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The greatest feature of using a Baxter robot among other industrial robots is the ability to train this robot conveniently. The training of the robot could be done within a few minutes and it does not need so much knowledge of programming. However, this type of training feature is limited in functionality and needs frequent updating of the software and the license from the manufactural company. As the manufacturer of Baxter Robot no longer exists due to a merger, the thesis has twofold aims, (1) Exploring different functional, installation, calibration, troubleshooting and hardware features of the Baxter robot and (2) demonstrate the functionality of Baxter to perform general tasks of holding, lifting and moving of test objects from one desired position to another position using custom-made programs in Python. Owing to this, details about different software and hardware aspects of Baxter robot is presented in this thesis. Additionally, systematic laboratory tutorials are also presented in appendices for students who want to learn and operate the robot from simple to complicated tasks. In order to keep the Baxter operational for students and researchers in future, when there is no more help available from its manufacturer, this thesis endeavour to cover all these aspects. Thus, the thesis presents a brief understanding of how to use the Baxter Robot in a simple and efficient way to perform a basic industrial task. The kinematics part will show the concepts of forward and inverse kinematics and the DH (the Denavit–Hartenberg) parameters that are important to understand the end-effector position according to the world frame that will give the knowledge of those who are interested in the kinematics part of Baxter robot. The work of the thesis will make it easier to understand how to program a Baxter robot by using Python language and using the simplest way to move the arm to certain positions. The ROS principles, kinematics and Python language programs will provide a good platform to understand the usability of Baxter robot. Furthermore, easy to use laboratory tutorials are devised and are presented in the appendices. These laboratory tutorials will improve the understanding of the readers and provide a step-by-step guide of operating Baxter robot according to the principles of Robotics. In addition to all these points above, the thesis shows useful functions that are built in ROS (Robot Operating System) that make it easier to program the robot in an untraditional way which is one of a contribution of this thesis itself. The usual way to program the robots, in general, is to study the robot kinematics and calculate the position of the end-effector or the tool according to some frame or the world coordinate frame. This calculation can be done by the forward kinematics or the inverse kinematics. The set of programming Baxter robot in this thesis is not the complex calculation of the forward or the inverse kinematics. The tf (transform)tool in ROS has made it easier to reach the joint angles and program Baxter robot using Python.

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No / This article evaluates Tourinho's (1979) work as one of the earliest contributors to the real options literature. His model pioneered the application of risk neutrality to uncertain investments, but his originality of introducing an option-holding cost albeit to overcome the extraction paradox is rarely imitated. We claim that the combination of a convenience yield and an option-holding cost produces a more satisfying representation. Moreover, variations in the holding cost give rise to a host of investment decisions ranging from the standard real option solution for a zero-holding cost to a net present value solution for an infinite-holding cost. Not only does the holding cost mediate between these two poles, but it provides the option seller (usually a landowner or a government) with a policy instrument for influencing the extraction timing and thus the extraction profit of the option buyer. We derive the holding cost that optimizes the landowner's combined value of the option premium, holding costs and eventual royalties.

