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Saha, Roy Indrani. "From communism to Radical humanism : a critical study of the political thought of M N Roy". Thesis, University of North Bengal, 1991. http://hdl.handle.net/123456789/246.
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Michaud, Alexandre. "Le vent dans les voiles, suivi de, Le voyage comme archéologie de la mémoire /". Thesis, McGill University, 2000. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=33305.
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This Master's thesis consists of two separate parts: Le vent dans les voiles, a travel fiction, is followed by a short essay, Le voyage comme archeologie de la memoire.Le vent dans les voiles is both a travel fiction and a short apprenticeship novel. Julien Legare, an idealistic young man, is fond of Jim Morrison and Zarathoustra . As he is travelling in Europe, his dreams of intellectual and emotional liberation are breaking down to pieces. Disillusion eventually leads him to a new vision, beyond childhood nostalgia.
The essay is a mythocritical analysis of three Twentieth Century novels by Le Clezio, Proust and Gabrielle Roy: Le chercheur d'or, A la recherche du temps perdu and La Route d'Altamont . These books have in common the themes of travel, memory and creation. The three protagonists all long for the lost paradise of their childhood, thus they search for their origins. Travelling in space and time, on the outside and inside themselves, they become archaeologists of their own memory, digging for forgotten treasures. Is remembrance a topos of travel literature?
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Kilpert, Diana Mary. "Language and value : the place of evaluation in linguistic theory". Thesis, Rhodes University, 2003. http://hdl.handle.net/10962/d1002635.
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It is a central claim of modern linguistic theory that linguists do not prescribe, but describe language as it is, without pronouncing on correctness or judging one variety better than another. This attempt to exclude evaluation is motivated by a desire to be ' politically correct', which hinders objective analysis of language, and by an ill-advised imitation of the natural sciences, which obstructs the discipline's progress towards becoming a science in its own right. It involves linguists, as users of a valued variety, in self-deception and disingenuousness, distances them from the concerns of the ordinary language user, and betrays a failure to understand the involvement of social values in language, the nature of language itself, and the limits of linguistic science. On a wider scale, linguistics reflects society's devaluing and mechanisation of language. Despite growing concern expressed in the literature, and the incoherence that becomes apparent when linguists attempt to address social problems using a theory that regards language as an autonomous object, newcomers to the discipline continue to be taught that anti-prescriptivism is the natural corollary of a scientific approach to language. This thesis suggests that the way out of these difficulties is to rethink the meaning of ' theory' in linguistics. If we take the reflexivity of language seriously, building on M.A.K. Halliday's notion of 'linguistics as metaphor', we are reminded that a linguistic theory is made of language. Metalanguage must use the experiential and interpersonal meaning-making resources of everyday language. It follows that a linguistic theory cannot escape being evaluative, because evaluation is an inherent part of interpersonal meaning. If we fail to notice our own metalinguistic evaluation, this is because language disguises its evaluative meanings, or perhaps we are just not used to thinking of them as part of the grammar. To achieve clarity about the involvement of value in language, we need to turn our metalanguage back on itself - 'using the grammar to think with about the grammar' . Some ways of doing this are demonstrated here, turning the resources of systemic functional linguistics on linguists' own language. The circularity of this process should be seen not as a drawback but as a salutary reminder that linguistics is an interpretive rather than a discovery process. This knowledge should help us revalue language and make a place for evaluation in linguistic theory, paving the way for a socially responsible and productive linguistics.
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Chirila, Ioana Luiza <1997>. "Sintegre Laidi: Analisi della persecuzione rom in epoca fascista". Master's Degree Thesis, Università Ca' Foscari Venezia, 2022. http://hdl.handle.net/10579/21308.
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Il Porrajmos, ovvero la persecuzione del popolo romanes perpetrato dai nazifascisti, in Italia è stato a lungo un fenomeno trascurato e poco studiato. Soltanto negli anni ’80, merito soprattutto delle ricerche a mano delle studiose Giovanna Boursier e Mirella Karpati, venne alla luce l’internamento delle comunità romanes nei campi di concentramento italiani e la repressione che subirono da più fronti. La tesi, pertanto, percorre accuratamente la storia degli “zingari” durante il ventennio fascista e di come il belpaese fu partecipe del genocidio di oltre mezzo milione di rom in un crescendo di violenza. La persecuzione in territorio italiano si delineò principalmente in quattro fasi, analizzati nei quattro capitoli dello studio in questione. Dall’avvento del fascismo fino al ’38 i rom stranieri vennero continuamente respinti e costretti alla mobilità coatta poiché allontanati forzatamente in nome della loro presunta pericolosità sociale razziale. Negli anni ’30 la politica antizingara si radicalizzò, soprattutto con l’avvicinarsi del secondo conflitto mondiale, tanto da ordinare nel 1938 la pulizia etnica nei riguardi delle famiglie romanes in Istria e il loro confino in Sardegna. La terza fase (1940-1943) vide l’arresto e il successivo internamento di tutti i rom e la nascita di appositi campi di concentramento fascisti riservati unicamente a loro. L’armistizio - 8 settembre 1943 - innescò la caduta del sistema concentrazionario italiano e della Repubblica di Salò che proseguì nell'incarcerazione dei rom e la loro deportazione nei lager nazisti. Nel contempo i gitani parteciparono attivamente alla liberazione del paese, anche questa pagina della storia italiana è stata a lungo obliata. Inoltre, il Porrajmos è stato inserito nel contesto più ampio della Seconda guerra mondiale e vagliato in correlazione al contemporaneo sterminio nazista nel Reich.
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Vieira, Frederico Carvalho. "Controle din?mico de rob?s m?veis com acionamento diferencial". Universidade Federal do Rio Grande do Norte, 2006. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15414.
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Previous issue date: 2006-02-03This work addresses the dynamic control problem of two-wheeled differentially driven non-holonomic mobile robot. Strategies for robot positioning control and robot orientating control are presented. Such strategies just require information about the robot con?guration (x, y and teta), which can be collected by an absolute positioning system. The strategies development is related to a change on the controlled variables for such systems, from x, y and teta to s (denoting the robot linear displacement) and teta, and makes use of the polar coordinates representation for the robot kinematic model. Thus, it is possible to obtain a linear representation for the mobile robot dynamic model and to develop such strategies. It is also presented that such strategies allow the use of linear controllers to solve the control problem. It is shown that there is flexibility to choice the linear controller (P, PI, PID, Model Matching techniques, others) to be implemented. This work presents an introduction to mobile robotics and their characteristics followed by the control strategies development and controllers design. Finally, simulated and experimental results are presented and commented
Esta disserta??o trata do problema de controle din?mico de rob?s m?veis n?o-holon?micos com duas rodas e acionamento diferencial. S?o apresentadas estrat?gias para controle de posi??o e de orienta??o de rob?s com as caracter?sticas citadas, baseadas apenas em informa??es de configura??o do rob? (posi??o e orienta??o no espa?o cartesiano x, y e teta), coletadas a partir de um sistema de posicionamento absoluto. O desenvolvimento da estrat?gia est? associado a uma mudan?a nas vari?veis controladas do rob?, de x, y e teta para s (representando o deslocamento linear do rob?) e teta, e na representa??o em coordenadas polares do modelo cinem?tico do rob?. Desta forma, consegue-se uma representa??o linear para o modelo din?mico do rob?, a partir da qual s?o propostas as estrat?gias de controle. Com as estrat?gias definidas, mostra-se que ? poss?vel implementar controladores din?micos lineares para permitir a estabiliza??o do sistema rob?tico. As estrat?gias apresentadas tamb?m fornecem flexibilidade com rela??o ? escolha do tipo de controlador din?mico (P, PI, PID, t?cnica Model Matching, entre outros) a ser utilizado. Esta disserta??o apresenta uma introdu??o ? rob?tica m?vel e ?s caracter?sticas do tipo de sistema abordado, seguindo para uma revis?o bibliogr?fica, desenvolvimento das estrat?gias de controle e projeto dos controladores. Finalmente, s?o apresentados e discutidos resultados obtidos atrav?s de simula??es e resultados experimentais
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Pedrosa, Diogo Pinheiro Fernandes. "Sistema de navega??o para rob?s m?veis aut?nomos". Universidade Federal do Rio Grande do Norte, 2001. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15417.
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Previous issue date: 2001-08-31The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities
Um dos maiores problemas em rob?tica m?vel diz respeito ? sua navega??o. Conceitualmente, o ato de navegar em rob?tica consiste em guiar um rob? em um espa?o de trabalho durante um determinado intervalo de tempo, por um caminho que possa ser percorrido e que leve o rob? de uma posi??o e orienta??o iniciais para uma posi??o e orienta??o finais. Esta ? a principal tarefa que um rob? m?vel deve executar. Ela implica em subproblemas que s?o a localiza??o do rob? no espa?o de trabalho, o planejamento de um caminho admiss?vel, a gera??o de uma trajet?ria e, por fim, a sua execu??o. Al?m disso, rob?s m?veis aut?nomos com rodas possuem restri??es cinem?ticas, chamadas tamb?m de restri??es n?o-holon?micas, que fazem com que o rob? n?o possa se mover livremente em seu espa?o de trabalho, limitando a quantidade de caminhos admiss?veis entre duas posi??es distintas. Este trabalho aborda principalmente os subproblemas do planejamento de caminho e gera??o de trajet?ria aplicado a minirrob?s m?veis com rodas que atuam em um projeto de futebol de rob?s. O maior desafio para a navega??o destes ve?culos ? determinar uma fun??o cont?nua que respeite suas restri??es cinem?ticas e evolua no tempo segundo as restri??es impostas pelo problema quanto ? posi??o e orienta??o iniciais e finais e quanto ? velocidade do movimento. Prop?e-se uma estrat?gia de gera??o de caminho baseada em polin?mios param?tricos de terceiro grau em 'x' e 'y'. A orienta??o 'theta' do minirrob? ? obtida da rela??o entre 'y' e 'x' de modo que os caminhos gerados respeitem a restri??o cinem?tica imposta. Para que a trajet?ria seja executada e os resultados experimentais validados ? apresentada uma estrat?gia simples de controle que atua sobre as velocidades linear e angular desenvolvidas pelo rob? m?vel
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Thorn, Andrea [Verfasser], George M. [Akademischer Betreuer] Sheldrick i Birger [Akademischer Betreuer] Dittrich. "Practical approaches to macromolecular X-ray structure determination / Andrea Thorn. Gutachter: George M. Sheldrick ; Birger Dittrich. Betreuer: George M. Sheldrick". Göttingen : Niedersächsische Staats- und Universitätsbibliothek Göttingen, 2011. http://d-nb.info/1043936041/34.
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Stiele, Holger. "X-ray Source Population Study of the Local Group Galaxy M 31". Diss., lmu, 2010. http://nbn-resolving.de/urn:nbn:de:bvb:19-114258.
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Dias, Samaherni Morais. "Controle adaptativo robusto para um modelo desacoplado de um rob? m?vel". Universidade Federal do Rio Grande do Norte, 2010. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15138.
