Cette thèse est une partie d’un projet français qui s’appelle AEROSTRIP, un partenariat entre l’Institut Pascal, Sigma, SAPPI et Air-France industries, il est financé par le gouvernement français par le programme FUI (20 eme appel). Le projet AEROSTRIP consiste à développer le premier système automatique qui nettoie écologiquement les surfaces des avions et les pièces de rechange en utilisant un abrasif écologique projeté à grande vitesse sur la surface des avions (maïs). Ma thèse consiste à optimiser les trajectoires du système robotique total de telle façon que le décapage de l’avion soit optimal. Le déplacement des robots est nécessaire pour assurer une couverture totale de la surface à décaper parce que ces surfaces sont trop grandes et elles ne peuvent pas être décapées d’une seule position. Le but de mon travail est de trouver le nombre optimal de robots avec leur positions optimales pour décaper totalement l’avion. Une fois ce nombre est déterminé, on cherche les trajectoires des robots entre ces différentes positions. Alors, pour atteindre ce but, j’ai défini un cadre général composant de quatre étapes essentiels: l’étape pre-processing, l’étape optimization algorithm, l’étape generation of the end-effector trajectories et l’étape robot scheduling, assignment and control.Dans ma thèse, j’ai deux contributions dans deux différentes étapes du cadre général: l’étape pre-processing et l’étape optimization algorithm. Le calcul de l’espace de travail du robot est nécessairedans l’étape pre-processing: on a proposé l’Analyse par Intervalles pour trouver cet espace de travail parce qu’il garantie le fait de trouver des solutions dans un temps de calcul raisonnable. Alors, ma première contribution est une nouvelle fonction d’inclusion qui réduit le pessimisme, la surestimation des solutions qui est le principal inconvénient de l’Analyse par Intervalles. La nouvelle fonction d’inclusion est évaluée sur des problèmes de satisfaction de contraintes et des problèmes d’optimisation des contraintes. En plus, on a proposé un algorithme d’optimisation hybride pour trouver le nombre optimal de robots avec leur positions optimales: c’est notre deuxième contribution qui est dans l’étape optimization algorithm. Pour évaluer l’algorithme d’optimisation, on a testé cet algorithme sur des surfaces régulières, comme un cylindre et un hémisphère, et sur un surface complexe: une voiture. / This PHD is a part of a French project named AEROSTRIP, (a partnership between Pascal Institute,Sigma, SAPPI, and Air-France industries), it is funded by the French Government through the FUIProgram (20th call). The AEROSTRIP project aims at developing the first automated system thatecologically cleans the airplanes surfaces using a process of soft projection of ecological media onthe surface (corn). My PHD aims at optimizing the trajectory of the whole robotic systems in orderto optimally strip the airplane. Since a large surface can not be totally covered by a single robot base placement, repositioning of the robots is necessary to ensure a complete stripping of the surface. The goal in this work is to find the optimal number of robots with their optimal positions required to totally strip the air-plane. Once found, we search for the trajectories of the robots of the multi-robot system between those poses. Hence, we define a general framework to solve this problem having four main steps: the pre-processing step, the optimization algorithm step, the generation of the end-effector trajectories step and the robot scheduling, assignment and control step.In my thesis, I present two contributions in two different steps of the general framework: the pre-processing step, the optimization algorithm step. The computation of the robot workspace is required in the pre-processing step: we proposed Interval Analysis to find this workspace since it guarantees finding solutions in a reasonable computation time. Though, our first contribution is a new inclusion function that reduces the pessimism, the overestimation of the solution, which is the main disadvantage of Interval Analysis. The proposed inclusion function is assessed on some Constraints Satisfaction Problems and Constraints Optimization problems. Furthermore, we propose an hybrid optimization algorithm in order to find the optimal number of robots with their optimal poses: it is our second contribution in the optimization algorithm step. To assess our hybrid optimization algorithm, we test the algorithm on regular surfaces, such as a cylinder and a hemisphere, and on a complex surface: a car.

