Ce travail est à la jonction de deux domaines de recherche que sont la turbulence et le traitement d'image. L'objectif principal est de proposer de nouvelles méthodologies pour reconstruire les petites échelles de la turbulence à partir de mesures grande échelle. Une des contributions de ce travail est de revisiter des méthodes conventionnelles et de proposer de nouveaux modèles basés sur les travaux récents en traitement d’image pour les adapter à une problématique de turbulence. Le premier problème consiste à trouver une fonction de correspondance empirique entre les grandes et les petites échelles, une approche classique pour les modèles de type regression. Nous introduisons également une nouvelle méthode appelée “apprentissage de dictionnaire” pour laquelle une représentation couplée des grandes et des petites échelles est déduite par apprentissage statistique. Le deuxième problème est de reconstruire les informations à petites échelles par fusion de plusieurs mesures complémentaires. Le modèle de type “propagation de la moyenne non-locale” exploite la similarité des structures de l'écoulement alors que les modèles bayesiens de fusion proposent d'estimer le champ le plus probable en fonction d'informations données, on parle d’estimateur maximum a posteriori. Toutes les méthodes sont comparées et validées sur des bases de données numériques pour lesquelles les informations sont disponibles à toutes les échelles. Les performances des différentes approches sont analysées pour chacune des configurations. Ces résultats peuvent être utilisés dans une approche de type co-conception où il s’agit d'imaginer différents dispositifs expérimentaux définis conjointement avec les traitements numériques prévus pour extraire l’information utile. Les résultats de nos analyses peuvent être utilisés pour définir de nouvelles expériences qui maximisent la qualité des informations obtenues après traitement. / This work lies in between the research domains of turbulence and image processing. The main objectives are to propose new methodologies to reconstruct small-scale turbulence from measurements at large-scale only. One contribution of this work is a review of existing methods. We also propose new models inspired from recent works in image processing to adapt them to the context of turbulence. We address two different problems. The first problem is to find an empirical mapping function between large and small scales for which regression models are a common approach. We also introduce the use of “dictionary learning” to this problem of turbulence. The idea is to train coupled representations of large and small scales for reconstruction. The second problem is to reconstruct small-scale information via fusion of complementary measurements. The non-local means propagation model exploits the similarity of structures in the flow, while the Bayesian fusion model estimates the most probable fields given the measurements thanks to a maximum a posteriori estimate. All methods are validated and compared using numerical databases where fully resolved velocity fields are available. Performances of the proposed approaches are also characterized for various configurations. These results can be considered under the co-conception design framework, where different experimental setups are designed with respect to their corresponding post-processing. Our detailed analyses can be used to design new experiments that maximize the level of useful information after processing measurements.

Ce travail de thèse propose une nouvelle méthode de modélisation et de reconstruction de la forme d’une classe de manipulateurs continuum, basée sur la géométrie des courbes. Les Hodographes Pythagoriens (courbes HP) sont utilisées pour reconstruire des formes optimales pour ce type de robots, par une optimisation des énergies potentielles de flexion et de torsion. Cette méthode nous permis de déduire la cinématique optimale des bras manipulateurs continuum. La validation de la méthode proposée a été réalisée sur le robot dit trompe d’éléphant ‘Compact Bionic Handling Assistant (CBHA)’. Une calibration a été réalisée sur la méthode de reconstruction afin d’améliorer les performances en terme de précision et de prendre en considération les incertitudes dues à la structure du bras manipulateur. La méthode proposée est également testée dans le cas de la préhension, en s’appuyant sur une approche qualitative à base de réseaux de neurones. De plus, l'approche HP est étendue à la modélisation des structures de robots hétérogènes avec plusieurs sections. Ce dernier a été validé pour une chaîne cinématique fermée, composée de deux manipulateurs CBHA, manipulant conjointement une corde flexible. / This work provides a new methodology to reconstruct the shape of continuum manipulators using a curve based approach. Pythagorean Hodograph (PH) curves are used to reconstruct the optimal shape of continuum manipulators using minimum potential energy (bending and twisting energy) criteria. This methodology allows us to obtain the optimal kinematics of continuum manipulators. The models are applied to a continuum manipulator, namely, the Compact Bionic Handling Assistant (CBHA) for experimental validation under free load manipulation. The calibration of the PH-based shape reconstruction methodology is performed to improve its accuracy to accommodate the uncertainties due to the structure of the manipulator. The proposed method is also tested under the loaded manipulation after combining it with a qualitative Neural Network approach. Furthermore, the PH-based methodology is extended to model multi-section heterogeneous bodies. This model is experimentally validated for a closed loop kinematic chain formed using two CBHA manipulating jointly a rope.

