispersion spectrum is obtained by applying the Floquet-Bloch theory. The dispersion spectrum resulting from a synthetic Lagrangian beam lattice formulation is compared with its counterpart derived from different continuous models (high-fidelity first-order heterogeneous and equivalent homogenized micropolar continua). Asymptotic perturbation-based approximations and numerical spectral solutions are compared and cross-validated. Adopting the low-frequency band gaps of the dispersion spectrum as functional targets, parametric analyses are carried out to highlight the descriptive limits of the synthetic models and to explore the enlarged parameter space described by high-fidelity models. The microstructural design or tuning of the mechanical properties of the cellular microstructure is employed to successfully verify the wave filtering functionality of the tetrachiral material. Alternatively, band gaps in the material spectrum can be opened at target center frequencies by using metamaterials with inertial resonators. Based on these motivations, in the second part of the Thesis, a general dynamic formulation is presented for determining the dispersion properties of viscoelastic metamaterials, equipped with local dissipative resonators. The linear mechanism of local resonance is realized by tuning periodic auxiliary masses, viscoelastically coupled with the beam lattice microstructure. As peculiar aspect, the viscoelastic coupling is derived by a mechanical formulation based on the Boltzmann superposition integral, whose kernel is approximated by a Prony series. Consequently, the free propagation of damped Bloch waves is governed by a linear homogeneous system of integro-differential equations of motion. Therefore, differential equations of motion with frequency-dependent coefficients are obtained by applying the bilateral Laplace transform. The corresponding complex-valued branches characterizing the dispersion spectrum are determined and parametrically analyzed. Particularly, the spectra corresponding to Taylor series approximations of the equation coefficients are investigated. The standard dynamic equations with linear viscous damping are recovered at the first order approximation. Increasing approximation orders determine non-negligible spectral effects, including the occurrence of pure damping spectral branches. Finally, the forced response to harmonic single frequency external forces in the frequency and the time domains is investigated. The response in the time domain is obtained by applying the inverse bilateral Laplace transform. The metamaterial responses to non-resonant, resonant and quasi-resonant external forces are compared and discussed from a qualitative and quantitative viewpoint

A family of asymptotically stable control laws for flexible robots based on a passivity approach

A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the Passivity Theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility