Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator (PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives. Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call ‘torque-limited’ mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented. The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets. / text

本論文應用攝影構圖法則，以模糊邏輯理論為基礎，判別影像的攝影構圖類型。構圖(Composition)乃是攝影這項平面藝術創作最重要的美學元素之一，其目的是利用空間中的物體配置，經由透視投影後，讓畫面的整體呈現平衡感；專業的、優秀的攝影作品，皆會符合攝影的基本構圖原理。因此許多的影像增強、影像合成的應用中，也應該配合相片原本的構圖設計，針對所欲表達的重點予與適當地調整，而非「盲目的」以一體適用的法則去處理每一張照片。 論文中，我們針對影像所欲表達的重點區域，分析其結構特性，設計不同的特徵，並以模糊邏輯理論為基礎，應用Mamdani系統，結合隸屬函數與攝影構圖判別法則的交互作用，用以辨認所欲處理相片的構圖類別。依據辨認後的構圖類別，即可對該影像做適當地分割及調整，以使相片能有最佳的影像增強處理。 實驗證明，本文所提出的方法能有效地辨認攝影構圖類別，針對不同攝影構圖所作的影像修正，才能更符合人眼的視覺喜好。 / This thesis addresses the problem of how to recognize the photographic composition from a given photo based on the theory of fuzzy logic. Composition is one of the important aesthetics for the plane figure photo art. To present the balance of its holistic picture, it takes the advantage of special object arrangement after acting perspective projection. A piece of professional and qualified photo work will realize these basic photo composition methods. For many applications about the digital photo, the operations, i.e., photo enhancement, segmentation, output, and synthesis, all need to match up the photographic composition to do accurate processing rather than “blind” processing that assumes each photo with the same “composition.” An automatic recognition method using image features from some specific regions is described. The method is employed in a Mamdani model and combines outputs of multiple fuzzy logic rules and feature extraction algorithms to obtain confidences that can identify the correct photographic composition. Experimental results show that the proposed method is robust and effective for photographic composition recognition. The feature with adjusting in different photo composing will be able to comfort our human sight.

Magistro baigiamajame darbe teoriniu aspektu analizuojama ekstremalių valdymo samprata bei svarbiausi jas charakterizuojantys aspektai, įvardijamos galimos ekstremalios situacijų pasekmės, nagrinėjami gelbėjimo sistemos valdymo ypatumai esant ekstremalioms situacijoms, aptariama Civilinės saugos ir gelbėjimo sistemos Lietuvoje struktūra jos uždaviniai, išsamiai nagrinėjami ekstremalių situacijų ir gelbėjimo sistemos valdymo ypatumai. Ekspertinio tyrimo pagalba analizuojama ekstremalių situacijų ir gelbėjimo sistemos valdymo Telšių apskrityje situacija, problemos. / Master's thesis analyzed the theoretical aspect of emergency management concept and the most important aspects to characterize, identify the possible consequences of an emergency, life-saving issue management system features in extreme situations, discusses the civil protection and rescue system in Lithuania structure of the tasks in detail in the Emergency and Rescue Management System Features. Study of expert analysis of emergency management and rescue system general situation and problems of Telšiai.

