Дисертації з теми "Manipulation of ground"
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Staub, Nicolas. "Models, algorithms and architectures for cooperative manipulation with aerial and ground robots." Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30169/document.
Повний текст джерелаIn recent years, the subject of physical interaction for aerial robots has been a popular research area with many new mechanical designs and control approaches being proposed. The aerial robotics community is currently observing a paradigm shift from classic guidance, navigation, and control tasks towards more unusual tasks, for example requesting aerial robots to physically interact with the environment, thus extending the manipulation task from the ground into the air. This thesis contributes to the field of aerial manipulation by proposing a novel concept known has Multiple Aerial-Ground Manipulator System or MAGMaS, including what appears to be the first experimental demonstration of a MAGMaS and opening a new route of research. The motivation behind associating ground and aerial robots for cooperative manipulation is to leverage their respective particularities, ground robots bring strength while aerial robots widen the workspace of the system. The first contribution of this work introduces a meticulous system model for MAGMaS. The system model's properties and potential extensions are discussed in this work. The planning, estimation and control methods which are necessary to exploit MAGMaS in a cooperative manipulation tasks are derived. This works proposes an optimal control allocation scheme to exploit the MAGMaS redundancies and a general model-based force estimation method is presented. All of the proposed techniques reported in this thesis are integrated in a global architecture used for simulations and experimental validation. This architecture is extended by the addition of a tele-presence framework to allow remote operations of MAGMaS. The global architecture is validated by robust demonstrations of bar lifting, an application that gives an outlook of the prospective use of the proposed concept of MAGMaS. Another contribution in the development of MAGMaS consists of an exploratory study on the flexibility of manipulated loads. A vibration model is derived and exploited to showcase vibration properties in terms of control. The last contribution of this thesis consists of an exploratory study on the use of elastic joints in aerial robots, endowing these systems with mechanical compliance and energy storage capabilities. Theoretical groundings are associated with a nonlinear controller synthesis. The proposed approach is validated by experimental work which relies on the integration of a lightweight variable stiffness actuator on an aerial robot
Russell, Brent S., Mark D. Geil, Jianhua Wu, and Kathryn T. Hoiriis. "Variability of vertical ground reaction forces in patients with chronic low back pain, before and after chiropractic care." Digital Archive @ GSU, 2011. http://digitalarchive.gsu.edu/kin_health_theses/3.
Повний текст джерелаSmith, Laura. "On uneven ground : the multiple and contested natures(s) of environmental restoration." Thesis, Cardiff University, 2009. http://orca.cf.ac.uk/55902/.
Повний текст джерелаPettengell, Clare Louise. "The isolation of muscle activity and ground reaction force patterns associated with postural control in four load manipulation tasks." Thesis, Rhodes University, 2010. http://hdl.handle.net/10962/d1005203.
Повний текст джерелаZhong, Wei. "Manipulation of the motion of polyatomic molecules in the rotational ground state : microwave lens effect by AC Stark dipole force." Thesis, University of British Columbia, 2013. http://hdl.handle.net/2429/45263.
Повний текст джерелаHrmo, Pavel. "Ground state cooling of the radial motion of a single ion in a penning trap and coherent manipulation of small numbers of ions." Thesis, Imperial College London, 2018. http://hdl.handle.net/10044/1/61471.
Повний текст джерелаLing, Peter. "Common Ground by Artefacts : Everyday Collaborative Manipulations." Thesis, University of Skövde, School of Humanities and Informatics, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-4306.
Повний текст джерелаThis thesis explores how cognitive artefacts contribute to the process of reaching common ground within collaborative groups through a study of both Clark's theory of Common Ground and of how artefacts are understood to be used, both by individuals and as seen in distributed cognition. This was accompanied by an ethno-methodologically inspired study in the natural setting of a kitchen to observe how artefacts are used when negotiationg common ground. After the study's completion, participants were interviewed in order to establish whether common ground was successfully established ant to look for consistency between obeservations from the study and how the participants motivate their actions. The study was analysed in order to find patterns, of which four distinct kinds were indentified; these categories were then related to facts established in the study of Common Ground and artefacts.
