Nowadays, the use of robots in industrial tasks is growing constantly. However, manual assembly is one area that is hard to make fully automated since manual assembly operations work with different shapes and products that require human finesse to do some operations. Humans, on the other hand, have a lot of limitations since this kind of task can be unergonomic and repetitive for operators, which can cause them stress, fatigue, repetitive stress injuries(RSI), and repetitive motion injuries. This project involved designing an insert for the gripper 2F-85 (version 3) that would allow the collaborative robot (UR5) to carry out more assembly tasks in order to relieve human workers of repetitive tasks. The insert has to handle cylindrical shapes in addition to bigger parts that the actual insert cannot handle due to its parallel stroke. For that, a detailed market analysis and insert research were conducted in the initial study. The new insert was then developed using a double-diamond design process. The needs were ranked using the Moscow prioritization method, and ideas were then generated using the brainstorming technique. The final concept was chosen using the weighted decision matrix method. After the final concept selection, computer-aided design (CAD) technology was employed to create the new insert's 3D model and its technical specifications. The mechanical behaviour of the new insert was analysed to reflect its range of workability, expressing the maximum force that it can withstand on each of its grip work surfaces without presenting plastic deformation. For this study, finite element analyses were conducted following the general method for linear structural analysis using Abaqus. Achieving an insert that can reach, transport, and assemble different shapes will help integrate collaborative robots into manual assembly processes, avoiding the cost of a new gripper.

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The thesis paper Design takes place in our lives, naturally and sometimes invisibly, but how can we become alert to its impact on us? How can we as designers elaborate on our role in creating tools for people’s lives? A handmade metal wire toy I found in my parents’ house made me discover the world of mandalas; a Buddhistic symbol and a tool for spiritual enlightenment. Mandalas speak of the relation between us and the world and balance between body and mind. In my Master’s project, the act of playing is explored as a tool for altering perspectives on our physical environment. Inspired by the mandala, an alternative approach to functional form is visualized, connecting our bodies and minds in closer relation to a playful and imaginative state of being. By investigating our physical environment and encouraging interaction, new mantras for our everyday lives may be created. The design process Using the metal wire mandala as my starting point, I have explored spatial forms with possibilities in transformation. Different combinations of the same parts; half circles of bent metal wire which connected can move and therefore change the other shape of the construction, creates different kinds of space with more or less clear practical application. The ambition of this project has been to investigate the metal construction as foundation and frame for textile in and as architecture; building a whole space, as visual room dividers indoor or outdoor and as sun screen. The design is based on transformation and reuse of the same parts to build new forms. The textiles have been designed and produced with the metal construction as frame. The textiles are knitted with nylon thread, hand dyed and mounted onto the construction. The technique of partial knitting makes it possible to create the round shapes with an even elasticity in all directions, and an open centre for the next piece overlapping. When knitting, no waste material I generated since nothing is cut away after production. Using punch cards, patterns and structure is added to the surface. The need to create smaller spaces within a larger space is present in many places; indoors as well as out doors. The public environment in which we live, controls and shapes our lives. By creating more intimate sites, with the possibility for visual and mental rest, we can come closer one another and hold other types of conversations. This will create new patterns of behaviour; new mantras for everyday life. During the Konstfack Degree Exhibition 2013, I displayed one of the possible forms in full scale with textiles, along side a smaller size model of the same shape and one other possible shape with closer resemblance to the original wire toy. On site in the exhibition, visitors could meet and try the space in a real setting. / Thesis uppsats Formgivning sker i våra liv, naturligt och ibland osynligt, men hur kan vi bli uppmärksamma på dess inverkan på oss? Hur kan vi som formgivare utveckla vår roll i att skapa redskap för människors liv? En handgjord leksak av metalltråd som jag hittade i mitt föräldrahem fick mig att upptäcka mandalans värld – en buddistisk symbol och ett redskap för andlig upplysning. Mandalan vittnar om förhållandet mellan oss och världen och jämvikt mellan kropp och själ. I mitt masterarbete utforskas lekaktivitet som ett redskap för att ändra perspektiv på vår fysiska omgivning. Med inspiration från mandalan åskådliggörs en alternativ infallsvinkel på funktionell form som förenar våra kroppar och sinnen mer intimt med en lekfull och fantasifull tillvaro. Genom att undersöka vår fysiska omgivning och uppmuntra samspel kan vi skapa nya mantra för vardagen. Designprocessen Med