Made available in DSpace on 2014-12-17T14:19:47Z (GMT). No. of bitstreams: 1 JoseROS.pdf: 786021 bytes, checksum: a489a7eb19e4032cddf4d9a6aeaa2968 (MD5) Previous issue date: 2008-10-02 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / La discussion des m?tamorphoses de l'?glise Catholique Romaine caus?s par ses relations avec la modernit? est la toile de fond au d?bat sur l'?mergence de nouveaux mouvements religieux, en particulier les nouvelles communaut?s. Dans le but de comprendre la convergence/ divergence ou conservation/ changement en ce qui concerne la relation entre l'Institution et la Communaut?, j'ai choisi de contextualiser l'histoire du christianisme catholique dans la modernit? et dans la post-modernit? ? partir de penseurs classiques et contemporains. J ai ?vit? une vision unilat?rale qui met l'accent sur l'aspect objectif ou subjectif et a opt? pour une approche dialogique capable de permettre une lecture des deux c?t?s de la r?alit?. Cette r?flexion a guid? le travail ethnographique r?alis? dans deux communaut?s ? Cidade do Natal: Fraternit? ?feso et Communaut? Catholique Veni Creator Spiritus. Cette recherche a montr? que les nouvelles communaut?s promeuvent un nouveau catholicisme certainement plus conservateur que r?formateur; tant?t elles attirent et rettiennent les croyants dans l'?glise, tant?t inqui?tent la hi?rarchie eccl?siastique - depuis l encadrement de ce nouveau ph?nom?ne dans la structure existante jusqu'? sa orientation / Discutir as metamorfoses ocorridas na Igreja Cat?lica Romana na sua rela??o com a modernidade constituiu o pano de fundo para a discuss?o do surgimento de novos movimentos religiosos, especificamente as Novas Comunidades. Com o objetivo de compreender a converg?ncia/diverg?ncia ou conserva??o/mudan?a na rela??o Institui??o e Comunidade, contextualizei a hist?ria do cristianismo cat?lico na modernidade e p?s-modernidade a partir de pensadores cl?ssicos e contempor?neos. Procurei evitar uma vis?o unilateral que enfatiza o aspecto objetivo ou subjetivo, para dialogicamente perceber essas duas faces da realidade. Essa reflex?o permeou o trabalho etnogr?fico realizado em duas Novas Comunidades na cidade do Natal: Fraternidade ?feso e Comunidade Cat?lica Veni Creator Spiritus. E resultou na considera??o das Novas Comunidades como promotora de um novo catolicismo dentre outros, mais conservador que renovador, ora atrai e mant?m fi?is na Igreja ora preocupa a hierarquia eclesial, desde o enquadramento desse novo na estrutura existente, at? na sua orienta??o

The author of dissertation considers that dependence of behavior of people on their attitude toward God the Creator is perhaps the first and the most important topic that comes to mind during the study of the present passage of the most fundamental Paul's epistle. We believe it is necessary to explore "false foundations" as we see as Paul opposes to them his ideology - ideology of worship to God the Creator. We affirm that Paul sees the main reason of immoral behavior in such area of man's activity as thinking that, in its tum, denies the Creator of every living thing of Earth and because of its incapability to rule over human passions is forced to look for an ideological basis for its acts. This thesis has also practical meaning because it demonstrates Paul's methodology of disproval of false theories of that time revealing their illogicality and senselessness. / Biblical and Ancient studies / M. Th (New Testament)

The author of dissertation considers that dependence of behavior of people on their attitude toward God the Creator is perhaps the first and the most important topic that comes to mind during the study of the present passage of the most fundamental Paul's epistle. We believe it is necessary to explore "false foundations" as we see as Paul opposes to them his ideology - ideology of worship to God the Creator. We affirm that Paul sees the main reason of immoral behavior in such area of man's activity as thinking that, in its tum, denies the Creator of every living thing of Earth and because of its incapability to rule over human passions is forced to look for an ideological basis for its acts. This thesis has also practical meaning because it demonstrates Paul's methodology of disproval of false theories of that time revealing their illogicality and senselessness. / Biblical and Ancient studies / M. Th (New Testament)