Schopis, Joel L. "Single-Element GNSS Patch Antenna Pattern Control." Ohio University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1438285370.
Повний текст джерелаOkoye, Raphael. "Manipulation of short pulses." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/85576.
Повний текст джерелаENGLISH ABSTRACT: An ultra-fast laser pulse can be described in the time or frequency domain. If the timebandwidth product of an ultra-fast pulse is not satisfied, then the pulse is stretched. Stretching can be described in the time or frequency domain. In the time domain, it is called a chirp and in the frequency domain, it is known as the group delay dispersion GDD. Various techniques can be used to stretch and compress laser pulses. In this project, a prism pulse compressor used for compressing stretched pulses was built. A 200nm supercontinnum generated in an all normal dispersion photonic crystal fibre (ANDi-PCF) was compressed using the prism pulse compressor from 2ps to 140fs. The experiment and physical interpretation presented in this project suggest that a shorter pulse duration less than the measured 140fs of the compressed supercontinnum can be obtained.
AFRIKAANSE OPSOMMING: 'n Ultra-vinnige laser puls kan beskryf word in tyd of frekwensie. As die tyd-bandwydte produk van ‘n ultra-vinnige puls nie bevredig is nie, dan is die puls uitgerek. Hierdie uitrekking kan beskryf word in tyd of frekwensie. In tyd word dit tjirp genoem en in frekwensie groep vertraging dispersie. Verskeie tegnieke kan gebruik word om ‘n laser puls te rek of saam te pers. In hierdie projek is ‘n prisma puls kompressor gebou om uitgerekte pulse saam te pers. ‘n 200nm bre e bandwydte puls (“supercontinuum”) is gegenereer in ‘n fotoniese kristal optiese vesel wat uitsluitlik normale dispersie toon (ANDI-PCF) en die puls is toe saamgepers met behulp van die prisma puls kompressor van‘n oorspronklike 2ps na 140fs. Die eksperiment en fisiese interpretasie wat in hierdie projek aangebied word dui daarop dat ‘n nog korter puls, minder as die gemete 140 fs, verkry kan word deur die bre e bandwydte puls verder saam te pers.
Thacker, Eric T. "Greater Sage-Grouse Seasonal Ecology and Responses to Habitat Manipulations in Northern, Utah." DigitalCommons@USU, 2010. https://digitalcommons.usu.edu/etd/707.
Повний текст джерелаAlexander, Rashada Corine. "INSIGHTS INTO ENZYMATIC MANIPULATIONS OF NUCLEIC ACIDS." UKnowledge, 2005. http://uknowledge.uky.edu/gradschool_diss/283.
Повний текст джерелаDoherty, Conor J. "Canonical solution groups of a homomorphism : manipulator kinematics, nonparametric regression and distributed object systems." Thesis, Aston University, 1997. http://publications.aston.ac.uk/7973/.
Повний текст джерелаMzenzi, Siasa. "Accounting practices in the Tanzanian Local Government Authorities (LGAs): the grounded theory of manipulating legitimacy." Thesis, University of Southampton, 2013. https://eprints.soton.ac.uk/348343/.
Повний текст джерелаLundström, Camilla, and Anna-Karin Persson. "Vilka hjälpbehov föreligger hos en individ som lämnar en destruktiv sekt?" Thesis, Mälardalen University, Department of Social Sciences, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-464.
Повний текст джерелаTidigare forskning pekar på att psykologiska faktorer påverkar hur individen rekryteras till en sekt. Förförståelsen inför denna intervjustudie var att det skulle kunna finnas ett behov av ett rehabiliteringscentrum i Sverige, och frågeställningen gällde vilka behov som föreligger hos en individ som lämnar en destruktiv sekt sett utifrån professionella hjälpares perspektiv. 14 personer deltog, psykiatriker, präster, politiker, terapeuter och psykologer. Resultatet visade att det finns olika anledningar till att individer rekryteras in i en sekt liksom till att de lämnar den. Resultatet visade också att det föreligger ett hjälpbehov hos individer som lämnar sekter och gemensamma svar för alla respondenter var att det behövs: (1) samtal, (2) gemenskap, (3) någon som lyssnar.