leksaken av metalltråd som utgångspunkt, har jag utforskat rumsliga former med möjlighet till transformation. Olika kompositioner av samma byggstenar; halvcirklar av böjd metalltråd vilka sammanlänkade kan röra sig mot varandra och på så vis förändra den yttre formen, skapar olika typer av rumsligheter med mer eller mindre definierad praktisk användning. Projektets ambition har varit att utforska metallkonstruktionens möjligheter som stomme för textil i och som arkitektur; som skapande av hela rum, som visuella rumsavdelare inomhus eller utomhus samt som solskydd. Designen bygger på förvandling och återanvändning, där samma delar kan användas till att sätta samman nya former. De textila materialen har arbetats fram med metallkonstruktionen som utgångspunkt och ram. Textilierna är stickade i nylon, färgade och monterade i konstruktionen. Tekniken att delsticka på stickmaskin möjliggör att de runda formerna med jämn elasticitet åt alla håll, och ett hål lämnas i centrum för nästa överlappande del i den monterade konstruktionen. I stickningen skapas heller inget spillmaterial eftersom ingenting klipps bort efter tillverkningen. Med hjälp av hålkort integreras mönstringar och strukturer. Behovet av att skapa mindre rum i större rum finns många platser; inomhus såväl som utomhus. De offentliga platser vi rör oss på styr vårt beteende och formar våra liv. Med intimare mötesplatser och möjlighet till visuell och mental vila kan vi komma närmare varandra och föra andra typer av samtal vilket kan skapa nya mönster av beteende; nya mantran. Under Konstfacks vårutställning 2013, visades en av de möjliga formerna i fullskala med textilier, samt en mindre modell av denna samt en annan form med tydlig anknytning till mandala-leksakens ursprungliga form. På plats i utställningen kunde besökare pröva rummet i ett verkligt sammanhang.

本研究設計了一個結合遊戲性及新型互動體驗的英語學習輔助玩具，目的是將英語學習帶入學齡前兒童的戲水情境之中，兒童可透過與玩具遊戲的過程，達到英語學習歷程的催化。本研究開發之數位互動玩具，可藉由手與尾巴做出不同組合的動作，以及眼睛可以投射出燈光圖案表達不同情緒。並透過語音播放出故事中的單字與句子，再藉由以上的功能會組成不同的回饋。小朋友能用摸與說話的方式，在與玩具之間的遊戲過程中，達到產生興趣的效果。 現階段本研究探討使用者經驗的分析，若要分析小朋友的正式學習歷程，就必須先了解小朋友的動機和使用後的回饋，以讓未來學習歷程中的研究作為基礎。因此，基於認知心理學家的理論討論幼兒學習的歷程，以及為了得知如何設計適合的玩具給小朋友，本研究提出設計時的原則以及使用者經驗與使用性，建構出互動玩具的雛形。實驗評估對象共為8位3~5歲之兒童(第一階段7位，第二階段1位)，以觀察的方式紀錄實驗過程，利用開放式問題詢問小朋友的回饋，並以進行整理與分析。總結，研究成果為： 1. 互動學習體驗：將科技結合一般戲水玩具，透過觸摸及語音的互動方式產生動作、燈光圖案、聲音等回饋，從戲水互動過程中給予兒童新的互動學習體驗。 2. 學習與探索的動機：本研究依據Skinner的操作制約概念制定互動流程，玩具經實驗發現透過觸摸及口說的互動，產生了多元回饋刺激，包含故事內容及卡牌的配合，讓小朋友在遊戲過程中能自行探索內容並在過程中學習。 3. 使用者經驗與使用性分析：從使用性五項指標分析情緒起伏歷程紀錄及分析使用者經驗，發現玩具容易讓小朋友操作且記憶玩具提供之內容，整體使用性是高的。但相較於觸摸的互動方式，說話的互動方式會讓小朋友在操作上使用性較低。 互動玩具的設計製作：以UCD的設計思維建構互動玩具外型設計、人機互動方式及內容設計，並再以Arduino為主要載體建構模組化之設計。 / This study designed an English learning toy that combined the game and a new interactive experience. This aim is to integrate English learning into the context of preschoolers playing in water and use the interaction with the toy to promote the English learning process. In this study, the digital interactive toy we made that can make different combinations of action by using its hands and tail, project out the lighting patterns to express various emotions by its eyes, and play out the words and sentences of the story by the voice player. According to the above functions, the toy forms different ways of feedback. It is effective that children can develop an interest in the toy by the ways of touching and saying in the process of game playing. At present, this study explored the analysis of user experience, if we want to analysis the children's formal learning process, we must first understand the child's motivation and feedback after use, so that it can be a foundation of the learning process in the future. Thus, the study is based on the theory of cognitive psychologists that discussed the course of early childhood learning. In order to know how to design a suitable toy for preschoolers, this study built the prototype of the interactive toy through presenting the design principles and user experience and usability. The subjects were 8 preschoolers (3-5 years of age) enrolled in the study (7 subjects in the first stage and 1 subject in the third stage). Researcher recorded the experimental procedure by the way of observing, inquired the research subjects to get their feedback by opened questions, and then digested and analyzed to the conclusion. Summary, the results of this research are in the following: (1) Interactive learning experience: The combination of technology and the general water-playing toys. The digital interactive toy let preschoolers get a new interactive learning experience through the way of touching and speaking to emerge action, light patterns, sound and other feedback. (2) Learning motivation and exploration: Based on Skinner's operational control concept, the research has found that the toy stimulates a variety of feedback through touching and speaking of the interaction, including the story content and cards. The preschoolers in the course of the game can explore the content by themselves and learning during the process. (3) User experience and usability analysis: According to the use of five indicators to analyze the course of emotional change and user experience, the research has found that the toys easily to be operated by children and made them keep memory of the contents the toy provided. The overall use is high, however, compared to the interactive way of touching, the way of speaking is lower in the children’s operation. (4) Interactive toy design: The toy is based on UCD design thinking to construct interactive toy exterior design, human-computer interaction and content design. The main carrier is Arduino to build out the modular design.