An underlying theme of creation can be found in the text of Colossians 1:13-20. Certain words and expressions in the passage can be directly linked with the first act of creation. These words and expressions can corporately be described as "creation language". From this it follows that "creation language" is the way in which the work and Person of Jesus Christ is described in relation to the Old Testament (Genesis) creation accounts. In Collossians 1:13-20 we find a focus on the Creator. The message of redemption is cast within the framework of the continuing creation activities of God. It is an actual fact that God (the Father and Creator) takes initiative in the redemptive process. It is He who redeems believers by transferring them from the hostility of the darkness to a new Lordship. The Son - being the image of the invisible God - is the Instrument of redemption. It is the Creator though that is the "acting Person" behind the redemptive process. The power of the Creator is a strong underlying motive in Colossians 1:13-20. His power is shown in the act of the first creation and reiterated in the resurrection of the Son. The focus is on God's - and his alone - power to create life out of death. Something comparable to the creation of "life out of nothing" during the first creation. Being the Image of the invisible (Creator) God, the Son is the perfect Representative of the powerful God. He represents God's presence, but more specifically his power. Christ's Lordship over everthing in the creation is therefore repeatedly mentioned in Colossians 1:13-20. By describing the church as the body of Christ, believers are reminded that they are drawn into the powerful presence of their Creator's power. They are reminded of the impact of their redemption by referring to the process by which they were redeemed and their identity under the headship of Christ. On an ethical level they are urged to live accordingly - to be transformed to the likeness of their Creator. The content of Colossians 1:13-20 represents a confession from antiquity about the nucleus of the ancient believers' faith. Along with this it creates a "stencil of interpretation" for the message of the whole letter. The fact that the passage is written in "creation language" reminds us of the importance of this motive for New Testament studies in general. In conclusion, it can be noted that the writer of Colossians 1:13-20 employs "creation language" as a vehicle to describe the work and Person of Jesus Christ while focusing on the active involvement of the Creator. In a unique and uncomplicated manner it is shown that the redemptive work of Christ is to be understood within the framework of the active creation process of the Creator as it is described in the Old Testament creation reports. / Dissertation (PhD (New Testament Studies))--University of Pretoria, 2004. / New Testament Studies / unrestricted

This thesis describes the design and subsequent implementation of a unit for traffic monitoring using Raspberry PI. First section provides a quick overview of assistance systems, which use a road lane detection techniques. Next there is a description of two diferent methods for road lane detection. Follow the description of monitoring scene. Then the work describe the practical part including the design and realization of supporting electronics, selecting of each components, including the modifying of cameras, mechanical design and creating of unit. Another section is about selection and installation of appropriate software components necessary for running of the unit and the selection of development tools for creating user application. After description of graphical user interafce, there is a description of road lanes detection algorithm. At the end of the thesis is summarized a reliability of unit in real traffic situation. At the appendix there are technical drawings, describing the unit.

This thesis deals with developing of image processing algorithm for robots controlled by informations taken from visual system. Core of the used system constitutes low-budget platform Raspberry Pi. Before the development of algorithm there is a series of test for image processing which discovers possibilities of used platform. Problem solution is divided to several parts. Limited performance frequently leads to individual problem solving. Afterall is shown sensitivity and performance analysis of developed solution.

No description available.