Iki 2007m. investiciniai fondai buvo labai populiarūs investuotojų tarpe, itin didelio dėmesio sulaukdavo fondai investuojantys į besivystančias rinkas, nes jų istoriniai rezultatai buvo teigiami su nežymiomis korekcijomis. Tačiau, nuo 2007m. vidurio, prasidėjus pasaulio ekonomikos nuosmukiui, įsivyravo investuotojų baimės ir kurį laiką besitęsiantis sąstingis finansų rinkose. Jau 2007m. lyginant su ankstesniaisiais metais kardinaliai pasikeitė tiek pasaulio, tiek Lietuvos bendrosios makroekonominės tendencijos: buvo stebimi ekonomikos lėtėjimo požymiai, juntama infliacija ir didelis išorinių veiksnių poveikis. 2008m. finansų rinkose buvo stebimi dideli pokyčiai bei svyravimai, kurių nebuvo bene nuo pat trisdešimtųjų metų. 2008m. mums parodė, kad išsivysčiusias šalis, tokias kaip JAV, Didžioji Britanija ar kitas šalis Europoje, negalima laikyti visiškai saugiomis ir pasižyminčiomis mažesniais svyravimais nei kitos rinkos. Tai žinoma nereiškia, kad problemos kilusios išsivysčiusiose šalyse nepalies besivystančių šalių. Anksčiau daugelis kalbėdavo, kad besivystančios šalys yra mažai priklausomos tarkim nuo JAV vykstančių peripetijų, tačiau tiesa yra ta, kad prie šiuolaikinių komunikacijos priemonių, pinigų pervedimo ir pasaulinės globalios prekybos, nepriklausomybės buvimas yra faktiškai neįmanomas, nes per paskutinius dešimtmečius stipriai išaugo globalizacijos poveikis. Visos pasaulio akcijų rinkos patyrė ženklų nuosmukį ir 2008m. pabaigoje – 2009m. pradžioje jų nestabilumas... [toliau žr. visą tekstą] / Until the year 2007, the investment funds were rather popular among investors, and the investments by these funds in the developing markets were extremely popular, as performance results were positive with some minor corrections. However, since the middle of the year 2007, when the global economic decline started, the investors’ appetite for risk decreased and stagnation in the financial markets continuing for a certain period was observed. In 2007, compared with the previous year, the general macroeconomic trends in the world and Lithuania radically changed: the signals of economic slowdown, inflation and significant impact of the external factors were obvious. In 2008, large changes and fluctuations in the financial markets that were not observed since the thirties of last century were observed. The year 2008, revealed that developed economies, such as the USA, Great Britain or other European countries may not be deemed totally secure and typical of lower fluctuations compared to other markets. Obviously, it does not mean that problems, which occurred in the developed economies, will not affect developing countries. Some time ago, the opinion prevailed that developing countries do not closely depend on perturbations in the US market, however nobody may deny that independence actually is impossible in the world with the existing modern communication channels, cash transfer methods and global trade, as during the recent decade the impact of globalisation increased. Global... [to full text]

This work focuses on speech recognition by computer, pattern recognition stages and problems. Also there is a goal to create a speech recognition tool. At the beginning, there is a general overview of the audio signal and language concepts. The subsequent presentation of the essential tasks of speech recognition, introduction to matrix algebra, which is used to described algorithm. Information is provided on what basis and how features are extracted. For this work often is used LPC. This algorithm is one of the most popular extracting features of speech signal, so it is reviewed in this paper, as well as its modification WLPC. The following text of the speech recognition gives theory of extracted features use. Section „Acoustic modeling“ describes the recognition of speech units and one of the most commonly used acoustic modeling technologies – Hidden Markov Models and the next section „Speech modeling“ describes the language modeling, which purpose is to correct data referring to dictionaries and speech structure. The rest of the text is focused on speach recognition using specrtogram and implementation of speach recognition system. After that, there were executed experiments, that where used to define quality of speech recognition. / Šiame darbe gilinamasi i kalbos atpažinima kompiuteriu, atpažinimo etapus, problemas, o veliau meginama sukurti kalbos atpažinimo iranki. Pradžioje, bendrai apžvelgiama garso signalo, kalbos savokos. Veliau pateikiamos kalbos atpažinimo esminiai uždaviniai, supažindinama su matricu algebra, kuri naudojama aprašytuose algoritmuose. Pateikiama informacija kuo remiantis ir kaip išskiriami požymiai. Šiam darbui dažnai naudojamas LPC. Šis algoritmas yra vienas iš populiariausiu išskiriant kalbos signalo požymius, todel jis šiame darbe yra apžvelgtas, kaip ir jo modifikacija WLPC. Toliau tekste pateikiama kalbos atpažinimo teorija, apie išskirtu požymiu panaudojima. Skyriuje „Akustinis modeliavimas“, aprašomas kalbos vienetu atpažinimas ir vienas iš dažniausiai naudojamu akustinio modeliavimo technologiju - pasleptieji Markov’o modeliai, sekantis skyrius „Kalbos modeliavimas“, aprašo kalbos modeliavima, skirta jau turimiems duomenims sutvarkyti, remiantis žodynais ir analizuojamos kalbos struktura. Likusioje teksto dalyje koncentruojamasi ties kalbos atpažinimu panaudojant spektrograma ir kalbos atpažinimo sistemos igyvendinimu. Po to atlikti eksperimentai, kuriais buvo tiriama pateikto algoritmo atpažinimo kokybe.