1 ABSTRACT A toy is a method in encultury. The deals with a toy in context of contemporary visual culture like a product of culture industries. It solves how the specific toys could manipulate children's perception. It examines types and basic principles of children's games in relation to toys. In case study it examines a proces of children's game for two children in a home environment in relation to specific toys. It documents and characterizes the toys which are available for children and a way how a children plays with them. It observes, records, analyzes and reflects children's game and tracks constants and a transformations of ideas, concepts and skills which are entering gaming proces. Following a research probe, it suggest a set of art activities. KEYWORDS Child, formation, game, toy, observe, advertisement, visual, visual culture

近幾年平版電腦興起，觸控式平板之操作介面簡單直覺，學習曲線低，很適合小朋友來操作，已逐漸被使用在教育市場中。回顧教育學家所提出之學習理論，我們發現感官和四肢，是嬰幼兒時期主要的發展任務，也是幼兒智慧發展的根源，然而平板電腦缺乏實物的觸覺感知，平面的觸控體驗大幅限制了兒童的感官知能。因此本創作旨在針對3~6歲的小朋友，設計一套結合觸控平板之實體感知玩具（Tangible Toys），並延續福祿貝爾與蒙特梭利對於觸覺學習的教育理論，實作兩種運用於平板與感知玩具的遊戲學習模式，提供新型態的互動學習體驗。小朋友在本創作設計之遊戲學習過程中使用到手的操作與觸覺感知，藉由有趣的感官互動，增加小朋友的學習興趣。 我們提出兩種英文單字的學習模式，並觀察與分析兒童使用感知玩具在平板上的操作行為，作為未來「數位教具」與「平板」結合的參考依據，本創作所發展之技術亦可輔助觸控式平板發展多樣化之「數位教具」。 綜合所述，本創作完成目標如下： 1. 互動學習體驗：以感知玩具結合平板的互動形式帶給兒童新型態的互動學習體驗。 2. 兒童探索學習：透過感知玩具刺激兒童的學習興趣，利用不同的玩偶讓兒童嘗試去探索關聯式的單字。 3. 操作經驗分析：分析兒童對於感知玩具的使用經驗與操作，作為未來「數位教具」與「平板」結合的參考依據。 / Touch-based tablets have grown extremely rapidly in recent years. Since the touch-based interface is simple, intuitive and easy to learn, touch-based tablets have been adopted quickly in the Education market. However, touch-based tablet lacks tangible and tactile feedback, thus it constrains children’s learning ability of sensations. In this paper, we aimed at 3~6 years old children and designed a children’s learning app with tangible toys on the tablet. By extending Frobel and Montessori’s tactile learning theory, we implemented two game-based learning applications with tangible toys to bring a novel interactive learning experience for children. We conducted the preliminary study of 4 kindergarten children. The result showed that children were interested in tangible toys and had more fun in the learning activities. Finally, our capacitive tags can be used to design various forms of digital manipulatives on the tablets.