O estudo das estruturas osteológicas e da musculatura a estas relacionadas permite compreender, em animais extintos, a evolução dos traços associados aos seus hábitos locomotores, especialmente se este estudo considerar os seus representantes atuais, a fim de se estabelecer as relações de homologia e analogia entre as estruturas comparadas e suas respectivas funções inferidas. Além disso, em uma análise biomecânica de espécies fósseis, deve-se considerar, mesmo que de forma aproximada, a massa corporal como atributo fundamental. Prestosuchus chiniquensis é uma espécie extinta de arcossauro terrestre relacionada à linhagem dos crocodilos atuais. Para testar as hipóteses de hábitos locomotores deste táxon, foi feita a reconstrução muscular da coxa do espécime UFRGS-PV-0629-T, com base nas descrições musculares de aves e crocodilos. Observou-se que o conjunto muscular considerado em P. chiniquensis, de uma forma geral, é bastante semelhante ao dos representantes atuais. Dos dezesseis grupos musculares da coxa avaliados, treze foram reconhecidos como presentes e homólogos entre os dois grupos de arcossauros viventes comparados, de modo que a reconstrução destes músculos, no exemplar fóssil analisado, se mostrou a opção mais parcimoniosa, envolvendo o menor número de passos evolutivos. Por outro lado, a morfologia da cintura pélvica e dos membros posteriores confere uma disposição distinta dos locais de origem e inserção desta musculatura, com possível alteração das linhas de ação dos mesmos. Por fim, a comparação com formas arcossaurianas extintas e atuais mostrou uma condição basal mantida para a morfologia do fêmur e a flexão do joelho, enquanto a morfologia do púbis e do ísquio – e a origem da musculatura a eles associada – revelou um padrão derivado. Paralelamente, diversas metodologias para a estimativa da massa de formas extintas foram aplicadas e comparadas, com o intuito de realizar inferências biomecânicas para o hábito locomotor de P. chiniquensis. O espécime considerado, com 4,5 m de comprimento total, apresentou uma massa média estimada de 400 kg, a qual, em conjunto com a morfologia geral dos ossos dos membros posteriores, se mostrou compatível com um hábito locomotor subcursorial, além de uma postura preferencialmente mesógrada e quadrúpede. Contudo, devido ao caráter generalista inferido – permitindo uma ampla gama de posturas admissíveis – foi sugerida uma estratégia de caça por emboscada, na qual P. chiniquensis adotaria uma postura bípede e ortógrada, que poderia conferir à espécie vantagens, tal como uma maior velocidade em relação à postura usual. / Studying osteological structures and its associated musculature may help to understand the evolution of locomotor traits in extinct animals, especially if this study considers their extant relatives, in order to set up homologies and analogies between the compared structures and their inferred functions. Furthermore, in a biomechanical analysis of the fossil record one should consider the estimated body mass as a fundamental attribute. Prestosuchus chiniquensis is an extinct species of terrestrial archosaur related to extant crocodiles. To test different hypotheses related to the locomotion of this taxon, the muscular reconstruction of the thigh of the specimen UFRGS-PV-0629-T was realized, based on the muscular descriptions of extant birds and crocodiles. It was observed that the main muscular groups considered for the reconstruction of P. chiniquensis were similar in birds and crocodiles in a general manner. Among sixteen muscular groups of the thigh that were analyzed, thirteen were recognized as present and homolog to both extant groups of archosaurs, so that the reconstruction of those muscles in the analyzed fossil specimen showed to be the most parsimonious option, involving the least number of evolutionary steps. On the other hand, the morphological particularities of the pelvic girdle and the hindlimbs gave a distinct arrangement for the origin and insertion sites of this musculature, possibly changing their line of actions. Finally, the comparison between extinct and extant archosaurs showed a basal condition sustained in some aspects, such as the morphology of the femur and the flexion of the knee, though, other aspects were considered as derived, such as the morphology of the pubis and ischium, and their associated muscle origins. At the same time, different methodologies for estimating body mass of fossil specimens were applied, and compared in order to make biomechanical inferences of the locomotors habits of P. chiniquensis. The specimen considered, approximately 4.5 m long (15 ft), presented an estimated mass of 400 kg (around 880 lbs), which, with the general morphology of the hindlimbs, were consistent with a subcursorial locomotor habit, with a preferential “semi-improved” and quadruped posture. However, due to the generalist character inferred for P. chiniquensis – which permitted a wide range of feasible postures – an ambush hunting strategy, with a biped and totally improved posture, may be admitted, possibly conferring some advantages, such as higher speeds, if compared to usual postures.