The research work presented in this thesis introduces novel approaches for both visual region of interest extraction and visual feature extraction for use in audio-visual automatic speech recognition. In particular, the speaker‘s movement that occurs during speech is used to isolate the mouth region in video sequences and motionbased features obtained from this region are used to provide new visual features for audio-visual automatic speech recognition. The mouth region extraction approach proposed in this work is shown to give superior performance compared with existing colour-based lip segmentation methods. The new features are obtained from three separate representations of motion in the region of interest, namely the difference in luminance between successive images, block matching based motion vectors and optical flow. The new visual features are found to improve visual-only and audiovisual speech recognition performance when compared with the commonly-used appearance feature-based methods. In addition, a novel approach is proposed for visual feature extraction from either the discrete cosine transform or discrete wavelet transform representations of the mouth region of the speaker. In this work, the image transform is explored from a new viewpoint of data discrimination; in contrast to the more conventional data preservation viewpoint. The main findings of this work are that audio-visual automatic speech recognition systems using the new features extracted from the frequency bands selected according to their discriminatory abilities generally outperform those using features designed for data preservation. To establish the noise robustness of the new features proposed in this work, their performance has been studied in presence of a range of different types of noise and at various signal-to-noise ratios. In these experiments, the audio-visual automatic speech recognition systems based on the new approaches were found to give superior performance both to audio-visual systems using appearance based features and to audio-only speech recognition systems.

Corneal diseases are one of the major causes of visual impairment and blindness worldwide. Used for diagnoses, a laser confocal microscope provides a sequence of images, at incremental depths, of the various corneal layers and structures. From these, ophthalmologists can extract clinical information on the state of health of a patient’s cornea. However, many factors impede ophthalmologists in forming diagnoses starting with the large number and variable quality of the individual images (blurring, non-uniform illumination within images, variable illumination between images and noise), and there are also difficulties posed for automatic processing caused by eye movements in both lateral and axial directions during the scanning process. Aiding ophthalmologists working with long sequences of corneal image requires the development of new algorithms which enhance, correctly order and register the corneal images within a sequence. The novel algorithms devised for this purpose and presented in this thesis are divided into four main categories. The first is enhancement to reduce the problems within individual images. The second is automatic image classification to identify which part of the cornea each image belongs to, when they may not be in the correct sequence. The third is automatic reordering of the images to place the images in the right sequence. The fourth is automatic registration of the images with each other. A flexible application called CORNEASYS has been developed and implemented using MATLAB and the C language to provide and run all the algorithms and methods presented in this thesis. CORNEASYS offers users a collection of all the proposed approaches and algorithms in this thesis in one platform package. CORNEASYS also provides a facility to help the research team and Ophthalmologists, who are in discussions to determine future system requirements which meet clinicians’ needs.