Cette thèse concerne les possibles définitions et intégrations de l'idée de « zone à attractivités fiscales » dans les documents concernant les paradis fiscaux, vieux problème devant lequel les chercheurs bloquaient depuis longtemps. Ici le problème est repris d'une toute autre façon en particulier dans le traitement des taux d'imposition, et dans des comparaisons des régimes fiscaux de chacun des pays du Proche Orient. Tout cela nous a conduit à introduire le concept de notation fiscale. Nous le faisons en tenant compte autant que possible de tout critère possible qui nous permette de déduire théoriquement une notation générale. Il ressort de cela que dans une comparaison avec plusieurs pays du Proche Orient le Liban n'est pas, théoriquement du moins, une soi-disante « zone à attractivité fiscale »... Cela conduit à introduire une approche relativisée dans une tentative de définition scientifique des paradis fiscaux. C'est ainsi qu'on peut considérer qu'à chaque instant peuvent naître un ou plusieurs paradis fiscaux en fonction des changements de critères ou de leurs modalités. L'intérêt de cette approche est de permettre de considérer une définition plus scientifique des paradis fiscaux. Empiriquement, nous avons mis en place une importante enquête auprès de 300 personnes, englobant des contrôleurs fiscaux, des employés de banque et des gens d'entreprises. Nous en déduirons que la notion de paradis fiscal est loin de pouvoir s'appliquer au Liban et que ce ne serait en fait qu'une légende. / This thesis aims at defining and integrating the ‘zone of fiscal attractions' notion within the framework of Tax Havens, an old problem in front of which the investigators have not reach any solution since longtime before. Over here, the problem is considered from another angle, namely the treatment of tax rates, hence a comparison of fiscal regimes for each country of the Near-East was necessary to be able to deduce a fiscal notation. Taking into consideration every possible criteria which allows us to deduce theoretically a general notation, Lebanon, through the comparison between several countries of the Near-East, is not supposedly a “zone of fiscal attraction” theoretically…this leads us to introduce the approach of the relativity which has served to define scientifically the Tax Haven. For this reason, one or several Tax Haven can be created each and every moment with the changes incurred in the criteria and variables. The interest of this approach is to enable us to define scientifically the idea of Tax Haven. Empirically, an important questionnaire carried on fiscal controllers, bank employees, and firm employees, to demonstrate that the idea of Lebanon as a Tax Haven, is only a legend. This has been deduced through a group of 300 interviewed people.

Le contexte démographique, social et économique fait apparaitre un taux de disparition important des entreprises de bâtiment lors de leur transmission. Transmission naturelle, liée à l'âge du dirigeant, ou provoquée lorsqu'il s'agit d'un souhait de ce dernier, le constat est le même : la survivance de l'entreprise au départ du cédant est très limitée. Tenant au secteur d'activité, les justifications des difficultés attachées aux transmissions d'entreprise classiquement avancées ne sont pas pleinement satisfaisantes. Abordé sous l'angle des spécificités de l'entreprise de bâtiment, notre étude entend donc souligner qu'une préparation, une anticipation à la transmission est nécessaire avant de réaliser l'opération. La mise en avant de solutions quant au maintien des connaissances techniques et savoir-faire de l'entreprise ainsi que l'amélioration de son environnement juridique sont caractéristiques du secteur. Ils apparaissent comme des atouts pour attirer, séduire et fidéliser un cessionnaire. Ce n'est qu'après cette étape, qu'il sera fait appel à des techniques, quelques fois inédites, pour favoriser la reprise de l'entreprise. Si la holding de rachat a connu, ces dernières années, un succès sans précédent, l'accès au financement, parfois difficile dans le contexte de crise économique qui touche le secteur, doit également être abordé. Les montages de reprise se complexifient transformant les praticiens en véritables ingénieurs de la stratégie patrimoniale dans laquelle la fiscalité tient une place de choix. / The demographic, social and economic context underlines the high rate of disappearance of the building companies when transferring. Either the natural transfer linked to the owner age or the wish to retire from business expressed by the company manager, the result looks the same: the survival of the company is very limited when leaving. Linked to the sector of activities, the reasons of the difficulties connected to the transfer of companies usually suggested are not fully satisfactory.Viewed in terms of the specificities of the building trade, our study therefore aims to emphasize the need for some preparation, some anticipation of the transfer before carrying out the project. Putting forward solutions to preserve technical knowledge, expertise of the company and legally environmental improvement as well are typical of the sector. They seem to be real assets to attract, appeal and create the transferee loyalty. It is only after this stage that technical means, sometimes innovating in some ways will be applied to improve the business revival. However unprecedented successful the holding company of repurchase got during the last years, access to financing , sometimes difficult in the context of economic crisis which affects the sector must be broached as well. The financial package of acquisition is getting more and more complex, transforming experts into true engineers of the patrimonial strategy in which taxation holds a place of choice.