Submitted by Fabricia Fialho Reginato (fabriciar) on 2015-07-22T23:06:10Z No. of bitstreams: 1 FlavioBrambillaAdm.pdf: 1877397 bytes, checksum: 24dd94e8a02b59726d9ea5487b5c9646 (MD5) / Made available in DSpace on 2015-07-22T23:06:10Z (GMT). No. of bitstreams: 1 FlavioBrambillaAdm.pdf: 1877397 bytes, checksum: 24dd94e8a02b59726d9ea5487b5c9646 (MD5) Previous issue date: 2010-12-23 / Nenhuma / A co-criação de valor é uma prática imperativa no ambiente do serviço. Em certos casos é uma condição de qualidade, mas em outros, imprescindível, como ocorre na educação. Entender a educação como um encontro de serviço não significa reduzir a importância desta atividade, mas sim qualificar suas práticas dentro de parâmetros conhecidos e qualidade pré- determinada. A Educação Superior Privada domina o panorama brasileiro, com números acima do patamar de 80% dos futuros profissionais, dos quais os de negócios aparecem como a maior categoria de discentes formados todos os anos. Diferenciar a mercantilização da educação de uma educação conduzida dentro da lógica do serviço é pertinente, visto que no entendimento deste estudo, os parâmetros educacionais históricos são carregados do viés ideológico, que pode ser substituído por métricas de qualidade isentas de ideologia, trocando esta por parâmetros concretos, com vistas à maior qualidade de conteúdo possível. Com base na Teoria da Autodeterminação e motivação acadêmica dos alunos de graduação, o estudo busca identificar o ponto crucial do ensino privado no qual o estudante como consumidor é direcionado a uma realidade mais próxima da ideal para aprendizagem, que é uma face híbrida desta prerrogativa, na qual o estudante é um co-produtor no locus educacional. Por intervenção de Etnometodologia, através da aplicação da técnica de Vignettes para estudantes do ensino superior privado, identificou-se como a co-criação de valor se adapta ao setor de ensino. Os resultados destacam especialmente o papel da autodeterminação como elemento central para co-criação, através da motivação intrínseca (desejo de aprender) em sua tênue relação com motivação extrínseca (avaliação). Identifica-se também que os estudantes podem ou não estar predispostos à co-criar, o que se manifesta em três comportamentos (os que desejam interação, os que não interagem por falta de estímulo, e aqueles que não gostam do trabalho coletivo). O entendimento dos estudantes sobre valor é limitado em utilitariedade. / The co-creation of value is an imperative practice in the atmosphere of service. In certain cases, a superior quality condition, but in other, indispensable, as it happens in the education. Understand the education as a service encounter doesn't mean reduce the importance of that activity; means increase the quality of practices through evident parameters and previous guaranteed quality. The Private Higher Education dominates the Brazilian scenario, with numbers above the 80% of the future professional forges; the majorities are business students, which appear as the bigest category of graduated students per year. Differentiate the education saled of an education matched inside the service logic is pertinent, because in the understanding of this study, the traditional educational parameters are loaded by the ideological inclination, that could be changed for quality metrics that extrapolate simple ideology, changing that practice for concrete parameters based in the increasing of the academic quality content. Based on Self-Determination Theory and academic motivation of undergraduate students, this research aims the identification of the focal point in private education where the students as consumers are drived to a better learning experience, a hybrid prerogative, in that the student is understood as a co-producer in educational locus. Through Ethnomethodological intervention, based in the Vignettes technic applied to private higher education students, the co-creation of value was identified as an adequate practice. The results specially identify the importance of the self-determination as a central element in co-creation, stimulated by intrinsic motivation (the wish to learn) and the thin relation with extrinsic motivation (evaluation). This study identifies that the co-creation is not always well undertood by students, and they expressed at least three types of behavior (wish to co-create, the non interactive behavior because is not a commom practice, and the preference to not work collectively). The students understanding about the concept of value is limited to utility.