The aim of this study is to compare the performance of the four interest rate models (Vasicek Model, Cox Ingersoll Ross Model, Ho Lee Model and Black Der- man Toy Model) that are commonly used in pricing zero coupon bond options. In this study, 1{5 years US Treasury Bond daily data between the dates June 1, 1976 and December 31, 2007 are used. By using the four interest rate models, estimated option prices are compared with the real observed prices for the begin- ing work days of each months of the years 2004 and 2005. The models are then evaluated according to the sum of squared errors. Option prices are found by constructing interest rate trees for the binomial models based on Ho Lee Model and Black Derman Toy Model and by estimating the parameters for the Vasicek and the Cox Ingersoll Ross Models.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / A ideia central da pesquisa foi promover uma aproximação das narrativas visuais de Getúlio Damado e Roger Mello e a partir daí evidenciar os processos cognitivos e as estratégias que envolveram a estruturação de suas identidades sociais e linguagens artísticas contemporâneas, bem como destacar o ludismo e o acesso ao universo da infância e a cultura popular que ambos ressignificam em suas obras. Além disso, buscou-se comentar e avaliar momentos específicos de desprestígio e repúdio versus consagração ocorridos com os artistas. Para tal, essas produções foram contextualizadas como produções culturais em constante processo de mutação, do qual participam tanto eventos históricos como de inovação tecnológica, em contínua construção. Essas linguagens estão submetidas a uma grande velocidade e a superposição de influências. Outro ponto destacado nas analises foi o caráter de subjetividade dessas produções, identificadas como práticas estéticas promotoras de transformação política; de mobilização; ou também por sua capacidade de operar com o uso simbólico dos brinquedos e livros infantojuvenis recuperando-lhes o uso original. Os devaneios, o ludismo infantil e a cultura popular presentes nos objetos feitos de sucata e livros ilustrados foram confrontados com práticas consoantes, ou de discursos abrangentes, correntes no mundo da arte ou outras vezes aproximados de enfoques locais. Além da possibilidade de convergência entre as produções foram destacadas também muitas diferenças, e, sobretudo evidenciadas as potencialidades que podem advir da cultura popular como campo exploratório de pesquisa, bem como de sua ressignificação / The central idea of the research was to reconcile the visual narratives of Getúlio Damado and Roger Mello and henceforth to highlight the cognitive processes and strategies involved in structuring their social identities and contemporary artistic languages, as well as to emphasize the playfulness, and access to the universe of childhood and popular culture to reframe both their works. Additionally, this paper tried to comment and evaluate specific moments of prestige and repudiation versus consecration occurred with these artists. To this end, these productions were contextualized as cultural productions in a constant process of mutation, which involved both historical events and technological innovation in continuous construction. These languages are subjected to a high speed and overlapping influences. Another point emphasized in the analysis was the character of subjectivity of these productions, aesthetic practices identified as promoters of political transformation, mobilization, or also by its ability to operate with the symbolic use of toys and childrens books recovering their original use.. Daydreams, the childish playfulness and the popular culture present in those objects made of waste and illustrated books were confronted with consonant practices or embracing speeches, currents in the world of art or sometimes familiar to local approaches. Besides the possibility of convergence between the productions of the two artists, the research also spotted many differences, and pointed out particularly the potentiality that can come from popular culture as an exploratory field of research, as well as its redefinition

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / A ideia central da pesquisa foi promover uma aproximação das narrativas visuais de Getúlio Damado e Roger Mello e a partir daí evidenciar os processos cognitivos e as estratégias que envolveram a estruturação de suas identidades sociais e linguagens artísticas contemporâneas, bem como destacar o ludismo e o acesso ao universo da infância e a cultura popular que ambos ressignificam em suas obras. Além disso, buscou-se comentar e avaliar momentos específicos de desprestígio e repúdio versus consagração ocorridos com os artistas. Para tal, essas produções foram contextualizadas como produções culturais em constante processo de mutação, do qual participam tanto eventos históricos como de inovação tecnológica, em contínua construção. Essas linguagens estão submetidas a uma grande velocidade e a superposição de influências. Outro ponto destacado nas analises foi o caráter de subjetividade dessas produções, identificadas como práticas estéticas promotoras de transformação política; de mobilização; ou também por sua capacidade de operar com o uso simbólico dos brinquedos e livros infantojuvenis recuperando-lhes o uso original. Os devaneios, o ludismo infantil e a cultura popular presentes nos objetos feitos de sucata e livros ilustrados foram confrontados com práticas consoantes, ou de discursos abrangentes, correntes no mundo da arte ou outras vezes aproximados de enfoques locais. Além da possibilidade de convergência entre as produções foram destacadas também muitas diferenças, e, sobretudo evidenciadas as potencialidades que podem advir da cultura popular como campo exploratório de pesquisa, bem como de sua ressignificação / The central idea of the research was to reconcile the visual narratives of Getúlio Damado and Roger Mello and henceforth to highlight the cognitive processes and strategies involved in structuring their social