by Chan Ping Cheung, Fung Hon Cheung. / Thesis (M.B.A.)--Chinese University of Hong Kong, 1998. / Includes bibliographical references (leaves 64-66). / ABSTRACT --- p.ii / TABLE OF CONTENTS --- p.iii / PREFACE --- p.v / Chapter / Chapter I. --- INTRODUCTION --- p.1 / Our Approach --- p.2 / Chapter II. --- METHODOLOGY --- p.3 / Steps --- p.3 / Chapter III. --- MAJOR BUSINESS OF CHEUNG KONG (HOLDINGS) LIMITED / PRIOR TO THE SPIN-OFF --- p.5 / Genera] Description --- p.5 / Major Lines of Business --- p.7 / Chapter IV. --- ANALYSIS OF FINANCIAL POSITION OF CKH --- p.14 / Other Financial Obligations --- p.15 / Chapter V. --- FUNDING STRATEGIES --- p.18 / Chapter VI. --- THE WHOLE STORY OF CKI'S SPIN-OFF --- p.20 / Chapter VII. --- MARKET COMMENTS ON CKI'S SPIN-OFF --- p.23 / Chapter VIII. --- THE MAIN REASON FOR CKI'S SPIN-OFF --- p.27 / Chapter IX. --- OTHER MANAGERIAL PURPOSES AND INCENTIVES OF CKI'S SPIN-OFF --- p.31 / Chapter X. --- POSSIBLE DISADVANTAGES OF SPIN-OFF --- p.34 / Chapter XI. --- THE SHARE PRICE PERFORMANCE OF CKI --- p.36 / Chapter XII. --- CONCLUSION --- p.41 / APPENDIX / Chapter I. --- ANALYSIS OF SPIN-OFFS --- p.42 / Chapter II --- BUSINESSES & HIGHLIGHTS OF CKI --- p.44 / Chapter III --- CHEUNG KONG GROUP STRUCTURE CHART --- p.48 / Chapter IV --- LEGAL ASPECTS OF SPIN-OFF --- p.49 / Chapter V --- HISTORY OF CKH --- p.51 / Chapter VI --- CHINA-CONCEPT IPOS --- p.53 / BIBLOGRAPHY --- p.54

Made available in DSpace on 2014-12-17T15:38:57Z (GMT). No. of bitstreams: 1 DulcineiaPAA.pdf: 534490 bytes, checksum: 19a1265f26aafc61e981746541b1a1ad (MD5) Previous issue date: 2006-10-11 / This study aims to understand as the children who show expressive behaviors of antisocial trends at N?cleo de A??o Social da Praia do Meio in Natal-RN city, linked to Secretaria Municipal do Trabalho e Assist?ncia Social-SEMIT, which experience the relation with the social educator in role of caregiver. This matter was investigated within an interpretation and approach qualitative view of the social phenomena, using the Thematic Analysis technique of drawings and stories which express the relation with the caregiver gotten in sessions of playful interactions between child and researcher in order to understand the child experiences with the social educator. The used theoretical referential is by D. W. Winnicott who associates the social trend to a failure of environment in child holding. The subjects expressed the need of a firm and protective environment and they look for this in NASPM educators. Moreover, they show as solitude and vulnerability take part their lives due to the lack of emotional holding on family that favors the involvement with violent groups. But, it is worth pointing out that the children value the Nucleus environment when has offered them a safe holding which can be positive the established linking with it. Such conclusion points out to the possibility, recognized theoretically, that exists from these children to resume the way of healthy development / O estudo objetiva compreender como as crian?as que apresentam comportamentos expressivos de tend?ncia anti-social no N?cleo de A??o Social da Praia do Meio em Natal - RN, ligado ? Secretaria Municipal do Trabalho e Assist?ncia Social SEMTAS, vivenciam a rela??o com o educador social, no papel de cuidador. Investigou-se esta quest?o dentro de uma vis?o qualitativa de abordagem e interpreta??o dos fen?menos sociais, utilizando a t?cnica da An?lise Tem?tica dos desenhos e est?rias que expressam a rela??o com o cuidador, obtidos em sess?es de intera??o l?dica entre crian?a e pesquisadora, para a compreens?o das viv?ncias da crian?a com o educador social. O referencial te?rico utilizado ? de D. W. Winnicott, que associa a tend?ncia anti-social ? aus?ncia do holding necess?rio, ou seja a uma falha do ambiente na sustenta??o da crian?a. Os sujeitos expressaram a necessidade de um ambiente firme e acolhedor e buscam isto nos educadores do NASPM. Mostraram, tamb?m, como a solid?o e a vulnerabilidade permeiam suas vidas por causa da falta de sustenta??o emocional na fam?lia, o que favorece o envolvimento com grupos violentos. Mas, vale ressaltar, as crian?as valorizam o ambiente do N?cleo quando lhes oferece um suporte seguro, podendo ser positiva a vincula??o estabelecida com ele. Tal conclus?o aponta que existe a possibilidade reconhecida teoricamente destas crian?as retomarem o caminho do desenvolvimento saud?vel