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Previous issue date: 2010-02-01This thesis presents a new structure of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive controllers. The second part controls the robot kinematics, using a position controller, whose objective is to make the robot to reach any point in the cartesian plan. The kinematic controller is based only on information about the robot configuration. A decoupling method is adopted to transform the linear model of the mobile robot, a multiple-input multiple-output system, into two decoupled single-input single-output systems, thus reducing the complexity of designing the controller for the mobile robot. After that, a variable structure model reference adaptive controller is applied to each one of the resulting systems. One of such controllers will be responsible for the robot position and the other for the leading angle, using reference signals generated by the position controller. To validate the proposed structure, some simulated and experimental results using differential drive mobile robots of a robot soccer kit are presented. The simulator uses the main characteristics of real physical system as noise and non-linearities such as deadzone and saturation. The experimental results were obtained through an C++ program applied to the robot soccer kit of Microrobot team at the LACI/UFRN. The simulated and experimental results are presented and discussed at the end of the text
Esta tese apresenta o desenvolvimento de uma nova estrutura de controlador adaptativo robusto aplicado a sistemas rob?ticos m?veis com rodas (rob? m?vel de superf?cie) e restri??es n?o-holon?micas de movimento. Este controlador atua tanto na din?mica como na cinem?tica do rob?, e pode ser dividido em duas partes distintas. A primeira parte controla a din?mica, atrav?s da utiliza??o de controladores adaptativos por modelo de refer?ncia e estrutura vari?vel. A segunda parte controla a cinem?tica do rob? atrav?s de um controlador de posi??o, cujo objetivo ? fazer com que o rob? seja capaz de atingir um ponto qualquer no plano cartesiano, sendo que este controlador cinem?tico ? baseado apenas em informa??es da configura??o do rob?. O trabalho aplica um m?todo de desacoplamento para transformar o modelo linear do rob? m?vel, que ? um sistema com m?ltiplas entradas e m?ltiplas sa?das, em dois sistemas desacoplados com apenas uma entrada e uma sa?da cada um, para reduzir a complexidade do projeto do controlador. Em seguida, aplica-se um controlador adaptativo por modelo de refer?ncia e estrutura vari?vel a cada um dos sistemas resultantes. Um controlador ser? respons?vel pelo posicionamento e o outro pela orienta??o do rob?, sendo que estes controladores utilizam como refer?ncias sinais provenientes do controlador cinem?tico de posi??o. Para comprovar o funcionamento da estrutura proposta, obteve-se resultados simulados e experimentais para o rob? m?vel com acionamento diferencial de um kit de futebol de rob?s. O simulador possui as principais caracter?sticas do sistema f?sico real, dentre as quais podem-se destacar os ru?dos de entradas e as n?o-linearidades como zona morta e satura??o. Os resultados experimentais foram obtidos atrav?s de um programa desenvolvido em C++ e aplicado a um kit de futebol de rob?s da empresa Microrobot no Laborat?rio de Acionamento, Controle e Instrumenta??o da Universidade Federal do Rio Grande do Norte (LACI/UFRN). Os resultados simulados e experimentais s?o apresentados e discutidos ao final da tese
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Bezerra, Clauber Gomes. "Localiza??o de um rob? m?vel usando odometria e marcos naturais". Universidade Federal do Rio Grande do Norte, 2004. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15411.
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Previous issue date: 2004-03-08Several methods of mobile robot navigation request the mensuration of robot position and orientation in its workspace. In the wheeled mobile robot case, techniques based on odometry allow to determine the robot localization by the integration of incremental displacements of its wheels. However, this technique is subject to errors that accumulate with the distance traveled by the robot, making unfeasible its exclusive use. Other methods are based on the detection of natural or artificial landmarks present in the environment and whose location is known. This technique doesnt generate cumulative errors, but it can request a larger processing time than the methods based on odometry. Thus, many methods make use of both techniques, in such a way that the odometry errors are periodically corrected through mensurations obtained from landmarks. Accordding to this approach, this work proposes a hybrid localization system for wheeled mobile robots in indoor environments based on odometry and natural landmarks. The landmarks are straight lines de.ned by the junctions in environments floor, forming a bi-dimensional grid. The landmark detection from digital images is perfomed through the Hough transform. Heuristics are associated with that transform to allow its application in real time. To reduce the search time of landmarks, we propose to map odometry errors in an area of the captured image that possesses high probability of containing the sought mark
Diversos m?todos de navega??o de rob?s m?veis requerem a medi??o da posi??o e orienta??o do rob? no seu espa?o de trabalho. No caso de rob?s m?veis com rodas, t?cnicas baseadas em odometria permitem determinar a localiza??o do rob? atrav?s da integra??o de medi??es dos deslocamentos incrementais de suas rodas. No entanto, essa t?cnica est? sujeita a erros que se acumulam com a dist?ncia percorrida pelo rob?, o que inviabiliza o seu uso exclusivo. Outros m?todos se baseiam na detec??o de marcos naturais ou artificiais, cuja localiza??o ? conhecida, presentes no ambiente. Apesar desta t?cnica n?o gerar erros cumulativos, ela pode requisitar um tempo de processamento bem maior do que o uso de odometria. Assim, muitos m?todos fazem uso de ambas as t?cnicas, de modo a corrigir periodicamente os erros de odometria, atrav?s de medi??es obtidas a partir dos marcos. De acordo com esta abordagem, propomos neste trabalho um sistema h?brido de localiza??o para rob?s m?veis com rodas em ambientes internos, baseado em odometria e marcos naturais, onde os marcos adotados s?o linhas retas definidas pelas jun??es existentes no piso do ambiente, formando uma grade bi-dimensional no ch?o. Para a detec??o deste tipo de marco, a partir de imagens digitais, ? utilizada a transformada de Hough, associada a heur?sticas que permitem a sua aplica??o em tempo real. Em particular, para reduzir o tempo de busca dos marcos, propomos mapear erros de odometria em uma regi?o da imagem capturada que possua grande probabilidade de conter o marco procurado
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Silva, Caio J?lio C?sar do Vale Fernandes da. "Planejamento de trajet?rias e navega??o de rob?s m?veis". Universidade Federal do Rio Grande do Norte, 2015. http://repositorio.ufrn.br/handle/123456789/20929.
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A explora??o de petr?leo em profundidades elevadas requer o uso de rob?s m?veis para realizar opera??es diversas, como manuten??o, montagem etc. Nesse contexto, o estudo do planejamento de trajet?rias e navega??o desses rob?s se faz relevante, visto o grande desafio que ? navegar em um ambiente que n?o ? totalmente conhecido. Assim, este trabalho tem o objetivo de criar um algoritmo de navega??o, que deve realizar o planejamento da trajet?ria de um rob? m?vel que se encontra em uma dada posi??o (x, y) e deve atingir a posi??o desejada (x_d, y_d), evitando, no entanto, a colis?o com qualquer obst?culo existente no caminho. Para a gera??o da rota global foi utilizado um algoritmo gen?tico (offline), que leva em considera??o apenas as coordenadas dos pontos a serem visitados. Para desviar dos poss?veis obst?culos no caminho, o rob? deve gerar rotas locais baseadas nas curvas de B?zier (online). Na implementa??o do programa n?o h? qualquer informa??o sobre a localiza??o ou o formato dos obst?culos, mesmo assim, o rob? deve evitar os obst?culos, baseadas nas informa??es dos sensores de proximidade. Esta estrat?gia ? v?lida na situa??o em que os obst?culos s?o pequenos em rela??o as dist?ncias entre os pontos de visita??o. Os resultados das simula??es e experimentos com um rob? m?vel real (Robotino) demonstraram que o rob? foi capaz de realizar o percurso definido pelo algoritmo gen?tico, desviando dos obst?culos atrav?s de curvas de B?zier e atingindo as posi??es desejadas dentro da margem de erro definida como aceit?vel. As principais contribui??es deste trabalho est?o no c?lculo online das curvas de B?zier no planejador de rotas locais, atrelado a um planejador de rotas global, com obten??o de resultados experimentais.
Oil exploration at great depths requires the use of mobile robots to perform various operations such as maintenance, assembly etc. In this context, the trajectory planning and navigation study of these robots is relevant, as the great challenge is to navigate in an environment that is not fully known. The main objective is to develop a navigation algorithm to plan the path of a mobile robot that is in a given position (?, ?) and should reach the desired position (??, ??) avoiding colision with any obstacle standing in the way. The global route was generated using a genetic algorithm, which takes into account only the coordinates of the checkpoints. The mobile robot path generation based on B?zier curves was able to dodge the possible obstacles in the way. There was no information about the obstacles?s shape or location during the implementation of the program yet the robot must generate local path based on information from proximity sensors located around the robot to be able to avoid collisions. This strategy is valid in the situation where the obstacles are small relative distances between the visited sites. The results of simulations and experiments with a real mobile robot shown that the robot was able to perform the route defined by the genetic algorithm, dodging obstacles by Bezier curves and reaching the desired positions within the margin of error defined as acceptable. The main contributions of this work are the equations used to define the control points in the online calculation of Bezier curves in the planner of local routes, linked to a global route planner with obtaining experimental results.
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Grube, Jeffrey. "X-ray and Gamma-ray Study of TeV Blazars with RXTE, XMM-Newton, and the Whipple 10 m Telescope". Thesis, University of Leeds, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.485170.
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This thesis presents long-tenn X-ray and TeV y-ray observations from 2000 to 2006 of three TeV blazar type Active Galactic Nuclei (AGN): Mrk 421, Mrk 501, and H1426i428. Standard emission models for TeV blazars predict correlated and highly variable X-ray and TeV y-ray radiation from accelerated electrons in a jet orientated along our line of sight By using a large sample . of near simultaneous observations, this thesis examines potential flux and spectral correlations between the X-ray and TeV y-ray energy bands. Joint nightly observations ofMrk 421 with the X-ray instrument RXTEPCA, and at 0.5-10 TeV y-ray energies with the Whipple 10 m telescope during periods ranging from a week to 6 months revealed complicated, high amplitude flaring. Spectral variability was investigated for the rising and decay phases of large isolated day timescale flares. Generally, the X-ray and TeV y-ray spectra hardened with increasing integral flux, but a consistent spectral evolution was not shown between individual flares. Absorption of the TeV y-ray energy spectrum by the extragalactic background light (EBL) was corrected for. During a large flare in \. March 2001; tentative evidence was found for a highly curved intrinsic TeV y-ray energy spectrum peaking at 0.85 ± 0.22 TeV simultaneous to a curved X-ray spectruI)1 peaking at 2.14 ± 0.19 keY. RXTEPCA and Whipple io m campaigns on Mrk 501 and H1426i428 showed significant X-ray spectral variability, however the TeV y-ray integral flux remained near the detection limit of the Whipple 10 m. The broadband 0.6-20 keY X-ray spectrum of the 3 TeV blazars was investigated with XMM-Newton and RXTE peA observations. In addition to simultaneous day timescale variability, the large sample of Whipple 10 m observations from 2000 to 2006 allowed for a detailed study of long-tenn y-ray variability. For Mrk 421, a weak correlation, with large spread is shown for the Whipple 10 m integral flux above 0.6 TeV and RXTEASM X-ray rate on month timescales. From 2001 to 2006, Mrk 501 was recorded by the Whipple 10 m in a low flux state of 27% of the integral flux from the Crab nebula supernova remnant. In July 2005, the MAGIC telescope recorded large TeV y-ray flaring in Mrk 501 by a factor> 3 of the Crab nebula flux. This high flux state occured after the Whipple 10 m observing period on Mrk 501 in June 2005, and so could not be verified in this work. The detection of H1426-t428 at TeV y-ray energies by the Whipple 10 m in 2001 is confirmed in this work, however the source was not detected again by the Whipple 10 m over a 5 year period. The detailed study ofTeV blazar X-ray and y-ray variability in this work highlights the need for high sensitivity observations to better resolve complicated and unpredictable flaring states.