Guttery, Michael R. "Ecology and Management of a High Elevation Southern Range Greater Sage-Grouse Population: Vegetation Manipulation, Early Chick Survival, and Hunter Motivations." DigitalCommons@USU, 2010. https://digitalcommons.usu.edu/etd/842.
Повний текст джерелаMitiche, Sarra. "Plasmonique, un outil pour l'ingénierie du champ électromagnétique aux petites échelles : Manipulation du champ proche optique." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLS321.
Повний текст джерелаAt nanometer scale, the metallic particles exhibit new optical properties related to the surface plasmon resonance phenomenon. A plasmon resonance is a collective and coherent oscillation of the conduction electrons at a metallic nanoparticle surface under an external electromagnetic field. The resonance wavelength and the spatial distribution of the associated electromagnetic field depend on the nanoparticle characteristics (size, shape and chemical nature), the surrounding dielectric medium and the illumination geometry.The excitation of surface plasmons generates local electromagnetic fields of high intensity located at specific points of the nanoparticle called "hot spots". The light is miniaturized and confined in sub-wavelength areas (<20 nm). The ability to produce and control hot spots holds great promise for a large range of applications from information technology to renewable energies and biomedicine. This thesis highlights the possibility of generating and manipulating hot spots in nanostructures throughout the particle geometry or/and the configuration and wavelength of the exciting light. To do this, the optical response of various metallic nano-objects of different geometries and sizes, taken individually: cube, prism ... or in groups: dimer, chain ... are studied by PhotoEmission Electron Microscopy (PEEM), a non-intrusive and high resolution (20 nm) mapping technique allowing a selective addressing of plasmons modes. In addition to this experimental investigation, the search for a specific optical near-field distribution is also carried out using group theory. We developed an original theoretical method allowing to predict in a few minutes the plasmonic response of a 2D or 3D particle, of finite or infinite symmetry, alone or in dimer, from the object and exciting field symmetries. In parallel, numerical simulations using the Boundary Element Method (BEM) have been carried out
Sandford, Charles P. "Greater Sage-Grouse Vital Rate and Habitat Use Response to Landscape Scale Habitat Manipulations and Vegetation Micro-Sites in Northwestern Utah." DigitalCommons@USU, 2016. https://digitalcommons.usu.edu/etd/4725.
Повний текст джерелаBoyer-Thurgood, Jennifer M. "The Anatomy of Virtual Manipulative Apps: Using Grounded Theory to Conceptualize and Evaluate Educational Apps that Contain Virtual Manipulatives." DigitalCommons@USU, 2017. https://digitalcommons.usu.edu/etd/6178.
Повний текст джерелаFrisk, Gabriel, and John Jiton. "Fången mellan två världar : Sektavhoppares psykosociala problematik." Thesis, Örebro University, School of Law, Psychology and Social Work, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-9583.
Повний текст джерелаThe purpose of this thesis is to study the personal problems that can occur when defecting from a destructive cult, and what kind of support you may need from social authorities. The aim is to develop guidelines for social workers who are in contact with sect defectors. It’s a qualitative study based on interviews with six defectors from Jehovah’s witnesses. The results shows that all the defectors that have been interviewed have had anxiety problems, lost contact with friends and relatives, low level of education, and low self esteem when defecting or after. Most respondents have reported that they have had thoughts of suicide. It also occurs that respondents have had eating disorders, psychosomatic problems, drug abuse, lack of knowledge about society and have felt threatened and harassed in connection with the defection. These psychosocial problems that have been ascertained to constitute areas where social authorities should aid sect defectors. In accordance with the purpose of this thesis, guidelines are formed for social workers.