「易經」是中國哲學中重要的經典。「易經」的內容蘊含豐富的智慧，後代多位學者也用畢生的心血去研究。宋代程頤與朱熹更是透過對「易經」的詮解，發揮了自己的想法。本論文希望透過研究程頤與朱熹兩人註解「易經」之異同，瞭解二人對於天人關係的看法，並且從中創造出新的見解。論文規劃總共九章，包括了第一章緒論和最後一章的結語。 第一章緒論主要說明研究動機與目的，前人研究成果，以及文獻探討、學者專著介紹。第二章「理學易中的天人一本論」則說明程朱的時代背景、師承關係。程頤和朱熹的理學可能直接來自於張載與邵雍的啟發，以及「誠」的繼承。第三章及第四章分別討論「伊川的理學及易學」以及「朱熹的理學及易學」，說明二人之理學及易學重點與重要的概念。伊川由理氣區別「形而上」和「形而下」兩個概念，這兩個概念是出自於《易傳》＜繫辭上＞：「形而上謂之道，形而下謂之器」。朱熹主要是由「理」與「氣」的關係說明，在程朱思想體系中，「理」乃是「道」，是形而上的；「器」是「形而下」各別具體的事物。第五章「易學脈絡下的天道觀」主要探討《易》的本體論天道觀、宇宙論。並從自然化的「天」有其規律，而瞭解其中之「理」，從「天」到「天理」，從「天理」到「理一分殊」(universality and particularity)。第六章「宋代理學與易學交錯脈絡下的朱熹仁說」主要探討外在的「理」Li，落實到「人」的身上，從易傳的「生生之德」(The Moral of Creative Creativity)到程朱的「仁者天地生物之心」(Benevolence is the Heart of the Heaven and the Earth to Produce)、「格物致知」(“The extension of knowledge through the investigation of things”, and “the attentiveness of the mind”)。程頤的工夫論是透過「涵養需用敬，進學在致知」(In cultivation one needs attentiveness；in the advancement of learning, one needs the extension of knowledge.)的方法，按照程朱學派的看法，「格物」是為了從有形之物中體認超越的「理」。由「格物」以「窮理」達到天人關係之廣大悉備之和諧（All-comprehensive Harmony）。第七章、第八章則從多元的觀點，將程朱易之天人關係以現代的方式詮釋，第七章探討程朱在「人生哲學」的異同，包括個人的修身、內聖以及家庭等層面。第八章討論程朱易在社會群體上的異同。包含政治層面、經濟層面以及教育層面等，以及第九章的結論。 / Among all Chinese philosophical works, I-Ching is one of the most important classics. It is not only abundant in wisdom, but has also inspired many scholars to devote their lives to researching into it. Two of such scholars are Ch’eng Yi and Zhu Xi in the Sung Dynasty, who based their theories on and developed their philosophical thoughts by a thorough interpretation of I-Ching. This dissertation intends to create a new insight into I-Ching by first exploring the similarities and differences between Ch’eng Yi ’s and Zhu Xi’s interpretations of I-Ching, and then delving into the two scholars’ comprehension of the relationship between the cosmos and humanity. This dissertation is divided into nine chapters, including the introduction and the conclusion. The first chapter, The Introduction, elucidates the motivation and purpose of this research, examines the research results of the antecedent scholars, explores related literatures, and provides an introduction of some predominant scholars as well as their works. Chapter Two, Haven amd men in union of I-ching of New-Confucianism, illuminates the background of Ch’eng and Zhu’s era as well as their mentor-follower relationship.The immediate stimulus for Ch’eng Yi and Zhu Xi, however, seems to be the thought of Chang Tasi and Shao Yung. To discuss Sence of truthfulness(誠). Chapter Three and Four respectively elaborate on ” Ch’eng Yi I-CHING exegesis and the formation of Neo-Confucianism” and ” Zhu Xi I-CHING exegesis and the formation of Neo-Confucianism,” illustrating the two scholars’ dominant ideas and important concepts on Neo-Confucianism and Book of Changes. Ch’eng Yi distinguishes between what is “within shapes” and what is “above shapes”. The origin of these two terms is traceable to “Appendix III ” of the Book of Changes: “ What is above shapes is called the Tao；what is within shapes us calledthe implements.” Zhu Xi maintained that all things are brought into being by the union of two universal aspects of reality: Chi（氣）, sometimes translated as vital (or physical, material) force; and Li(理), sometimes translated as rational principle (or law).In the system of Ch’eng Yi and Zhu Xi, this distinction corresponds to that between the abstract and concreat in Western philosophy. The Li and Tao which is “above shapes,” or, as we say, abstract；while the “implements,” by which Ch’eng Yi and Zhu Xi mean particular things, are “within shapes,” or, as we would say, concrete. Chapter Five, TianTao (Inner Roots of ordering the world ) of I-ching, mainly expounds I-Ching’s Ontology and Cosmology, with a purpose of attaining a comprehension of Li through realizing the regularity of natural, and then moves further to understand T’ien Li（the natural law）from T’ien (heaven)，and universality and particularity from T’ien Li（the natural law）. Chapter Six, Song Dynasty I-Ching exegesis of Jen(humanity) of Ch’eng- Zhu school of Neo-Confucianism, mainly explicates the way people put the theory of “Li” into practice, mainly through a comprehensive understanding of the following concepts: The Moral of Creative Creativity, Ch’eng and Zhu’s philosophy of “Benevolence Is the heart of the Heaven and the Earth to Produce,” and “The extension of knowledge through the investigation of things”, and “the attentiveness of the mind”. Ch’eng Yi ‘s method of spiritual cultivation is expressed in his famous statement : “In cultivation one needs attentiveness；in the advancement of learning, one needs the extension of knowledge. ” According to the Ch’eng –Zhu school, the purpose of the “investigation of things” is to extend our knowledge of the eternal Li. Li are abstract and things are concrete. We investigate the abstract through the concrete. What we as a result come to see lies both within the eternal world and within our own nature. The more we know Li, the more our nature, ordinarily concealed by our physical endowment, become visible to us to All-comprehensive Harmony. Both Chapter Seven and Eight interpret Ch’eng’s and Zhu’s concepts of the relationship between the cosmos and humanity from modern and multiple perspectives. To be more specific, Chapter Seven elucidates the similarities and differences between the above-mentioned two scholars’ “philosophy of life,” including their speculation on a person’s self-discipline, inner sage and the aspects of family. Being sage inside and being kingly outside " is the centralized embodiment of the confucian ideal personality . its " connotation consists of high perfection of individual inner morality and achievements of administering the state well and ensuring national security as a result.Chapter Eight, on the other hand, discusses the two scholars’ similar and different arguments on communities, inclusive of political, economical and educational aspects. Lastly, Chapter Nine, the final chapter of this dissertation, offers a conclusion to this dissertation.