Problemformulering: Går det att uppnå en signifikant återkommande överavkastning samt riskjusterad överavkastning i förhållande till den svenska aktiemarknaden genom systematiskt följande av investeringsstrategin “Dogs of the Dow”? Syfte: Syftet är att undersöka huruvida teorin ”Dogs of the Dow” är applicerbar på den svenska aktiemarknaden i sökandet efter en signifikant återkommande överavkastning i förhållande till marknaden. Med detta hoppas det finnas en positiv differens av den riskjusterade överavkastningen gentemot index. Metod: Studien samlar in primärdata för empirin via SIX Trust, SIX Edge samt från Riksbankens hemsida. Sekundärdata härstammar från vetenskapliga artiklar uthämtade från främst JStor och EBSCO Host. Även studentlitteratur, tidigare studier utgör sekundärdata. Studien tillämpar befintliga teorier för att via modeller studera studiens syfte. Resultat: Resultatet anses av författarna vara imponerande. Portföljerna sammansatta i enlighet med investeringsstrategin ”Dogs of the Dow” presterar till de skådade faktorerna i genomsnitt över lag bättre än jämförelseindexen SIXRX och SIX30RX. Resultaten kan dock inte fastställas statistiskt men författarna önskar skilja på statistisk och praktisk signifikans då en möjlig kumulativ effekt genererar enorm förmögenhetsutveckling. / Problem: Is it possible to receive a reoccurring significant abnormal return as well as risk adjusted abnormal return against the Swedish stock market through systematic appliance of the investment strategy ”Dogs of the Dow”? Objective: The objective is to study whether the theory ”Dogs of the Dow” is applicable on the Swedish stock market in the search of a significant reoccurring abnormal return against the market. The hopes are to find a positive difference between the risk adjusted abnormal return and index. Method: The study collects the primary empirical data through SIX Trust, SIX Edge as well as from the Swedish central bank. The secondary data is derived from scientific articles, student literature, and previous studies. Models are used to study the objective. Results: The authors find the results to be impressive. The portfolios structured through the investment strategy “Dogs of the Dow” outperform the comparison indices SIXRX and SIX30RX in general on all the observed accounts. The results can although not be stated as statistically significant within any reasonable confidence levels, but the authors would like to emphasize the difference between the terms statistically and practically significant. This since cumulative gains could contribute to a massive gain of wealth which could be practically significant for the long-term investor.

Diss. Univ. Basel, 2004. / En libr.: Courrendlin : Editions Communication jurassienne et européenne (CJE). Diss. phil. Basel, 2004.