Syftet med undersökningen är att undersöka den personliga problematik som kan uppstå vid avhopp från en destruktiv sekt och de behov av stöd och hjälp man kan behöva ha från sociala myndigheter. Avsikten med studien är att försöka utveckla vägledande anvisningar för socialarbetare som kommer i kontakt med avhoppare. Det är en kvalitativ studie baserad på intervjuer med sex avhoppare från Jehovas vittnen. Resultatet visar att alla de avhoppare som intervjuats hade haft ångestproblematik, förlorat kontakt med vänner och familj, låg utbildningsnivå samt svag självkänsla i samband med avhoppet eller där efter. De flesta respondenterna sagt sig ha haft självmordstankar. Det förekommer även att respondenter säger sig ha haft ätstörningar, psykosomatisk problematik, narkotikamissbruk, bristande kunskap om samhället samt känt sig hotade och trakasserade i samband med avhoppet. De psykosociala problem som intervjupersonerna berättar om liknar det som tidigare studier funnit och som utgör områden där sociala myndigheter bör bistå sektavhoppare. I enlighet med syftet är slutligen vägledande anvisningar utformade för socialarbetare.
Sajid, Nisar. "Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery." Kyoto University, 2019. http://hdl.handle.net/2433/242497.
Повний текст джерелаKyoto University (京都大学)
0048
新制・課程博士
博士(工学)
甲第21759号
工博第4576号
新制||工||1713(附属図書館)
京都大学大学院工学研究科機械理工学専攻
(主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 小森 雅晴
学位規則第4条第1項該当
Göransson, Maria. "Mina tankar eller dina? : psykiskt välbefinnande hos avhoppare från sekter i relation till psykiska övergrepp i rörelsen." Thesis, Högskolan Kristianstad, Sektionen för lärande och miljö, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:hkr:diva-12377.
Повний текст джерелаThe aim of this study was to examine if psychological well-being among ex-cult members is related to the extent of psychological abuse in the group, and to investigate the level and characteristics of their psychological well-being. Participants were 57 ex-cult members from eight different Swedish religious groups, who were primarily recruited from organizations for ex-cult members. They participated by answering an internet questionnaire. The results showed that higher levels of psychological abuse, measured with the GPA-scale, was related to lower levels of psychological well-being, measured with the CORE-OM, which supported the hypothesis. On the other hand, no relation was found between psychological well-being and the number of years in the group or the number of years since leaving the group. Furthermore it was found that ex-cult members have a lower level of psychological well-being than the normal population, which was in accordance with the hypothesis, in particular showing an elevated risk behaviour. The suggested conclusion is that low psychological well-being among ex-cult members is to a great extent caused by psychological abuse in the group. The results also indicate that personnel in health care should be aware of risk behaviour among these patients and that ex-cult members would benefit from better insight in cult environments by personnel in health care.
Desprat, Caroline. "Architecture événementielle pour les environnements virtuels collaboratifs sur le web : application à la manipulation et à la visualisation d'objets en 3D." Thesis, Toulouse 2, 2017. http://www.theses.fr/2017TOU20103/document.