Radiotherapy planning involves the calculation of dose deposition throughout the patient, based upon quantitative electron density images from computed tomography (CT) scans taken before treatment. Cone beam CT (CBCT), consisting of a point source and flat panel detector, is often built onto radiotherapy delivery machines and used during a treatment session to ensure alignment of the patient to the plan. If the plan could be recalculated throughout the course of treatment, then margins of uncertainty and toxicity to healthy tissues could be reduced. CBCT reconstructions are normally too poor to be used as the basis of planning however, due to their insufficient sampling, beam hardening and high level of scatter. In this work, we investigate reconstruction techniques to enable dose calculation from CBCT. Firstly, we develop an iterative method for directly inferring electron density from the raw X-ray measurements, which is robust to both low doses and polyenergetic artefacts from hard bone and metallic implants. Secondly, we supplement this with a fast integrated scatter model, also able to take into account the polyenergetic nature of the diagnostic X-ray source. Finally, we demonstrate the ability to provide accurate dose calculation using our methodology from numerical and physical experiments. Not only does this unlock the capability to perform CBCT radiotherapy planning, offering more targeted and less toxic treatment, but the developed techniques are also applicable and beneficial for many other CT applications.

So much has been said and written about the Reconstruction and Development Programme by a bewildering array of development specialists, politicians, bureaucrats and commentators that it seems inconceivable that anyone familiar with policy debates would still lack an understanding of it. But amid the speeches, publications, policy documents and newspaper articles, the RDP has lost its meaning and coherence. It has come to mean anything anyone wants it to mean; with a little ingenuity, anything can be made to fit in with the goals of the RDP. It has thus become too broad and imprecise to refer only to what was originally intended. This paper offers an analysis of the RDP’s approach at national and provincial levels, and provides a conceptual framework within which the RDP’s Basic Needs approach to development is assessed. It forms part of a continuing project which seeks to examine the RDP and its implementation by the provinces, and was based on interviews with provincial and national RDP officials, development planners in the provinces, and a thorough content analysis of official policy documents, memoranda and minutes. The institutionalisation of the RDP will be examined by analysing problems faced in the course of implementing it in the provinces. Gauteng, Mpumalanga and North West were chosen as case studies; w'hile they were selected randomly, the goal was to examine three provinces with different socio-economic profiles, allowing significant lessons to be extrapolated from their short experience of implementing the RDP. Their priorities and strategic approaches will be assessed, and problems examined, to suggest lessons for policy and planning that might throw light on similar issues in other provinces. Finally, the paper will analyse indications that the government is making subtle strategic changes towards rearticulating the RDP within a new time frame, and moving towards a tightly co-ordinated set of institutional structures and intergovernmental planning systems. / Social policy series

Tactile sensors are the last frontier to robots that can handle everyday objects and interact with humans through contact. Robots are expected to recognize the properties of objects in order to handle them safely and efficiently in a variety of applications, such as health- and elder care, manufacturing, or high-risk environments. To be effective, such sensors have to sense the geometry of touched surfaces and objects, as well as any other relevant information for their tasks, such as forces, vibrations, and temperature, that allow them to safely and securely interact within an environment. Given the capability of humans to easily capture and interpret tactile data, one promising direction in order to produce enhanced robotic tactile sensors is to explore and imitate human tactile sensing capabilities. In this context, this thesis presents the design and hardware implementation issues related to the construction of a novel multimodal bio-inspired skin module for dynamic and static tactile surface characterization. Drawing inspiration from the type, functionality, and organization of cutaneous tactile elements in the human skin, the proposed solution determines the placement of two shallow sensors (a tactile array and a nine DOF magnetic, angular rate, and gravity system) and a deep pressure sensor within a flexible compliant structure, similar to the receptive field of the Pacinian mechanoreceptor. The benefit of using a compliant structure is tri-folded. First, the module has the capability of performing touch tasks on unknown surfaces, tackling the tactile inversion problem. The compliant structure guides deforming forces from its surface to the deep pressure sensor, while keeping track of the deformation of the structure using advantageously placed shallow sensors. Second, the module’s compliant structure and its embedded sensor placement provide useful data to overcome the problem of estimating non-normal forces, a significant challenge for the current generation of tactile sensing technologies. This capability allows accommodating sensing modalities essential for acquiring tactile images and classifying surfaces by vibrations and accelerations. Third, the compliant structure of the module also contributes to the relaxation of orientation constraints of end-effectors or other robotic parts carrying the module to contact surfaces of unknown objects. Issues related to the module calibration, its sensing capabilities and possible real-world applications are also presented.