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Štainerová, Kateřina. "Symfonický orchestr hl. m. Prahy FOK a j eho žesťová skupina". Master's thesis, Akademie múzických umění v Praze.Hudební a taneční fakulta. Knihovna, 2015. http://www.nusl.cz/ntk/nusl-202864.
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This magister thesis Prague Symphony Orchestra FOK and its brass section is divided into four chapters. The first chapter deals with the development of the orchestra since its foundation up to the present. The chapters from the second to the fourth focus on the brass section including the detailed artistic curriculum vitas of the current musicians. The second chapter is concentrated
on the members of the trombone section (including also two members that play tube). The third chapter deals with the trumpet section while the fourth chapter deals with the section playing French horn.
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Cipolla, Ilaria <1992>. "Il futuro di una volta. Uno sguardo etnografico alla memoria e al quotidiano dei Rom di Catanzaro". Master's Degree Thesis, Università Ca' Foscari Venezia, 2022. http://hdl.handle.net/10579/21478.
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La storia dei rom di Catanzaro, da quando la pianificazione dei quartieri popolari ha agito sul mutamento delle modalità abitative, permette di osservare come la trasformazione del contesto abbia condizionato la percezione del gruppo al suo interno e nella narrazione locale. Obiettivo di questa ricerca è individuare le strategie di adattamento e manipolazione delle categorie di stabilità e mobilità nei luoghi e nelle relazioni familiari nel confronto tra due insediamenti. A questo scopo sarà utile esplorare le caratteristiche dello spazio domestico a partire dai temi di cui si è occupato Andrea Staid (2017; 2021) in una raccolta di etnografie dell'abitare ai margini e nell’esplorazione del concetto culturale di autocostruzione. La partecipazione attiva alla costruzione della propria casa, la ridefinizione dei confini tra esterno e interno, la scelta di usare o nascondere il proprio codice linguistico sono alcune delle strategie impiegate da questo specifico gruppo di antico insediamento, per delineare le proprie relazioni e rappresentazioni, nel tentativo costante di non adattarsi passivamente al modello egemonico. Questo lavoro intende riflettere sulle modalità attraverso le quali il gruppo si inserisce nella società calabrese, mediando tra il bisogno di conservazione di un insieme di tradizioni e la mimetizzazione delle stesse, finalizzata a ottenere quella inclusione sociale che gli viene spesso negata. Il tema dell’assimilazione sarà trattato non tanto per decidere se sia o meno un obiettivo da raggiungere, ma per osservare in che modo si sia attuata nel tempo: i tratti distintivi del gruppo e i punti di contatto con la società in cui vivono, visti come modi per negoziare il delicato concetto di identità (Remotti 1996; 2019).
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Sousa, Segundo Jos? S?vio Alves de. "Um m?todo para determina??o da profundidade combinando vis?o est?reo e autocalibra??o para aplica??o em rob?tica m?vel". Universidade Federal do Rio Grande do Norte, 2007. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15209.
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Previous issue date: 2007-04-30Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior
This work proposes a method to determine the depth of objects in a scene using a combination between stereo vision and self-calibration techniques. Determining the rel- ative distance between visualized objects and a robot, with a stereo head, it is possible to navigate in unknown environments. Stereo vision techniques supply a depth measure by the combination of two or more images from the same scene. To achieve a depth estimates of the in scene objects a reconstruction of this scene geometry is necessary. For such reconstruction the relationship between the three-dimensional world coordi- nates and the two-dimensional images coordinates is necessary. Through the achievement of the cameras intrinsic parameters it is possible to make this coordinates systems relationship. These parameters can be gotten through geometric camera calibration, which, generally is made by a correlation between image characteristics of a calibration pattern with know dimensions. The cameras self-calibration allows the achievement of their intrinsic parameters without using a known calibration pattern, being possible their calculation and alteration during the displacement of the robot in an unknown environment. In this work a self-calibration method based in the three-dimensional polar coordinates to represent image features is presented. This representation is determined by the relationship between images features and horizontal and vertical opening cameras angles. Using the polar coordinates it is possible to geometrically reconstruct the scene. Through the proposed techniques combination it is possible to calculate a scene objects depth estimate, allowing the robot navigation in an unknown environment
Este trabalho prop?e um m?todo para determinar a profundidade de objetos em cena utilizando uma combina??o das t?cnicas de vis?o est?reo e autocalibra??o. Determinando a dist?ncia relativa entre objetos visualizados e um rob? m?vel, dotado de uma cabe?a est?reo, ? poss?vel efetuar sua navega??o em ambientes desconhecidos. As t?cnicas de vis?o est?reo fornecem uma medida de profundidade a partir da combina??o de duas ou mais imagens de uma mesma cena. Para a obten??o de estimativas da profundidade dos objetos presentes nesta cena ? necess?rio uma reconstru??o da geometria da mesma. Para tal reconstru??o ? necess?rio o relacionamento das coordenadas tridimensionais do mundo com as coordenadas bidimensionais das imagens. Atrav?s da obten??o dos par?metros intr?nsecos das c?meras ? poss?vel fazer o relacionamento entre os sistemas de coordenadas. Estes par?metros podem ser obtidos atrav?s da calibra??o geom?trica das c?meras, a qual ? geralmente feita atrav?s da visualiza??o de um objeto padr?o de calibra??o com dimens?es conhecidas. A autocalibra??o das c?meras permite a obten??o dos par?metros intr?nsecos das mesmas sem a utiliza??o de um padr?o conhecido de calibra??o, sendo poss?vel a obten??o e a altera??o destes durante o deslocamento do rob? m?vel em um ambiente desconhecido. ? apresentado neste trabalho um m?todo de autocalibra??o baseado na representa??o de caracter?sticas da imagem por coordenadas polares tridimensionais. Estas s?o determinadas relacionando-se caracter?sticas das imagens com os ?ngulos de abertura horizontal e vertical das c?meras. Utilizando-se estas coordenadas polares ? poss?vel efetuar uma reconstru??o geom?trica da cena de forma precisa. Atrav?s desta combina??o das t?cnicas proposta ? poss?vel obter-se uma estimativa da profundidade de objetos cena, permitindo a navega??o de um rob? m?vel aut?nomo em um ambiente desconhecido
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Phinney, Lucas C. "Thorium and Uranium M-shell X-ray Production Cross Sections for 0.4 – 4.0 MeV Protons, 0.4 - 6.0 MeV Helium Ions, 4.5 – 11.3 MeV Carbon Ions, and 4.5 – 13.5 MeV Oxygen Ions". Thesis, University of North Texas, 2011. https://digital.library.unt.edu/ark:/67531/metadc68032/.
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The M-shell x-ray production cross section for thorium and uranium have been determined for protons of energy 0.4 - 4.0 MeV, helium ions of energy 0.4 - 6.0 MeV, carbon ions of energy 4.5 - 11.3 MeV and oxygen ions of energy 4.5 - 13.5 MeV. The total cross sections and the cross sections for individual x-ray peaks in the spectrum, consisting of the following transitions Mz (M4-N2, M5-N3, M4-N3), Ma (M5-N6,7), Mb (M4-N6, M5-O3, M4- O2), and Mg (M4-O3, M5-P3, M3-N4, M3-N5), were compared to the theoretical values determined from the PWBA + OBKN and ECUSAR. The theoretical values for the carbon and oxygen ions were also modified to take into account the effects of multiple ionizations of the target atom by the heavier ions. It is shown that the results of the ECUSAR theory tend to provide better agreement with the experimental data.
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PERRARO, Annachiara. "I mali del dis-abitare. Etnografia ed Etnopsichiatria a confronto tra sgomberi e sopravvivenza del popolo rom". Doctoral thesis, Università degli studi di Bergamo, 2012. http://hdl.handle.net/10446/26739.
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Home is the dwelling place of our cultural geographies.
But what happens when we are forced to live in a place without being able to “wear” the places of everyday life? Why is for someone marginal dwelling the only possible dwelling?
Yet, in the history of human migrations, the different ways of dwelling and using space have always co-produced the plural city.
Given the degraded condition in which they are often obliged to live, the dwelling issue is tightly linked to Romani and Sinti citizens.
Space is a language. The spatial language imposed on this family (and on many others in Italy) only reveals ghettoizing housing policies, gates, fences, walls and barriers to protect from the gypsy enemies.
The camps’ country. The sick space which sickens the body.
In this emptiness, in this kind of non-space, there nest sickness, uneasiness, the attempt to rescue one’s own belonging in a space which doesn’t recognize them and refuses them. Space closes around Roma and Sinti as a cage.
The sickness that becomes a way to “be free again”, to reconcile with memory, to feel “Romani”.
In Italy there are more and more often manifestations of psychic sickness among Romani and Sinti citizens obliged to live in camps.
The sense of loss and segregation seems to constitute the unexpressed background of Romani and Sinti condition, both of those who get sick and of those who don’t.
Some cases exist of apparent adaptation to the situation of living marginality into which they are forced, cases of attempts to deny their own belongings in order to assimilate to the gadje world.
An illness that arises from the unheard desire to stitch up their origins, to find back a memory of the space that has been lost.
Therefore illness becomes a kind of resistance to a space diaspora and a way to make unsaid emotions resurface through suffering and to tell stories of themselves...
Diagnoses that western medicine defines as: severe migraines, depressive symptoms, hallucinations, anxiety states, panic attack.
Diagnoses that often tell something else.
Illness becomes the attempt to reconcile with the ancestors, with lands left far away and maybe forever lost, with the suffered marginality.
Giving way to individual narratives means letting every person’s story’s uniqueness have voice and space.
This is why I chose to present here the transcript of a case, one among many of those unheard stories.
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Albuquerque, Oto Emerson de. "Uma interface para o controle de rob?s m?veis por interm?dio de gestos". Universidade Federal do Rio Grande do Norte, 2016. http://repositorio.ufrn.br/handle/123456789/21177.
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Ag?ncia Nacional do Petr?leo - ANP
Esse trabalho tem como objetivo o estudo de t?cnicas de vis?o computacional para o reconhecimento de gestos humanos, bem como sua aplica??o ao controle de rob?s m?veis. S?o analisados os desafios e propostas algumas solu??es para o desenvolvimento de uma interface simples, a qual permita o reconhecimento e a interpreta??o dos gestos gerados pela m?o humana, no intuito de controlar os movimentos de um rob?. Neste contexto, foi desenvolvido um programa em C++ para captar as imagens geradas por uma c?mera de alta defini??o e, a partir da informa??o extra?da das imagens, definir qual movimento seria realizado pelo rob?. Para auxiliar a tarefa de reconhecimento e processamento da imagem captada foram utilizadas fun??es da biblioteca OpenCV. Os resultados obtidos com a interface desenvolvida confirmam e demonstram a viabilidade de aplica??o desta tecnologia.