Повний текст джерелаWeb technologies evolutions during last decades fostered the development of collaborative virtual environments for 3D design at large scale. Despite the fact that collaborative environments gather in a same shared space geographically distant users in a common objective, the hardware ressources of their clients (calcul, storage, graphics ...) are often underused because of the challenge it represents. It is indeed a matter of offering an easy-to-use, efficient and transparent collaborative system to the user supporting both computationnal and 3D design visualisation and business logic needs in heterogeneous web environments. To scale well, numerous systems use a network architecture called "hybrid", combining both client-server and peer-to-peer. Optimistic replication is well adapted to distributed application such as 3D collaborative envionments : the dynamicity of users and their numbers, the 3D data type used and the large amount and size of it.This document presents a model for 3D web-based collaborative editing systems. This model integrates 3DEvent, an client-based architecture allowing us to bring 3D business logic closer to the user using events. Indeed, the need of traceability and history awareness is required during 3D design especially when several experts are involved during the process. This aspect is intrinsec to event-sourcing design pattern. This architecture is completed by a peer-to-peer middleware responsible for the synchronisation and the consistency of the system. To implement it, we propose to use the recent web standard API called WebRTC, close to cloud development services know by developers. To evaluate the model, two user studies were conducted on several group of users concerning its responsiveness and the acceptance by users in the frame of cooperative assembly tasks of 3D models
Redlicki, Bartosz Andrzej. "Essays in information economics." Thesis, University of Cambridge, 2018. https://www.repository.cam.ac.uk/handle/1810/277513.
Повний текст джерелаDias, Mariana Ribeiro. "Thoracic MRI Emulation Through Texture Synthesis and Ground Truth Manipulation." Master's thesis, 2019. https://hdl.handle.net/10216/121825.
Повний текст джерелаPiascik, Paul. "Responses of Ground Beetles (Coleoptera: Carabidae) to Variation in Woody Debris Supply in Boreal Northeastern Ontario." Thesis, 2013. http://hdl.handle.net/1807/35663.
Повний текст джерелаCao, Yang. "Dynamic modeling and advanced control of ground-based and space-based deployable manipulator systems." Thesis, 2004. http://hdl.handle.net/2429/15830.
Повний текст джерелаApplied Science, Faculty of
Mechanical Engineering, Department of
Graduate
Teh, Chin Hao Alvin. "Normative manipulation as a way of improving the performance of software engineering groups : three experiments." Phd thesis, 2012. http://hdl.handle.net/1885/149832.
Повний текст джерелаCaldwell, Sabrina. "Framing digital image credibility: image manipulation problems, perceptions and solutions." Phd thesis, 2016. http://hdl.handle.net/1885/133844.
Повний текст джерелаZhu, Yunhui. "Theory and Application of SBS-based Group Velocity Manipulation in Optical Fibers." Diss., 2013. http://hdl.handle.net/10161/8236.
Повний текст джерелаAll-optical devices have attracted many research interests due to their ultimately low heat dissipation compared to conventional devices based on electric-optical conversion. With recent advances in nonlinear optics, it is now possible to design the optical properties of a medium via all-optical nonlinear effects in a table-top device or even on a chip.
In this thesis, I realize all-optical control of the optical group velocity using the nonlinear process of stimulated Brillouin scattering (SBS) in optical fibers. The SBS-based techniques generally require very low pump power and offer a wide transparent window and a large tunable range. Moreover, my invention of the arbitrary SBS resonance tailoring technique enables engineering of the optical properties to optimize desired function performance,
which has made the SBS techniques particularly widely adapted for
various applications.
I demonstrate theoretically and experimentally how the all-optical
control of group velocity is achieved using SBS in optical fibers.
Particularly, I demonstrate that the frequency dependence of the
wavevector experienced by the signal beam can be tailored using
multi-line and broadband pump beams in the SBS process. Based on the theoretical framework, I engineer the spectral profile
to achieve two different application goals: a uniform low group velocity (slow light) within a broadband spectrum, and a group velocity with a linear dependence on the frequency detuning (group velocity dispersion or GVD).
In the broadband SBS slow light experiment, I develop a novel noise current modulation method that arbitrarily tailors the spectrum of a diode laser. Applying this method, I obtain a 5-GHz broadband SBS gain with optimized flat-topped profile, in comparison to the ~40 MHz natural linewidth of the SBS resonance. Based on the broadband SBS resonance, I build a 5-GHz optical buffer and use this optical buffer to delay a return-to-zero data sequence of rate 2.5 GHz (pulse width 200 ps). The fast noise modulation method significantly stabilizes the SBS gain and improves the signal fidelity. I obtain a tunable delay up to one pulse-width with a peak signal-to-noise ratio of 7. I also find that SBS slow light performance can be improved by avoiding competing nonlinear effects. A gain-bandwidth product of 344 dB.GHz is obtained in our system with a highly-nonlinear optical fiber.