Shan, Qi. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2008. / Includes bibliographical references (leaves 124-132). / Abstracts in English and Chinese. / Chapter 1 --- Overview --- p.1 / Chapter 1.1 --- Image Blur Overview --- p.1 / Chapter 1.2 --- Blur Identification in a Transparency's Perspective --- p.3 / Chapter 1.3 --- From Transparencies to Natural Image Priors --- p.7 / Chapter 1.4 --- Discussion of the Linear Motion Model --- p.9 / Chapter 1.5 --- Binary Texture Restoration and High-Order MRF Optimization --- p.9 / Chapter 2 --- A Review on Previous Work --- p.13 / Chapter 2.1 --- Spatially-Invariant Blur Recovery --- p.13 / Chapter 2.2 --- Spatially-Variant Blur Recovery --- p.16 / Chapter 2.3 --- Markov Random Field Inference --- p.18 / Chapter 3 --- Motion Blur in a Transparency's Perspective --- p.20 / Chapter 3.1 --- Analysis of Object Motion Blur --- p.20 / Chapter 3.1.1 --- 1D Object Motion Blur --- p.20 / Chapter 3.1.2 --- 2D Object Motion Blur --- p.23 / Chapter 3.2 --- Modeling 2D Object Motion Blur --- p.26 / Chapter 3.3 --- Optimization Procedure --- p.27 / Chapter 3.3.1 --- Blur Kernel Estimation --- p.29 / Chapter 3.3.2 --- Latent Binary Matte Estimation --- p.30 / Chapter 3.4 --- Generalized Transparency in Motion Blur --- p.33 / Chapter 3.4.1 --- Camera Motion Blur Estimation --- p.35 / Chapter 3.4.2 --- Implementation --- p.37 / Chapter 3.5 --- Analysis and Results --- p.38 / Chapter 3.5.1 --- Evaluation of the Kernel Initialization --- p.40 / Chapter 3.5.2 --- Evaluation of Binary Alpha Initialization --- p.40 / Chapter 3.5.3 --- Robustness to Noise --- p.41 / Chapter 3.5.4 --- Natural Image Deblurring Results --- p.41 / Chapter 3.6 --- Proofs --- p.50 / Chapter 4 --- Rotational Motion Deblurring --- p.55 / Chapter 4.1 --- Motion blur descriptor --- p.55 / Chapter 4.1.1 --- Descriptor analysis --- p.56 / Chapter 4.2 --- Optimization --- p.59 / Chapter 4.2.1 --- Parameter initialization --- p.59 / Chapter 4.2.2 --- Iterative optimization --- p.62 / Chapter 4.2.3 --- Recover the color image --- p.65 / Chapter 4.3 --- Result and analysis --- p.65 / Chapter 5 --- Image Deblurring using Natural Image Priors --- p.70 / Chapter 5.1 --- Problem Definition --- p.70 / Chapter 5.2 --- Analysis of Ringing Artifacts --- p.71 / Chapter 5.3 --- Our model --- p.74 / Chapter 5.3.1 --- Definition of the probability terms --- p.75 / Chapter 5.4 --- Optimization --- p.81 / Chapter 5.4.1 --- Optimizing L --- p.83 / Chapter 5.4.2 --- Optimizing f --- p.86 / Chapter 5.4.3 --- Optimization Details and Parameters --- p.87 / Chapter 5.5 --- Experimental Results --- p.90 / Chapter 6 --- High Order MRF and its Optimization --- p.94 / Chapter 6.1 --- The Approach --- p.95 / Chapter 6.1.1 --- Polynomial Standardization --- p.95 / Chapter 6.1.2 --- Polynomial Graph Construction --- p.97 / Chapter 6.1.3 --- Polynomial Graph Partition --- p.103 / Chapter 6.1.4 --- Multi-Label Expansion --- p.105 / Chapter 6.1.5 --- Analysis --- p.106 / Chapter 6.2 --- Experimental Results --- p.108 / Chapter 6.3 --- Summary --- p.112 / Chapter 6.4 --- Proofs --- p.112 / Chapter 7 --- Conclusion --- p.117 / Chapter 7.1 --- Solving Linear Motion Blur in a Transparency's Perspective --- p.117 / Chapter 7.2 --- Rotational Motion Deblurring --- p.119 / Chapter 7.3 --- Image Deblurring using Natural Image Priors --- p.119 / Chapter 7.4 --- Contribution --- p.121 / Chapter 7.5 --- Discussion and Open Questions --- p.121 / Bibliography --- p.124

Huang, Ting. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2008. / Includes bibliographical references (p. 37-41). / Abstracts in English and Chinese. / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Related Area --- p.2 / Chapter 1.2 --- Previous Work --- p.4 / Chapter 1.3 --- Proposed Framework --- p.7 / Chapter 1.4 --- Overview --- p.8 / Chapter 2 --- Markov Random Fields and Optimization Schemes --- p.9 / Chapter 2.1 --- MRF Model --- p.10 / Chapter 2.1.1 --- MAP Understanding --- p.11 / Chapter 2.2 --- Belief Propagation Optimization Scheme --- p.14 / Chapter 2.2.1 --- Max-Product BP on MRFs --- p.14 / Chapter 2.2.2 --- Sum-Product BP on MRFs --- p.15 / Chapter 3 --- Our Formulation --- p.17 / Chapter 3.1 --- An MRF Model --- p.18 / Chapter 3.2 --- Coarse-to-Fine Optimization by BP --- p.21 / Chapter 3.2.1 --- Coarse-Level Belief Propagation --- p.23 / Chapter 3.2.2 --- Fine-Level Belief Propagation --- p.24 / Chapter 3.2.3 --- Performance Enhancement --- p.25 / Chapter 4 --- Experiments --- p.27 / Chapter 4.1 --- Comparison --- p.27 / Chapter 4.2 --- Failure Case --- p.32 / Chapter 5 --- Conclusion --- p.35 / Bibliography --- p.37

Sheung, Hoi. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2009. / Includes bibliographical references (p. 65-70). / Abstract also in Chinese. / Abstract --- p.v / Acknowledgements --- p.ix / List of Figures --- p.xiii / List of Tables --- p.xv / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Main Contributions --- p.3 / Chapter 1.2 --- Outline --- p.3 / Chapter 2 --- Related Work --- p.5 / Chapter 2.1 --- Volumetric reconstruction --- p.5 / Chapter 2.2 --- Combinatorial approaches --- p.6 / Chapter 2.3 --- Robust statistics in surface reconstruction --- p.6 / Chapter 2.4 --- Down-sampling of massive points --- p.7 / Chapter 2.5 --- Streaming and parallel computing --- p.7 / Chapter 3 --- Robust Normal Estimation and Point Projection --- p.9 / Chapter 3.1 --- Robust Estimator --- p.9 / Chapter 3.2 --- Mean Shift Method --- p.11 / Chapter 3.3 --- Normal Estimation and Projection --- p.11 / Chapter 3.4 --- Moving Least Squares Surfaces --- p.14 / Chapter 3.4.1 --- Step 1: local reference domain --- p.14 / Chapter 3.4.2 --- Step 2: local bivariate polynomial --- p.14 / Chapter 3.4.3 --- Simpler Implementation --- p.15 / Chapter 3.5 --- Robust Moving Least Squares by Forward Search --- p.16 / Chapter 3.6 --- Comparison with RMLS --- p.17 / Chapter 3.7 --- K-Nearest Neighborhoods --- p.18 / Chapter 3.7.1 --- Octree --- p.18 / Chapter 3.7.2 --- Kd-Tree --- p.19 / Chapter 3.7.3 --- Other Techniques --- p.19 / Chapter 3.8 --- Principal Component Analysis --- p.19 / Chapter 3.9 --- Polynomial Fitting --- p.21 / Chapter 3.10 --- Highly Parallel Implementation --- p.22 / Chapter 4 --- Error Controlled Subsampling --- p.23 / Chapter 4.1 --- Centroidal Voronoi Diagram --- p.23 / Chapter 4.2 --- Energy Function --- p.24 / Chapter 4.2.1 --- Distance Energy --- p.24 / Chapter 4.2.2 --- Shape Prior Energy --- p.24 / Chapter 4.2.3 --- Global Energy --- p.25 / Chapter 4.3 --- Lloyd´ةs Algorithm --- p.26 / Chapter 4.4 --- Clustering Optimization and Subsampling --- p.27 / Chapter 5 --- Mesh Generation --- p.29 / Chapter 5.1 --- Tight Cocone Triangulation --- p.29 / Chapter 5.2 --- Clustering Based Local Triangulation --- p.30 / Chapter 5.2.1 --- Initial Surface Reconstruction --- p.30 / Chapter 5.2.2 --- Cleaning Process --- p.32 / Chapter 5.2.3 --- Comparisons --- p.33 / Chapter 5.3 --- Computing Dual Graph --- p.34 / Chapter 6 --- Results and Discussion --- p.37 / Chapter 6.1 --- Results of Mesh Reconstruction form Noisy Point Cloud --- p.37 / Chapter 6.2 --- Results of Clustering Based Local Triangulation --- p.47 / Chapter 7 --- Conclusions --- p.55 / Chapter 7.1 --- Key Contributions --- p.55 / Chapter 7.2 --- Factors Affecting Our Algorithm --- p.55 / Chapter 7.3 --- Future Work --- p.56 / Chapter A --- Building Neighborhood Table --- p.59 / Chapter A.l --- Building Neighborhood Table in Streaming --- p.59 / Chapter B --- Publications --- p.63 / Bibliography --- p.65

Xue, Tianfan. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2011. / Includes bibliographical references (p. 52-55). / Abstracts in English and Chinese. / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Previous Approaches on Face Identification --- p.3 / Chapter 1.1.1 --- Face Identification --- p.3 / Chapter 1.1.2 --- General Objects --- p.4 / Chapter 1.1.3 --- Manifold Objects --- p.7 / Chapter 1.2 --- Previous Approaches on 3D Reconstruction --- p.9 / Chapter 1.3 --- Our approach for Face Identification --- p.11 / Chapter 1.4 --- Our approach for 3D Reconstruction --- p.13 / Chapter 2 --- Face Detection --- p.14 / Chapter 2.1 --- GAFI and its Face Identification Results --- p.15 / Chapter 2.2 --- Our Face Identification Approach --- p.17 / Chapter 2.2.1 --- Real Face Detection --- p.18 / Chapter 2.2.2 --- The Weak Face Adjacency Theorem --- p.20 / Chapter 2.2.3 --- Searching for Type 1 Lost Faces --- p.22 / Chapter 2.2.4 --- Searching for Type 2 Lost Faces --- p.23 / Chapter 2.3 --- Experimental Results --- p.25 / Chapter 3 3 --- D Reconstruction --- p.30 / Chapter 3.1 --- Assumption and Terminology --- p.30 / Chapter 3.2 --- Finding Cuts from a Line Drawing --- p.34 / Chapter 3.2.1 --- Propositions for Finding Cuts --- p.34 / Chapter 3.2.2 --- Searching for Good Cuts --- p.35 / Chapter 3.3 --- Separation of a Line Drawing from Cuts --- p.38 / Chapter 3.4 3 --- D Reconstruction from a Line Drawing --- p.45 / Chapter 3.5 --- Experiments --- p.45 / Chapter 4 --- Conclusion --- p.50