identities and contemporary artistic languages, as well as to emphasize the playfulness, and access to the universe of childhood and popular culture to reframe both their works. Additionally, this paper tried to comment and evaluate specific moments of prestige and repudiation versus consecration occurred with these artists. To this end, these productions were contextualized as cultural productions in a constant process of mutation, which involved both historical events and technological innovation in continuous construction. These languages are subjected to a high speed and overlapping influences. Another point emphasized in the analysis was the character of subjectivity of these productions, aesthetic practices identified as promoters of political transformation, mobilization, or also by its ability to operate with the symbolic use of toys and childrens books recovering their original use.. Daydreams, the childish playfulness and the popular culture present in those objects made of waste and illustrated books were confronted with consonant practices or embracing speeches, currents in the world of art or sometimes familiar to local approaches. Besides the possibility of convergence between the productions of the two artists, the research also spotted many differences, and pointed out particularly the potentiality that can come from popular culture as an exploratory field of research, as well as its redefinition

Pour respecter les droits d’auteur, la version électronique de cette thèse a été dépouillée de certains documents visuels. La version intégrale de la thèse a été déposée à la Division de la gestion des documents et des archives. / La prévisualisation cinématographique, c’est-à-dire la mise en forme visuelle du scénario visant à préciser le film à venir, constitue une pratique dont les origines remontent aux débuts du cinéma. À travers le prisme ludique, notre thèse propose que la récente transition des outils traditionnels de prévisualisation vers des dispositifs numériques apparentés aux technologies vidéoludiques transforme cette préparation visuelle en l’apparentant sur plusieurs points à un jeu, voire à un jouet. Nos recherches portent sur la démarche créative du réalisateur, et comment l’exercice de son imagination mène à la fabrication d’un simulacre du film par le biais d’une dynamique itérative et de différents supports propres à représenter l’œuvre envisagée. Cette démarche est étudiée principalement dans le cadre de longs métrages impliquant une part substantielle d’effets visuels, un corpus particulièrement susceptible d’impliquer des stratégies élaborées de préparation logistique ou créative. À la suite d’un résumé historique impliquant une typologie des formes de prévisualisation et l’identification de variables propices à orienter les analyses subséquentes, notre thèse présente les notions d’imagination et d’attitude ludique, et précise comment ces ancrages théoriques sont utilisés pour mieux définir les aspects de la conception du film qui s’apparente au jeu. Par la suite, et au moyen d’une étude de cas impliquant un jeu vidéo remédié en un outil de machinima, elle détaille l’élaboration de la double figure dite « jeu de construction/jouet à construire » propre à représenter la nature et la dynamique de la prévisualisation selon un point de vue ludique. Nos recherches examinent ensuite les différents contextes de la production cinématographique quant à leur pertinence à l’exercice de la préparation visuelle par le réalisateur, tout en déterminant les aspects de la fabrication du film qui échappent à une telle mise en forme, lorsque réalisée au moyen des dispositifs conventionnels. À la lumière de cet examen, notre thèse propose l’émergence d’un nouvel espace de jeu, déployé transversalement à la chaine de production traditionnelle, et susceptible de favoriser la pratique d’une prévisualisation d’inspiration ludique qui répond de manière satisfaisante aux principales lacunes préalablement relevées. / Film previsualization (or previs), that is to say the visual formatting of the scenario aimed at anticipating the film to come, constitutes a practice whose origins date back to early cinema. According to a lusory perspective, our thesis proposes that the recent transition from traditional previs tools to digital devices involving videogame technologies transforms visual preparation by making it more similar to a game, or eventually to a toy. Our thesis focuses on the creative approach of the director, more specifically the process of imagination and how it leads to the design of a simulacrum of the film through an iterative method while using a variety of media fit to represent the intended work. This approach takes place mainly in the context of feature films involving a substantial part of visual effects, a corpus particularly likely to involve elaborate strategies relating to logistical or creative preparation. Following a historical background, a typology of the main forms of previsualization and the identification of variables suited to guide subsequent analysis, both notions of imagination and lusory attitude are studied in order to better define the aspects of film creation that relate to play and game. Afterwards, our thesis details the twin figure of the “construction game” and the “toy to build” representing the nature and dynamics of previsualization from a lusory perspective. This will be achieved by means of a case study involving a videogame remedied as a machinima tool. Our thesis then examines the different contexts of film production as to their relevance to previsualization practices performed by the director, while exposing the aspects of filmmaking that elude such practices when carried out by means of traditional devices. In the light of this examination, our thesis suggests the emergence of a new context of play, deployed transversally to the traditional production chain, and likely to favor the practice of a lusory-inspired previsualization that addresses in a successful way some of the shortcomings previously listed.