The main objective of this work was to enable the recognition of human gestures through the development of a computer program. The program created captures the gestures executed by the user through a camera attached to the computer and sends it to the robot command referring to the gesture. They were interpreted in total ve gestures made by human hand. The software (developed in C ++) widely used the computer vision concepts and open source library OpenCV that directly impact the overall e ciency of the control of mobile robots. The computer vision concepts take into account the use of lters to smooth/blur the image noise reduction, color space to better suit the developer's desktop as well as useful information for manipulating digital images. The OpenCV library was essential in creating the project because it was possible to use various functions/procedures for complete control lters, image borders, image area, the geometric center of borders, exchange of color spaces, convex hull and convexity defect, plus all the necessary means for the characterization of imaged features. During the development of the software was the appearance of several problems, as false positives (noise), underperforming the insertion of various lters with sizes oversized masks, as well as problems arising from the choice of color space for processing human skin tones. However, after the development of seven versions of the control software, it was possible to minimize the occurrence of false positives due to a better use of lters combined with a well-dimensioned mask size (tested at run time) all associated with a programming logic that has been perfected over the construction of the seven versions. After all the development is managed software that met the established requirements. After the completion of the control software, it was observed that the overall e ectiveness of the various programs, highlighting in particular the V programs: 84.75 %, with VI: 93.00 % and VII with: 94.67 % showed that the nal program performed well in interpreting gestures, proving that it was possible the mobile robot control through human gestures without the need for external accessories to give it a better mobility and cost savings for maintain such a system. The great merit of the program was to assist capacity in demystifying the man set/machine therefore uses an easy and intuitive interface for control of mobile robots. Another important feature observed is that to control the mobile robot is not necessary to be close to the same, as to control the equipment is necessary to receive only the address that the Robotino passes to the program via network or Wi-Fi.
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Al'Miev, Il'dar Rifovich. "Simulations of photopumped x-ray lasers". Thesis, University of Oxford, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.365883.
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Burba, Micheal Eric. "Microstructure-Sensitive Models for Predicting Surface Residual Stress Redistribution in P/M Nickel-Base Superalloys". University of Dayton / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1492532628147262.
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Nascimento, Rafaella Cristianne Alves do. "Localiza??o de rob?s m?veis em ambientes fechados utilizando c?meras montadas no teto". Universidade Federal do Rio Grande do Norte, 2014. http://repositorio.ufrn.br/handle/123456789/20775.
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Propomos um sistema de localiza??o de rob?s m?veis em ambientes fechados utilizando a t?cnica de vis?o global. Uma aplica??o pode ser em museus virtuais, que podem ser acessados por usu?rios do mundo inteiro, usando um avatar rob?tico, possibilitando ainda a esses mesmos usu?rios a oportunidade de estabelecer uma presen?a virtual dentro do museu real, a atrav?s de uma plataforma rob?tica m?vel colocada dentro do espa?o f?sico real, permitindo a esse usu?rio locomover-se virtualmente dentro do museu real. O sistema aqui proposto visa melhorar o processo de localiza??o desse guia rob?tico dentro do ambiente interno, j? que os sensores instalados no mesmo acumulam erros, sem contar o fato de que as constantes mudan?as ocorridas nesse tipo de ambiente acaba muitas vezes por introduzir ainda mais erros, ou mesmo at? invalidar os dados obtidos devido a um total bloqueio de um determinado sensor. Por ser um m?todo de localiza??o que s? leva em considera??es informa??es do momento atual, a localiza??o de rob?s atrav?s de imagens adequa-se bem a esse tipo de ambiente. Al?m disso ela proporciona tamb?m resultados mais acurados em tempo real.
The localization of mobile robots in indoor environments finds lots of problems such as accumulated errors and the constant changes that occur at these places. A technique called global vision intends to localize robots using images acquired by cameras placed in such a way that covers the place where the robots movement takes place. Localization is obtained by marks put on top of the robot. Algorithms applied to the images search for the mark on top of the robot and by finding the mark they are able to get the position and orientation of the robot. Such techniques used to face some difficulties related with the hardware capacity, fact that limited their execution in real time. However, the technological advances of the last years changed that situation and enabling the development and execution of such algorithms in plain capacity. The proposal specified here intends to develop a mobile robot localization system at indoor environments using a technique called global vision to track the robot and acquire the images, all in real time, intending to improve the robot localization process inside the environment. Being a localization method that takes just actual information in its calculations, the robot localization using images fit into the needs of this kind of place. Besides, it enables more accurate results and in real time, what is exactly the museum application needs.
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Silveira, Yuri Sarmento. "Um novo m?todo de planejamento de caminho para rob?s baseado em espuma probabil?stica". PROGRAMA DE P?S-GRADUA??O EM ENGENHARIA MECATR?NICA, 2016. https://repositorio.ufrn.br/jspui/handle/123456789/24115.
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O processo de planejamento de caminho ? um problema bastante estudado na rob?tica. A capacidade de analisar o ambiente e definir a sequ?ncia de a??es que levam um rob? de uma localiza??o inicial at? uma localiza??o final desejada, sem colidir com os obst?culos presentes no ambiente, ? uma habilidade fundamental requerida para a cria??o de sistemas rob?ticos aut?nomos que possam executar diversas fun??es. Nesta disserta??o, apresenta-se um estudo sucinto do estado da arte na ?rea de planejamento de caminhos para sistemas rob?ticos aut?nomos, de forma a contextualizar o tema abordado neste trabalho. Cada m?todo de planejamento possui sua pr?pria estrat?gia de explora??o do ambiente e planejamento do caminho. Nesta disserta??o ? proposto um novo m?todo de planejamento de caminho para rob?s. No m?todo proposto, o espa?o livre do ambiente ? coberto de forma aproximada por um conjunto denominado Espuma Aleat?ria, a qual ? composta por subconjuntos convexos superpostos denominados Bolhas. A partir da localiza??o inicial, novas bolhas s?o criadas aleatoriamente na superf?cie da espuma, que se propaga pelo espa?o livre, com comportamento semelhante ? propaga??o de frentes de onda, gerando uma ?rvore de busca, at? atingir a localiza??o final. Desta forma, ? poss?vel encontrar uma sequ?ncia de bolhas concatenadas, denominada Ros?rio, que conecta a localiza??o final ? inicial. Um caminho v?lido pode ser facilmente obtido dentro do espa?o de manobra definido pelo ros?rio. O processo de busca no m?todo proposto ? determinado por apenas dois par?metros. Crit?rios para a sua sintonia s?o estudados e apresentados neste trabalho. De forma a validar o m?todo proposto, o seu desempenho foi avaliado atrav?s de simula??es computacionais para diferentes estudos de caso.
Path planning is a well studied problem in robotics. The capability of analyzing the environment and defining a sequence of actions that leads a robot from an initial location to a final desired location, without colliding with obstacles, is a fundamental ability when creating autonomous robotic systems that can perform various functions. In order to contextualize the theme addressed in this work, a succinct study of the state-of-the-art on path planning for autonomous robotic systems is presented. Each planning method has its own strategy to explore the ambient and plan the path. In this dissertation, a new robot path planning method is proposed. In the proposed method, the ambient free space is partially covered by a set called Random Foam, composed of the union of overlapping convex subsets called Bubbles. Starting from the initial robot localization, new bubbles are randomly created on the surface of the foam, that propagates through the free space, with a behavior similar to a wave front propagation, generating a search tree that grows until reaching the desired final robot localization. In this way, it is possible to find a sequence of concatenated bubbles, called Rosary, connecting the desired final localization to the initial localization of the robot. A valid path contained in the maneuvering space defined by the rosary can be easily found. In the proposed method, the search process is guided by only two parameters. Tuning criteria for these parameters are studied and presented in this work. In order to validate the proposed path planning method, its performance was evaluated through computer simulations of different case studies.
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Price, Jack Lewis. "K-, L-, and M-Shell X-Ray Production Cross Sections for Beryllium, Aluminum and Argon Ions Incident Upon Selected Elements". Thesis, North Texas State University, 1986. https://digital.library.unt.edu/ark:/67531/metadc331170/.
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Incident 0.5 to 2.5 MeV charged particle beams were used to ionize the inner-shells of selected targets and study their subsequent emission of characteristic x-rays. ⁹Be⁺ ions were used to examine K-shell x-ray production from thin F, Na, Al, Si, P, Cl, and K targets, L-shell x-ray production from thin Cu, An, Ge, Br, Zr and Ag targets, and M-shell x-ray production from thin Pr, Nd, Eu, Dy, Ho, Hf, W, Au, Pb and Bi targets. L-shell x-ray production cross sections were also measured for ²⁷Al⁺ ions incident upon Ni, Cu, Zn, As, Zr, and Pd targets. M-shell x-ray production cross sections were measure for ²⁷Al⁺ and ⁴⁰Ar⁺ ions incident upon Pr, Nd, Gd, Dy, Lu, Hf, Au, Pb, Bi, and U targets. These measurements were performed using the 2.5 MV Van de Graaff accelerator at North Texas State University. The x-rays were detected with a Si(Li) detector whose efficiency was determined by fitting a theoretical photon absorption curve to experimentally measure values. The x-ray yields were normalized to the simultaneously measured Rutherford backscattered (RBS) yields which resulted in an x-ray production cross section per incident ion. The RBS spectrum was obtained using a standard surface barrier detector calibrated for to account for the "pulse height defect." The experimental results are compared to the predictions of both the first Born and ECPSSR theories; each of which is composed of two parts, the direct ionization (DI) of the target electron to the continuum and the capture (EC) of the target electron to the projectile. The first Born describes DI by the Plane-Wave-Born-Approximation (PWBA) and EC by the Oppenheimer-Brinkman-Kramers treatment of Nikolaev (OBKN). ECPSSR expands upon the first Born by using perturbed (PSS) and relativistic (R) target electron wave functions in addition to considering the energy loss (E) of the projectile in the target and its deviation from straight line trajectory (Coulomb deflection (C)). The measurements presented show that the first Born theories overestimate the measured results rather significantly for all experiments using the ⁹Be beams to examine the inner shell x-rays, while the ECPSSR predictions fir the measured data much better. For incident ²⁷Al and ⁴⁰Ar ions, the measured results are not predicted by the theories. The first Born generally over-predicts the data for low target atomic numbers while under-predicting at high atomic numbers. The ECPSSR theory greatly under-predicts the results (factors of 10³ to 10²⁰). Reasons for this behavior are discussed as well as suggestions for future experiments.
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Amos, Thomas. "Architectura cimmeria : Manie und Manier phantastischer Architektur in Jean Rays "Malpertuis" /". Heidelberg : Winter, 2006. http://deposit.d-nb.de/cgi-bin/dokserv?id=2841337&prov=M&dok_var=1&dok_ext=htm.