Besides the slow light applications, I realize that group velocity dispersion is also optically controlled via the SBS process. In the very recent GVD experiment, I use a dual-line SBS resonance and obtain a tunable GVD parameter of 7.5 ns$^2$/m, which is 10$^9$ times larger than the value found in a single-mode fiber. The large GVD system is used to disperse an optical pulse with a pulse width of 28 ns, which is beyond the capability for current dispersion techniques working in the picosecond and sub picosecond region. The SBS-based all-optical control of GVD is also widely tunable and can
be applied to any wavelength within the transparent window of the
optical fiber. I expect many future extensions following this work
on the SBS-based all-optical GVD control using the readily developed SBS tailoring techniques.
Finally, I extend the basic theory of backwards SBS to describe the forward SBS observed in a highly nonlinear fiber, where asymmetric forward SBS resonances are observed at the gigahertz range. An especially large gain coefficient of 34.7 W$^{-1}$ is observed at the resonance frequency of 933.8 MHz. This is due to good overlap between the optical wave and the high order guided radial acoustic wave. The interplay from the competing process known as the Kerr effect is also accounted for in the theory.
Dissertation
Alvarenga, Bruno Araújo Procópio de. "The immediate effects of lumbar spinal manipulative therapy (SMT) in terms of kinetic and kinematic symmetry of functional performance tests on asymptomatic participants." Doctoral thesis, 2019. http://hdl.handle.net/10400.5/19569.
Повний текст джерелаThe competitive nature of sports practice creates constant demands for technologies and therapeutic options that could influence sports performance. An increasing interest on this theme have been found on literature interventional between sports professionals, clinicians and athletes regarding SMT effects on sports performance. The focus is to enhance individual capabilities in terms of proficiency and consistency of techniques, especially relative to physical performance. This focus contributes to improve knowledge about individual capabilities, through screening of musculoskeletal conditions, such bilateral asymmetries, that could negatively influence a range of mechanical and physiological parameters and consequently athlete’s performance. This requires an accurate and reliable assessment of symmetry in terms of overall functional performance tests. In this stand, to achieve this goals, three studies were conducted. In the first study, the preliminary feasibility study, were measure kinetic symmetry by index with asymptomatic athletes over force platform, and motion capture instrument, to quantitatively evaluated the feasibility of the study to measure the immediate effects of lumbar SMT on symmetry in asymptomatic athletes, through use of physical performance tests: static posture, squat movement, and countermovement. The second study, prospective intra-rater, test-retest reliability study, were applied to establish the physical performance tests reliability, reproducibility of kinetic and kinematic symmetry measurements between lumbar SMT intervention through deep statistics evaluations. The final study, randomized controlled trial with two groups of asymptomatic athletes and two symmetry indexes were utilized to measure the kinematic and kinematic biomechanical parameters by force platform, and motion capture instruments, performing physical performance tests: static posture, squat movement, and countermovement. Based on the obtained results of these studies, our findings suggest that a therapeutic strategy of correcting the lumbar vertebral dysfunctions through lumbar spinal manipulation produce immediately changes of neuro-musculoskeletal system, namely in kinetic symmetry (bilateral lower limbs reaction forces) in static posture. Relative to dynamic trials, lumbar intervention not presented significant immediate effect on symmetry in both group of asymptomatic athlete’s participants. Good to excellent relative reliability were found in 90% of the variables and small manifestation of measurements errors, in all verified variables, confirming study confidence relative to the variables. Thus, our results demonstrated immediate improvement of bilateral kinetic symmetry in static posture trials, thus appear to be clinically and sportive meaningful. XII These findings suggest that this methodological protocol may be a useful tool to assess physical performance by kinetic and kinematic symmetry in a clinical and sportive context. Keywords