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Kitaura, R., H. Okimoto, H. Shinohara, T. Nakamura i H. Osawa. "Magnetism of the endohedral metallofullerenes M@C_82 (M=Gd,Dy) and the corresponding nanoscale peapods: Synchrotron soft x-ray magnetic circular dichroism and density-functional theory calculations". American Physical Society, 2007. http://hdl.handle.net/2237/11305.
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Müller, Romy [Verfasser], Boris M. [Akademischer Betreuer] Velichkovsky i Roland [Akademischer Betreuer] Deutsch. "Blickbewegungen in der computermediierten Kooperation : Chancen und Schwierigkeiten in der Verwendung einer weniger expliziten Kommunikationstechnologie / Romy Müller. Gutachter: Boris M. Velichkovsky ; Roland Deutsch. Betreuer: Boris M. Velichkovsky". Dresden : Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2012. http://d-nb.info/1067732292/34.
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VANINI, Silvia. "La comunità come cornice educativa. Tra le bambine e i bambini rom Xoraxane". Doctoral thesis, Università degli studi di Ferrara, 2010. http://hdl.handle.net/11392/2389193.
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The purpose of this search is to understand the educational reality that concerns
children of a Rom ethnic group.
The choice of the group is motivated from the fact that it deals with a marginal
context in comparison to our society, little studied, particularly as it concerns the
educational characteristics. Their conditions of life and the prejudices that burden
of them sometimes in a dangerous way from society sectors in which we live,
constitute besides a barrier to the relationships ,to the exchanges and the mutual
understanding.
Inside this group I notice the presence of a range of matters that were already
object of my interest on scientific field. The education in family with the
definition of the roles, the female matter, the scholastic abandonment and the
forestall of adulthood, the children schooling, the passage from orality to writing,
the integration problems.
The debate and the reflection on Rom culture with it’s manifold aspects and in the
difficulty of relationship with the majority culture are object of attention from
different points of view: anthropological, social and political, educational.
Close to the problematic knots some positive aspects inherent the same
educational trial are emerged. Whereas the education becomes sharing of lived ,if
children learn to give sense to the things, to the event and the people.
This job, with all the limit of a search that doesn’t pretend to give exhaustive
answers ,find its theoretical justification into the intercultural pedagogy, which
sustains that the educational engagement doesn’t exhaust in the recognition of the
cultural traces but that it will stay opened and allow to be put in discussion from
the meeting of the difference.
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Britto, Ricardo de Sousa. "Uma arquitetura distribu?da de hardware e software para controle de um rob? m?vel aut?nomo". Universidade Federal do Rio Grande do Norte, 2008. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15188.
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Previous issue date: 2008-01-25Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior
In this work, we present a hardware-software architecture for controlling the autonomous mobile robot Kapeck. The hardware of the robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontroller-based boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks
Neste trabalho ? apresentada uma arquitetura de hardware e software para controle do rob? m?vel aut?nomo Kapeck. O hardware do rob? Kapeck ? composto por um conjunto de sensores e atuadores organizados em um barramento de comunica??o CAN. Dois computadores embarcados e oito placas microcontroladas foram utilizadas no sistema. Um dos computadores foi utilizado para o sistema de vis?o, devido ? grande necessidade de processamento deste tipo de sistema. O outro computador foi utilizado para coordenar e acessar o barramento CAN e realizar as outras atividades do rob?. Placas microcontroladas foram utilizadas nos sensores e atuadores. O rob? possui esta configura??o distribu?da para um bom desempenho em tempo-real, onde os tempos de resposta e a previsibilidade temporal do sistema s?o importantes. Foi seguido o paradigma h?brido deliberativo-reativo para desenvolver a arquitetura proposta, devido ? necessidade de aliar o comportamento reativo da rede de sensores-atuadores com as atividades deliberativas necess?rias para realizar tarefas mais complexas
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Guerra, Patr?cia Nishimura. "Modelagem linear e identifica??o do modelo din?mico de um rob? m?vel com acionamento diferencial". Universidade Federal do Rio Grande do Norte, 2005. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15437.
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Previous issue date: 2005-02-03This work presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x,y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment Delta_l. Thus, the resulting model is linear and time invariant and it can be identified through classical methods such as Recursive Least Mean Squares. This approach has a problem: Delta_l can not be directly measured. In this paper, this problem is solved using an estimate of Delta_l based on a second order polynomial approximation. Experimental data were colected and the proposed method was used to identify the model of a real robot
Esta disserta??o apresenta uma metodologia de modelagem e identifica??o para um rob? m?vel dotado de rodas. O modelo din?mico discreto proposto leva em considera??o a din?mica dos atuadores. Ao contr?rio da abordagem cl?ssica, onde as coordenadas de posi??o do rob? (x, y) s?o usadas como vari?veis de estado (o que resulta em um modelo n?o linear), o modelo discreto proposto utiliza o incremento na dist?ncia percorrida pelo rob? Delta_l. Com isto, o modelo resultante ? linear e invariante no tempo, podendo ser identificado utilizando qualquer m?todo cl?ssico, como por exemplo os m?nimos quadrados recursivos. Um problema desta abordagem ? que a vari?vel Delta_l n?o ? diretamente mensur?vel. Nesta proposta, este problema ? contornado usando uma estimativa de Delta_l calculada assumindo que o caminho percorrido durante um per?odo de amostragem pode ser aproximado por uma curva de segundo grau. O m?todo proposto ? validado atrav?s de resultados de simula??o computacional e experi?ncias pr?ticas
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Aires, Kelson R?mulo Teixeira. "Desenvolvimento de um Sistema de Vis?o Global para uma Frota de Mini-Rob?s M?veis". Universidade Federal do Rio Grande do Norte, 2001. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15519.
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Previous issue date: 2001-03-28Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior
Navigation based on visual feedback for robots, working in a closed environment, can be obtained settling a camera in each robot (local vision system). However, this solution requests a camera and capacity of local processing for each robot. When possible, a global vision system is a cheapest solution for this problem. In this case, one or a little amount of cameras, covering all the workspace, can be shared by the entire team of robots, saving the cost of a great amount of cameras and the associated processing hardware needed in a local vision system. This work presents the implementation and experimental results of a global vision system for mobile mini-robots, using robot soccer as test platform. The proposed vision system consists of a camera, a frame grabber and a computer (PC) for image processing. The PC is responsible for the team motion control, based on the visual feedback, sending commands to the robots through a radio link. In order for the system to be able to unequivocally recognize each robot, each one has a label on its top, consisting of two colored circles. Image processing algorithms were developed for the eficient computation, in real time, of all objects position (robot and ball) and orientation (robot). A great problem found was to label the color, in real time, of each colored point of the image, in time-varying illumination conditions. To overcome this problem, an automatic camera calibration, based on clustering K-means algorithm, was implemented. This method guarantees that similar pixels will be clustered around a unique color class. The obtained experimental results shown that the position and orientation of each robot can be obtained with a precision of few millimeters. The updating of the position and orientation was attained in real time, analyzing 30 frames per second
A navega??o baseada em realimenta??o visual para rob?s, trabalhando em um ambiente fechado, pode ser obtida instalando-se uma c?mera em cada rob? (sistema de vis?o local). Esta solu??o, entretanto, requer uma c?mera e capacidade de processamento embarcado para cada rob?. Quando poss?vel, um sistema de vis?o global ? uma solu??o barata para este problema. Neste caso, uma ou uma pequena quantidade de c?meras, cobrindo todo o espa?o de trabalho, pode ser compartilhada pelos rob?s, diminuindo o custo de uma grande quantidade de c?meras e o hardware de processamento necess?rio a um sistema de vis?o local. Este trabalho apresenta a implementa??o e os resultados experimentais de um sistema de vis?o global para uma frota de mini-rob?s m?veis, utilizando como plataforma de testes uma partida de futebol entre rob?s. O sistema de vis?o proposto consiste de uma c?mera, uma placa digitalizadora de imagens e um computador (PC) para o processamento das imagens. O PC ? respons?vel pelo controle dos rob?s, baseado em realimenta??o visual, enviando comandos aos rob?s atrav?s de um transmissor de r?dio. Com o objetivo de possibilitar ao sistema reconhecer unicamente cada rob?, eles possuem r?tulos em seu topo, consistindo de dois c?rculos coloridos. Algoritmos de processamento de imagem foram desenvolvidos para o c?mputo eficiente, em tempo real, da posi??o (rob? e bola) e orienta??o (rob?) dos objetos em campo. Um grande problema encontrado foi rotular a cor, em tempo real, cada ponto colorido da imagem, em condi??es de varia??o de luminosidade. Para resolver este problema, um software de calibra??o autom?tica da c?mera, baseado no algoritmo de aglomera??o K-means, foi implementado. Este m?todo garante que pixels similares sejam agrupados ao redor de uma ?nica classe de cor. Os resultados experimentais obtidos mostram que a posi??o e a orienta??o de cada rob? pode ser obtida com uma precis?o de poucos mil?metros. A atualiza??o das informa??es de posi??o e orienta??o foi realizada em tempo real, analisando 30 quadros por segundo
31
Sun, Hsueh-Li. "Charge State Dependence of M-Shell X-Ray Production in 67Ho by 2-12 MeV Carbon Ions". Thesis, University of North Texas, 1994. https://digital.library.unt.edu/ark:/67531/metadc278725/.
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The charge state dependence of M-shell x-ray production cross sections of 67HO bombarded by 2-12 MeV carbon ions with and without K-vacancies are reported. The experiment was performed using an NEC 9SDH-2 tandem accelerator at the Ion Beam Modification and Analysis Laboratory of the University of North Texas. The high charge state carbon ions were produced by a post-accelerator stripping gas cell. Ultra-clean holmium targets were used in ion-atom collision to generate M-shell x rays at energies from 1.05 to 1.58 keV. The x-ray measurements were made with a windowless Si(Li) x-ray detector that was calibrated using radiative sources, particle induced x-ray emission (PIXE), and the atomic field bremsstrahlung (AFB) techniques.
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Bergonzi, Agnès Berthomier Françoise Galichet Cécile Evans Christophe. "Les bibliothécaires face au changement technologique le cas des CD-Rom et des DVD /". [S.l.] : [s.n.], 2006. http://www.enssib.fr/bibliotheque/documents/dcb/M-2006-RECH-09.pdf.
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Jousseaume, Cécile. "Li2MSiO4 : Cr (M = Mg, Zn) : localisation du chrome dans la structure, caractérisation de ses états d'oxydation et propriétés optiques". Paris 6, 2002. http://www.theses.fr/2002PA066194.
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Nogueira, Marcelo Borges. "Posicionamento e movimenta??o de um rob? human?ide utilizando imagens de uma c?mera m?vel externa". Universidade Federal do Rio Grande do Norte, 2005. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15350.
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Previous issue date: 2005-12-20Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior
This work proposes a method to localize a simple humanoid robot, without embedded sensors, using images taken from an extern camera and image processing techniques. Once the robot is localized relative to the camera, supposing we know the position of the camera relative to the world, we can compute the position of the robot relative to the world. To make the camera move in the work space, we will use another mobile robot with wheels, which has a precise locating system, and will place the camera on it. Once the humanoid is localized in the work space, we can take the necessary actions to move it. Simultaneously, we will move the camera robot, so it will take good images of the humanoid. The mainly contributions of this work are: the idea of using another mobile robot to aid the navigation of a humanoid robot without and advanced embedded electronics; chosing of the intrinsic and extrinsic calibration methods appropriated to the task, especially in the real time part; and the collaborative algorithm of simultaneous navigation of the robots
Este trabalho prop?e um m?todo para localizar um rob? human?ide simples, sem sensores embarcados, utilizando imagens obtidas por uma c?mera externa e t?cnicas de processamento de imagens. Localizando o rob? em rela??o ? c?mera, e supondo conhecida a posi??o da c?mera em rela??o ao mundo, podemos determinar a posi??o do rob? human?ide em rela??o ao mundo. Para que a posi??o da c?mera n?o seja fixa, utilizamos um outro rob? m?vel com rodas, dotado de um sistema de localiza??o preciso, sobre o qual ser? colocada a c?mera. Uma vez que o human?ide seja localizado no ambiente de trabalho, podemos tomar as a??es necess?rias para realizar a sua movimenta??o. Simultaneamente, movimentamos o rob? que cont?m a c?mera, de forma que este tenha uma boa visada do human?ide. As principais contribui??es deste trabalho s?o: a id?ia de utilizar um segundo rob? m?vel para auxiliar a movimenta??o de um rob? human?ide sem eletr?nica embarcada avan?ada; a escolha de m?todos de calibra??o dos par?metros intr?nsecos e extr?nsecos da c?mera apropriados para a aplica??o em quest?o, especialmente na parte em tempo real; e o algoritmo colaborativo de movimenta??o simult?nea dos dois rob?s
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Scherner, Antje. "Die Kapelle des Monte di Pietà in Rom : Architektur und Reliefausstattung im römischen Barock /". Weimar : VDG Verl. und Datenbank für Geisteswiss, 2009. http://deposit.d-nb.de/cgi-bin/dokserv?id=3152149&prov=M&dokv̲ar=1&doke̲xt=htm.
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AGONI, MARIANNA. "IL VILLAGGIO DESERTO. Etnografia e storia di un insediamento rom nella Valacchia contemporanea". Doctoral thesis, Università degli Studi di Milano-Bicocca, 2020. http://hdl.handle.net/10281/273417.
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Fântânele, comune di Cojasca, distretto di Dâmbovița, regione storica della Muntenia, Romania sud-orientale, a circa 40 chilometri da Bucarest, è un villaggio romeno abitato quasi esclusivamente da rom di madrelingua romaní e recentemente convertitisi alla fede pentecostale. A Fântânele ho trascorso nove mesi di ricerca (novembre 2017 - agosto 2018), combinando etnografia e ricerca d’archivio.
L’elaborato che ne è risultato, è diviso in due parti.
La prima parte del lavoro è dedicata al presente di Fântânele, alla situazione attuale di questo villaggio dove, dagli anni successivi alla caduta del regime di Ceaușescu (1989), le migrazioni, interne (Bucarest), ma soprattutto all’estero (Germania e Francia), hanno avuto e hanno tutt’ora un ruolo centrale nella ridefinizione della sua composizione, ma soprattutto delle vite quotidiane delle persone. Mi sono occupata, dunque, di documentare e delineare il posizionamento di Fântânele nell’ambito delle migrazioni internazionali dalla Romania, e l’ho fatto da una angolatura particolare, ovvero dal punto di vista di chi resta, di chi non può andarsene, di chi non vuole lasciare il proprio villaggio, di chi aspetta di partire, di chi è tornato a casa dopo aver trascorso un periodo più o meno lungo all’estero. Insieme alle persone conosciute a Fântânele, ho cercato di capire quale sia l’impatto delle migrazioni sul contesto e sulla comunità di origine, e quindi su quella parte della famiglia che resta al villaggio. Del resto, proprio le migrazioni all’estero rappresentano una delle dinamiche che oggi differenziano maggiormente Fântânele dagli altri villaggi che fanno parte dello stesso comune, ovvero Cojasca, abitato in gran parte da romeni, e Iazu, abitato in maggioranza da rudari, da dove non parte quasi nessuno.
Come si è determinata questa differenza e quali sono le radici storiche delle diverse situazioni che caratterizzano i tre villaggi? Come si è strutturata questa tripartizione tra romeni, rudari e rom? Come è nato questo villaggio abitato quasi solo da rom, prima fierari e poi lăutari, accanto a un villaggio di contadini dediti ad agricoltura e allevamento?
La seconda parte è dedicata a una ricostruzione storica della vita delle famiglie di questi villaggi, dalla nascita di Cojasca, Iazu e Fântânele, fino alla caduta del regime di Ceaușescu nel 1989. Facendo riferimento agli eventi storici e politici che hanno caratterizzato e trasformato la Romania, dall’asservimento ai boiari alla fine delle schiavitù degli țigani, dalle riforme agrarie del 1864 e della prima metà del XX secolo, che hanno lasciato le famiglie rom in una posizione di netto svantaggio rispetto a quelle romene, alla collettivizzazione e nazionalizzazione, dal regime socialista di Ceaușescu alla democratizzazione del Paese, racconto di come le famiglie di Fântânele hanno vissuto, si sono mosse, si sono adattate a questi cambiamenti, di come me ne hanno parlato, di come vedono la fine del socialismo e l’avvento della tanto agognata “libertà”.Fântânele, Cojasca municipality, Dâmbovița country, historical region of Muntenia, southeastern Romania, about 40 kilometres away from Bucarest, is a Romanian, mostly inhabited by rom native Romaní speakers and recently converted to the Pentecostal faith. I have spent nine months of research in Fântânele, from November 2017 to August 2018, combining ethnography and archive researches. The present thesis is divided in two parts. The first part of the work is devoted to the present of Fântânele, where, since the fall of Ceaușescu’s regime in 1989, internal migrations towards Bucarest and, above all, migrations abroad towards Germany or France, have continued to play a central role both in the village composition and in everyday people’s lives. Therefore, I have documented and delineated the role of Fântânele in the international migrations from Romania within an original perspective, namely from the point of view of who stays, of people that cannot leave, of people refusing to leave their own village, of those who are still postponing the departure, and of those who came back home after a long or short period abroad. Together with people I met in Fântânele, I tried to understand the impact of migrations on the original contest and community, along with the part of the family that remains in the village. Besides, migrations to other countries represent one of the main dynamics that differentiate Fântânele from other villages of the municipality, namely Cojasca, mostly inhabited by Romanians, and Iazu, mostly inhabited by Rudari, from which almost nobody leaves. How this difference has been generated and which are the historical basis of the different situations characterizing the three villages? How did this tripartitions between romeni, rudari and rom originated? How this village almost exclusively inhabited by rom, firstly fierari and later lăutari, was born, close to a village of farmers engaged in agriculture and animal husbandry? The second part of this manuscript is devoted to a historical reconstruction of the life of families in those villages, since the foundation of Cojasca, Iazu and Fântânele, till the fall of Ceaușescu regime in 1989. I will refer to historical and political events that characterized and transformed Romania, from the enslavement from the boieri to the slavery (robie) of țigani, from agricultural reforms of 1864 e of the first half XX century, which put roma families in a position of disadvantages with respect to Romanian families, to the collectivization and nationalization, from the Ceaușescu socialist regime to the democratization of Romania. I will explain how families in Fântânele have experienced those events, how they moved and how they adapted to changes, I will report how they talked about those aspects and about their vision in regards the end of socialism and of the coming of the long-awaited “freedom”.
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Santos, Guilherme Leal. "Localiza??o de rob?s m?veis aut?nomos utilizando fus?o sensorial de odometria e vis?o monocular". Universidade Federal do Rio Grande do Norte, 2010. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15334.
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Previous issue date: 2010-05-07Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior
The development and refinement of techniques that make simultaneous localization and mapping (SLAM) for an autonomous mobile robot and the building of local 3-D maps from a sequence of images, is widely studied in scientific circles. This work presents a monocular visual SLAM technique based on extended Kalman filter, which uses features found in a sequence of images using the SURF descriptor (Speeded Up Robust Features) and determines which features can be used as marks by a technique based on delayed initialization from 3-D straight lines. For this, only the coordinates of the features found in the image and the intrinsic and extrinsic camera parameters are avaliable. Its possible to determine the position of the marks only on the availability of information of depth. Tests have shown that during the route, the mobile robot detects the presence of characteristics in the images and through a proposed technique for delayed initialization of marks, adds new marks to the state vector of the extended Kalman filter (EKF), after estimating the depth of features. With the estimated position of the marks, it was possible to estimate the updated position of the robot at each step, obtaining good results that demonstrate the effectiveness of monocular visual SLAM system proposed in this paper
O desenvolvimento e aperfei?oamento de t?cnicas que fa?am simultaneamente o mapeamento e a localiza??o (Simultaneous Localization and Mapping - SLAM) de um rob? m?vel aut?nomo e a cria??o de mapas locais 3-D, a partir de uma sequ?ncia de imagens, ? bastante estudada no meio cient?fico. Neste trabalho ? apresentado uma t?cnica de SLAM visual monocular baseada no filtro de Kalman estendido, que utiliza caracter?sticas encontradas em uma sequ?ncia de imagens atrav?s do descritor SURF (Speeded Up Robust Features) e determina quais caracter?sticas podem ser utilizadas como marcas atrav?s de uma t?cnica de inicializa??o atrasada baseada em retas 3-D. Para isso, tem-se dispon?vel apenas as coordenadas das caracter?sticas detectadas na imagem e os par?metros intr?nsecos e extr?nsecos da c?mera. ? poss?vel determinar a posi??o das marcas somente com a disponibilidade da informa??o de profundidade. Os experimentos realizados mostraram que durante o percurso, o rob? m?vel detecta a presen?a de caracter?sticas nas imagens e, atrav?s de uma t?cnica proposta para inicializa??o atrasada de marcas, adiciona novas marcas ao vetor de estados do filtro de Kalman estendido (FKE) ap?s estimar a profundidade das caracter?sticas. Com a posi??o estimada das marcas, foi poss?vel estimar a posi??o atualizada do rob? a cada passo; obtendo resultados satisfat?rios que comprovam a efici?ncia do sistema de SLAM visual monocular proposto neste trabalho
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Mendes, Ellon Paiva. "Identifica??o em tempo real de modelo din?mico de rob? m?vel com acionamento diferencial e zona morta". Universidade Federal do Rio Grande do Norte, 2012. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15387.
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Previous issue date: 2012-01-27Conselho Nacional de Desenvolvimento Cient?fico e Tecnol?gico
Several mobile robots show non-linear behavior, mainly due friction phenomena between the mechanical parts of the robot or between the robot and the ground. Linear models are efficient in some cases, but it is necessary take the robot non-linearity in consideration when precise displacement and positioning are desired. In this work a parametric model identification procedure for a mobile robot with differential drive that considers the dead-zone in the robot actuators is proposed. The method consists in dividing the system into Hammerstein systems and then uses the key-term separation principle to present the input-output relations which shows the parameters from both linear and non-linear blocks. The parameters are then simultaneously estimated through a recursive least squares algorithm. The results shows that is possible to identify the dead-zone thresholds together with the linear parameters
V?rios rob?s m?veis apresentam comportamentos n?o-lineares, principalmente ocasionados por fen?menos de atrito entre as partes mec?nicas do rob? ou entre o rob? e o solo. Modelagens puramente lineares apresentam-se eficientes em alguns casos, mas ? preciso levar em considera??o as n?o-linearidades do rob? quando se deseja movimentos ou posicionamentos precisos. Este trabalho prop?e um procedimento de identifica??o param?trica do modelo de um rob? m?vel com acionamento diferencial, no qual s?o consideradas as n?o-linearidades do tipo zona-morta presentes nos atuadores do rob?. A proposta baseia-se no modelo de Hammerstein para dividir o sistema em blocos lineares e n?o-lineares. O princ?pio da separa??o do termo chave ? utilizado para demonstrar a rela??o entre as entradas e sa?das do sistema com os par?metros tanto da parcela linear quanto da n?o-linear. Os par?metros de ambas as parcelas s?o identificados simultaneamente, atrav?s de um algoritmo de m?nimos quadrados recursivo. Os resultados mostram que ? poss?vel identificar o valor os limites da zona-morta assim como os par?metros da parcela linear do modelo do sistema
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Höfling, Felix. "Dynamics of rod like macromolecules in heterogeneous materials". Münster Verl.-Haus Monsenstein und Vannerdat, 2006. http://deposit.d-nb.de/cgi-bin/dokserv?id=2930009&prov=M&dok_var=1&dok_ext=htm.
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Höfling, Felix. "Dynamics of Rod-Like Macromolecules in Heterogeneous Materials /". Münster, Westf : Monsenstein und Vannerdat, 2007. http://deposit.d-nb.de/cgi-bin/dokserv?id=2930009&prov=M&dok_var=1&dok_ext=htm.
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Ould, Saleck Ahmed. "Synthèse et caractérisation physico-chimique de nouveaux phosphates de magnésium : (A¹₂ ou B²)Mg₂M³(PO₄)₃ (A = Na, Ag ; B = Ca, Pb, Sr, Ba ; M = Fe, In)". Thesis, Valenciennes, 2018. http://www.theses.fr/2018VALE0045.
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Ce travail de thèse s’inscrit dans le cadre de la contribution au programme de valorisation des matériaux phosphatés et plus particulièrement, les phosphates de type alluaudite ou α-CrPO₄. Ces composés se distinguent par leurs propriétés physico-chimiques aussi variées qu’importantes et sont très convoités dans plusieurs domaines d’applications comme la catalyse et l’électrochimie.Nous avons pu isoler onze nouveaux phosphates et déterminer leur structure par la diffraction des rayons X sur monocristal.Le phosphate PbMg₃(HPO₄)(PO₄)₂ a été préparé par la méthode hydrothermale. Sa structure cristalline a été résolue dans le système monoclinique I2/m.La substitution d’un cation Mg²⁺ par un fer trivalent (Fe³) dans le composé PbMg₃(HPO₄)(PO₄)₂ a permis d’isoler cinq nouveaux composés par voie solide. Quatre phosphates de formule MMg₂Fe(PO₄)₃ (M = Ba, Sr, Pb, Ca) s’apparentent à deux types structuraux différents. Les composés contenant Sr et Ba sont de type α-CrPO₄ et cristallisent dans une maille orthorhombique de groupe d’espace Imma. Quant à ceux contenant Ca ou Pb, leur structure s’affine dans le groupe d’espace P21/n du système monoclinique. Le cinquième phosphate est de formule Ca₂MgFe₂(PO₄)₄ cristallisant dans le système monoclinique avec un groupe d’espace Pbca.Enfin, nous avons synthétisé cinq nouveaux phosphates à base de Mg, de Fe et d’élément monovalents : NaMg₃(HPO₄)2(PO₄), Na₂Mg₂Fe(PO₄)₃, Ag₁,₆₇Mg₂,₃₃Fe₀,₈₉(PO₄)₃, Na₁,₈₅Mg₁,₈₅In₁,₁₅(PO₄)₃ et Ag₁,₆₉Mg₁,₆₉In₁,₃₁(PO₄)₃, en utilisant aussi bien la méthode hydrothermale que la synthèse par voie solide. Ces phosphates cristallisent dans le système monoclinique de groupe d’espace C2/c et s’apparentent au type structural alluaudite. La poudre cristalline des phases stoechiométriques A₂Mg₂Fe(PO₄)₃ (A = Na, Ag) a été synthétisée par voie solide et caractérisée par la diffraction de rayons X sur poudre. L’étude de la conductivité en fonction de la température de ces deux composés conduit à σ = 0,12x10⁻⁴ S.cm⁻¹ pour Na₂Mg₂Fe(PO₄)₃ et à σ = 4x10⁻³ S.cm⁻¹ pour Ag₂Mg₂Fe(PO₄)₃ à 500°CThis study is a part of contribution to the investigation program aiming to elaborate and to characterize new phosphate-based materials, particularly, with the alluaudite and/or α- CrPO₄ type structure. These compounds are characterized by their wide physico-chemical properties that they can exhibit in several fields of application such as catalysis and electrochemistry.We have isolated and determined the structure of eleven new phosphates by means of single crystal X-ray diffraction.The phosphate PbMg₃(HPO₄)(PO₄)₂ was synthesized by hydrothermal method. Its structure was resolved in monoclinic system with space group I2/m.The substitution of one cation Mg²⁺ by Fe³⁺ has allowed us to isolate five new compounds using solid-state diffusion method. Four compounds of general formula MMg₂Fe(PO₄)₃ (M = Ba, Sr, Pb, Ca) exhibit two different structural types. The Sr or Ba based compounds are related to the α-CrPO₄ type structure and crystallize with the space group Imma of the orthorhombic system. Besides, the Ca or Pb based phosphates crystallize with the P21/n space group of the monoclinic system. The fifth phase, namely Ca₂MgFe₂(PO₄)₄, crystallizes in orthorhombic system with a Pbca space group.Finally, we have succeeded to synthesize five new Mg, Fe and monovalent elements based phosphates, namely NaMg₃(HPO₄)₂(PO₄), Na₂Mg₂Fe(PO₄)₃, Ag₁,₆₇Mg₂,₃₃Fe₀,₈₉(PO₄)₃, Na₁,₈₅Mg₁,₈₅In₁,₁₅(PO₄)₃ and Ag₁,₆₉Mg₁,₆₉In₁,₃₁(PO₄)₃, using both the hydrothermal and the solid-state diffusion methods. All these phosphates crystallize in the monoclinic system with C2/c space group and are similar to the alluaudite type structural. The powder of stoichiometric compounds A₂Mg₂Fe(PO₄)₃ (A = Na, Ag) were synthesized by solid-state method and characterized by X-Ray powder diffraction. Conductivity’s studies by impedance spectroscopic method have allowed determining values for Na₂Mg₂Fe(PO₄)₃ (σ = 0.12.10⁻⁴ S.cm⁻¹ at 500°C) and for Ag₂Mg₂Fe(PO₄)₃ (σ = 4.10⁻³ S.cm⁻¹ at 500°C) due to cations migration in the channels of the structure
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Antunes, Viviane Andr? "Uma abordagem comportamental para inser??o de rob?s em ambientes culturais". Universidade Federal do Rio Grande do Norte, 2004. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15275.
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Previous issue date: 2004-12-22In this work, we propose methodologies and computer tools to insert robots in cultural environments. The basic idea is to have a robot in a real context (a cultural space) that can represent an user connected to the system through Internet (visitor avatar in the real space) and that the robot also have its representation in a Mixed Reality space (robot avatar in the virtual space). In this way, robot and avatar are not simply real and virtual objects. They play a more important role in the scenery, interfering in the process and taking decisions. In order to have this service running, we developed a module composed by a robot, communication tools and ways to provide integration of these with the virtual environment. As welI we implemented a set of behaviors with the purpose of controlling the robot in the real space. We studied available software and hardware tools for the robotics platform used in the experiments, as welI we developed test routines to determine their potentialities. Finally, we studied the behavior-based control model, we planned and implemented alI the necessary behaviors for the robot integration to the real and virtual cultural spaces. Several experiments were conducted, in order to validate the developed methodologies and tools
Neste trabalho, propomos metodologias e ferramentas computacionais visando inserir rob?s em ambientes culturais. O objetivo ? que um rob? localizado em um contexto real (espa?o cultural) possa representar tanto um usu?rio conectado ao sistema via Internet (avatar real para o visitante virtual), como tamb?m ter seu avatar em um ambiente de Realidade Mista (avatar para o rob? no ambiente virtual). Nesse sentido, o rob? e seu avatar deixam de ser meros objetos, real e virtual, e passam a ter uma fun??o mais importante no cen?rio, podendo interferir no processo e tomar decis?es. Para que esse servi?o possa ser disponibilizado, desenvolvemos um m?dulo composto por um rob?, ferramentas de comunica??o e provemos maneiras de realizar a integra??o entre este e o ambiente virtual, bem como implementamos um conjunto de comportamentos com a finalidade de controle do prot?tipo no seu ambiente real. Estudamos ferramentas de software e Hardware dispon?veis para a plataforma rob?tica usada nos experimentos, bem como desenvolvemos rotinas de testes para determinar suas potencialidades. Ainda, estudamos o modelo de controle baseado em comportamentos, planejamos e implementamos todos os comportamentos necess?rios ? integra??o do rob? aos ambientes real e virtual. V?rios experimentos foram realizados para valida??o das metodologias e ferramentas desenvolvidas, permitindo concluir que as mesmas atendem de forma satisfat?ria ao prop?sito inicial para o qual foram desenvolvidas
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Graner, Romy [Verfasser], Margarete [Akademischer Betreuer] Schön, Ibrahim M. [Gutachter] Adam, Ralf [Gutachter] Dressel i Wolfgang [Gutachter] Engel. "Zur Charakterisierung von Stra8 - Cre - transgenen Mäusen / Romy Graner. Betreuer: Margarete Schön. Gutachter: Ibrahim M. Adam ; Ralf Dressel ; Wolfgang Engel". Göttingen : Niedersächsische Staats- und Universitätsbibliothek Göttingen, 2016. http://d-nb.info/1112736433/34.
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Oliveira, ?tila Varela Ferreira Medeiros de. "Estrat?gia de navega??o com planejamento din?mico e algoritmo gen?tico aplicada a rob?s m?veis terrestres". Universidade Federal do Rio Grande do Norte, 2015. http://repositorio.ufrn.br/handle/123456789/21173.
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Este trabalho prop?e uma nova estrat?gia de navega??o aut?noma assistida por algoritmo gen?tico com planejamento din?mico para rob?s m?veis terrestres, chamada DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm). A estrat?gia foi aplicada em ambientes - tanto est?ticos, quanto din?micos - nos quais a localiza??o e o formato dos obst?culos n?o s?o previamente conhecidos. A cada evento de deslocamento, uma nova rota ? planejada atrav?s de um algoritmo que minimiza a dist?ncia entre o rob? e o objetivo e maximiza a dist?ncia em rela??o aos obst?culos. Utilizando um sensor de localiza??o espacial e um conjunto de sensores de dist?ncia, a estrat?gia de navega??o proposta foi capaz de planejar dinamicamente percursos ?timos livres de colis?o. Simula??es realizadas em diferentes ambientes demostraram que a t?cnica fornece um alto grau de flexibilidade e robustez. Para isso, foram aplicadas diversas varia??es de par?metros gen?ticos, tais como: taxa de cruzamento, tamanho da popula??o, dentre outros. Finalmente, os resultados das simula??es demonstram satisfatoriamente a efic?cia e robustez da t?cnica DPNA-GA, validando-a para aplica??es reais em rob?s m?veis terrestres.
This work proposes a new autonomous navigation strategy assisted by genetic algorithm with dynamic planning for terrestrial mobile robots, called DPNA-GA (Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm). The strategy was applied in environments - both static and dynamic - in which the location and shape of the obstacles is not known in advance. In each shift event, a control algorithm minimizes the distance between the robot and the object and maximizes the distance from the obstacles, rescheduling the route. Using a spatial location sensor and a set of distance sensors, the proposed navigation strategy is able to dynamically plan optimal collision-free paths. Simulations performed in different environments demonstrated that the technique provides a high degree of flexibility and robustness. For this, there were applied several variations of genetic parameters such as: crossing rate, population size, among others. Finally, the simulation results successfully demonstrate the effectiveness and robustness of DPNA-GA technique, validating it for real applications in terrestrial mobile robots.
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Heine, Maria. "Die Spiritualität von Asketinnen von den Wüstenmüttern zum städtischen Asketinnentum im östlichen Mittelmeerraum und in Rom vom 3. bis zum 5. Jahrhundert". Berlin Münster Lit, 2007. http://deposit.d-nb.de/cgi-bin/dokserv?id=3067765&prov=M&dok_var=1&dok_ext=htm.
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SCRIMIERI, FEDERICA. "Vivere con i leader. Etnografia dell'attivismo rom in Albania: famiglie e debito". Doctoral thesis, Università degli Studi di Milano-Bicocca, 2022. http://hdl.handle.net/10281/365779.
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Il focus di questa ricerca è il contesto dell’attivismo rom in Albania, l’assetto familiare che lo contraddistingue e il sistema del mercato dell’aiuto allo sviluppo in cui è inserito. Nella prima parte è ripercorsa la storia della comunità rom nell’area balcanica e in Albania, dalle prime attestazioni in epoca ottomana fino al trentennio socialista in epoca contemporanea. Nella seconda parte la storia della comunità rom in Albania è intrecciata con il resoconto della nascita del movimento rom per la società civile suddiviso in tre fasi storiche caratterizzate da tre diverse generazioni di leader e di protagonisti. Il movimento sarà analizzato delineando le tematiche emerse, soprattutto la sovrapposizione tra i “legami associativi” e i “legami familiari” e l’ indebitamento delle organizzazioni causato dal “sistema dei rimborsi” che regola il funzionamento della progettazione e dunque l’accesso alle risorse economiche.The focus of this research is the context of Roma activism in Albania, the family structure that distinguishes it and the system of the development aid market in which it is embedded. In the first part, the history of the Roma community in the Balkans and in Albania is traced, from the earliest occurrences in the Ottoman era to the 30-year socialist period in contemporary times. In the second part, the history of the Roma community in Albania is intertwined with an account of the new born Roma movement for civil society divided into three historical phases characterised by three different generations of leaders and protagonists. The movement will be analysed by outlining the issues that emerged, especially the overlap between "associative ties" and " kinship ties" and the indebtedness of the organisations caused by the "reimbursement system" that regulates the functioning of the cycle project management and therefore access to economic resources.
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Kadletz, Peter M. [Verfasser], i Wolfgang [Akademischer Betreuer] Schmahl. "Neutron and x-ray diffraction of Ti-Ta and Co49Ni21Ga30 high-temperature shape-memory-alloys / Peter M. Kadletz ; Betreuer: Wolfgang Schmahl". München : Universitätsbibliothek der Ludwig-Maximilians-Universität, 2018. http://d-nb.info/1175878529/34.
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Delvaux, Luc. ""Donné en récompense de la part du roi" (DÍW M ḤSWT NT ḪR NSW) : statuaire privée et pouvoir en Egypte ancienne". Université Marc Bloch (Strasbourg) (1971-2008), 2008. http://www.theses.fr/2008STR20083.
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L’objectif de cette thèse de doctorat est d’analyser la formulation "Donné en récompense de la part du roi" (dỉw m ḥswt nt ḫr nsw), mise en évidence sur une cinquantaine de statues privées, datant du Moyen Empire à la Troisième Période Intermédiaire, ainsi que sur de nombreux autres objets de catégories très diverses. Les "statues de la récompense" porteuses de cette expression standardisée, offertes par le roi à des dignitaires méritants, sont parmi les rares œuvres égyptiennes qui nous parlent des conditions de leur création. Enrichie par l’étude des autres documents porteurs de la formule, cette analyse a permis de déterminer quels sont les critères de réalisation et les modalités d’octroi de ces statues. En outre, en mettant en évidence le rôle des ateliers royaux dans la création de ces œuvres, elle a montré que celles-ci relèvent d’une statuaire de pouvoir, qui met en scène les membres de l’élite dirigeante du pays, et leurs relations avec la royauté. Enfin, l’étude diachronique de la formule du don royal a permis de décrire l’évolution complexe de ces relations, au fil des mutations de la société égyptienne et des enjeux politiques et idéologiques qui la gouvernentThe purpose of this doctoral thesis is to analyze the formula "Given by favour of the king" (dỉw m ḥswt nt ḫr nsw), conspicuously written on some fifty private statues, dating from the Middle Kingdom to the Third Intermediate Period, as on many other objets of very different kinds. These "statues of reward" which bear this standardized expression were offered by the king to deserving dignitaries. They are among the few Egyptian works of art whose inscriptions speak of their own creation. The study of the other documents bearing the formula has led to describe how the statues were made by the royal workshops, and given by the king. Moreover it showed that this group of statues belonged to what can be called an "art of power", portraying the main courtiers of the country, and their relationships with the pharaonic kingship. The chronological approach of the royal gift formula shed light on the evolution of this king-elite connections, and on the political and ideological changes of the pharaonic society
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COLONE, ALESSIA. "Role of CpG ODNs in human macrophages before and after infection with Mycobacterium tuberculosis and their effects in cellular and molecular defence mechanisms". Doctoral thesis, Università degli Studi di Roma "Tor Vergata", 2010. http://hdl.handle.net/2108/1265.
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Oligodeoxynucleotides, containing unmethylated CpG dinucleotides within specific sequence contexts in bacterial or viral DNA, are detected as a danger signal by the vertebrate immune system. CpG motifs are sequences with a potent antymycobacterial activity and we tested a panel of eight synthetic CpG ODNs for their capacity to reduce Mycobacterium tuberculosis growth analyzing their effects in vitro in human macrophages. CpG2 ODN is able significantly to reduce pathogen growth while CpG3 ODN determines an enhancement in replication than control macrophages. In term of molecular and cellular mechanisms of defence in the host-pathogen interaction we found a specificity of CpG ODN sequence in intracellular pH decrease but not in Reactive Oxygen Species production, both influenced by CpG. Moreover we analyzed environment of macrophages, stimulated with these two CpG ODNs, before and after infection showing a correlation between mycobacterial growth and IFN- transcription following 1 hour of CpG treatment, and a down-regulation in IFN-mRNA upon pathogen contact. Finally we described a pathway of cytokines, among them SerpinE1 never associated before in M. tuberculosis infection involved in macrophages migration. In conclusion CpG ODNs could be used as vaccine adjuvants confirming their capacities
to improve protection against M. tuberculosis involving mechanisms of defence.
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Holler, Markus. "Photon reconstruction for the H.E.S.S. 28 m telescope and analysis of Crab Nebula and galactic centre observations". Phd thesis, Universität Potsdam, 2014. http://opus.kobv.de/ubp/volltexte/2014/7209/.
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In the presented thesis, the most advanced photon reconstruction technique of ground-based γ-ray astronomy is adapted to the H.E.S.S. 28 m telescope. The method is based on a semi-analytical model of electromagnetic particle showers in the atmosphere. The properties of cosmic γ-rays are reconstructed by comparing the camera image of the telescope with the Cherenkov emission that is expected from the shower model. To suppress the dominant background from charged cosmic rays, events are selected based on several criteria. The performance of the analysis is evaluated with simulated events. The method is then applied to two sources that are known to emit γ-rays. The first of these is the Crab Nebula, the standard candle of ground-based γ-ray astronomy. The results of this source confirm the expected performance of the reconstruction method, where the much lower energy threshold compared to H.E.S.S. I is of particular importance. A second analysis is performed on the region around the Galactic Centre. The analysis results emphasise the capabilities of the new telescope to measure γ-rays in an energy range that is interesting for both theoretical and experimental astrophysics. The presented analysis features the lowest energy threshold that has ever been reached in ground-based γ-ray astronomy, opening a new window to the precise measurement of the physical properties of time-variable sources at energies of several tens of GeV.In der vorliegenden Dissertation wird die zur Zeit sensitivste Methode zur Photonrekonstruktion in der bodengebundenen Gammastrahlungsastronomie an das 28 m H.E.S.S. Teleskop angepasst. Die Analyse basiert auf einem semi-analytischen Modell von elektromagnetischen Teilchenschauern in der Erdatmosphäre. Die Rekonstruktion erfolgt durch den Vergleich des Bildes der Teleskopkamera mit der Tscherenkow-Emission, die mittels des Schauermodells berechnet wurde. Zur Verringerung des dominanten Untergrundes, der hauptsächlich durch Teilchen der geladenen kosmischen Strahlung hervorgerufen wird, werden Ereignisse anhand bestimmter Kriterien ausgewählt. Die Leistungsfähigkeit der Analyse wird unter Verwendung simulierter Ereignisse evaluiert. Die Methode wird anschließend auf zwei Gammastrahlungsquellen angewendet. Zuerst wird der Krebsnebel analysiert, die Standardkerze der bodengebundenen Gammastrahlungsastronomie. Die Resultate der Analyse des Krebsnebels bestätigen die bereits zuvor erwartete Leistungsfähigkeit der Rekonstruktionsmethode, wobei hier insbesondere die im Vergleich zu H.E.S.S. I stark verringerte Energieschwelle hervorzuheben ist. Als Zweites werden Beobachtungen der Region um das galaktische Zentrum ausgewertet. Die Analyseergebnisse dieser Daten unterstreichen die Fähigkeiten des neuen Teleskops zur Messung kosmischer Gammastrahlung in einem für die theoretische und experimentelle Astrophysik interessanten Energiebereich. Die vorgestellte Analyse besitzt die niedrigste Energieschwelle, die in der bodengebundenen Gammastrahlungsastronomie je erreicht wurde. Sie ermöglicht damit präzise Messungen der physikalischen Eigenschaften von zeitabhängigen Quellen im Energiebereich von 10 bis 100 GeV.