<p>Намера студије јесте да се целокупни досадашњи драмски опус Виде Огњеновић<br />сагледа у ширем контексту савремене српске драматургије и књижевне традиције. Овакав<br />задатак подразумева анализу примењеног литерарно-драматуршког поступка, тематско-<br />мотивских одредница, жанровских и стилских особености, језичког израза,<br />карактеризације ликова, односа према историјским, политичким, идеолошким, културним,<br />социјалним и другим друштвеним феноменима. За реализацију тако дефинисаног циља<br />истраживања, било је неопходно формирати својеврсни координатни систем. Унутар<br />система једна оса представља најзначајније ауторе и њихова репрезентативна дела, који су<br />кључни за развој савремене српске драме од Другог светског рата до прве деценије овог<br />века, а друга оса означава књижевну традицију као недвосмислену исходишну тачку и<br />креативну инспирацију. Рад је подељен у три органски повезане целине: &bdquo;Савремена<br />српска драма&rdquo;, &bdquo;Драмски опус Виде Огњеновић&rdquo; и &bdquo;Књижевна традиција као креативна<br />инспирација</p> / <p>Namera studije jeste da se celokupni dosadašnji dramski opus Vide Ognjenović<br />sagleda u širem kontekstu savremene srpske dramaturgije i književne tradicije. Ovakav<br />zadatak podrazumeva analizu primenjenog literarno-dramaturškog postupka, tematsko-<br />motivskih odrednica, žanrovskih i stilskih osobenosti, jezičkog izraza,<br />karakterizacije likova, odnosa prema istorijskim, političkim, ideološkim, kulturnim,<br />socijalnim i drugim društvenim fenomenima. Za realizaciju tako definisanog cilja<br />istraživanja, bilo je neophodno formirati svojevrsni koordinatni sistem. Unutar<br />sistema jedna osa predstavlja najznačajnije autore i njihova reprezentativna dela, koji su<br />ključni za razvoj savremene srpske drame od Drugog svetskog rata do prve decenije ovog<br />veka, a druga osa označava književnu tradiciju kao nedvosmislenu ishodišnu tačku i<br />kreativnu inspiraciju. Rad je podeljen u tri organski povezane celine: &bdquo;Savremena<br />srpska drama&rdquo;, &bdquo;Dramski opus Vide Ognjenović&rdquo; i &bdquo;Književna tradicija kao kreativna<br />inspiracija</p> / <p>This study is aimed at offering an overview of the entire dramatic oeuvre of Vida<br />Ognjenović to date within the wider context of the contemporary Serbian dramaturgy and literary<br />tradition. This objective entails an analysis of the literary-dramatic procedure used, as well as the<br />thematic-motif determinants, distinctive features in regard to genre and style, linguistic<br />expression, characterisation, attitude towards historical, political, ideological, cultural, social and<br />other societal phenomena. In order to accomplish the objective of research thus formulated, it<br />was necessary to form a singular coordinate system. One coordinate axis represents major<br />authors and their representative works, which bear crucial significance for the development of<br />the contemporary Serbian drama from World War II to the first decade of this century, while the<br />other axis represents literary tradition as an unambiguous point of origin and creative inspiration.<br />The study is divided into three organically related units: &lsquo;Contemporary Serbian drama&rsquo;,<br />&lsquo;Dramatic oeuvre of Vida Ognjenović&rsquo; and &lsquo;Literary tradition as creative inspiration&rsquo;.</p>

An alteration in the function of the brain caused by an external force is called a Traumatic Brain Injury (TBI). There are language features located in different areas of the brain, and depending on where a person gets a TBI, the person can experience different communicative difficulties. These can manifest as aphasia, dysarthria or cognitive communicative disorders. The experiences of TBI that have been discovered in previous studies are for instance about how persons with TBI experience their diminished functions, life adjustment after the injury, the role and support of the relatives, that the environment treats them differently after the injury and emotional consequences. For the purpose of investigation and intervention, ICF is a useful tool since the difficulties that a person may have can be connected to its various components. The purpose of this study is to examine what experiences persons with TBI have regarding their brain injury and their communicative difficulties, and also how these can be connected to ICF. To answer the research questions, a qualitative method involving content analysis was used, based on semi-structured interviews with four participants. The participants expressed that their TBI had affected them in various ways, communicative, cognitive, physically and socially. The participants experienced their injuries and difficulties as limiting and that some periods had been lonely. However they also stated that there were some positive aspects in the situation, for example improved family relations and that they valued life in another way. Although the injuries, difficulties and rehabilitation of the participants have differed, the participants stories have been similar to some extent. In the future it would be interesting to conduct further studies in Sweden that examine which experiences persons with TBI have regarding the injury itself, but particularly regarding their communication after the TBI. It is important with more studies since that would give speech language pathologists a greater understanding for how people with TBI experience their situation and their communication after the injury. / Traumatisk hjärnskada (TBI) innebär att ett yttre våld har orsakat en förändring av hjärnfunktionen. I hjärnan finns språkliga funktioner som är belägna inom olika delar av hjärnan. Beroende på var i hjärnan en person får en TBI, leder det till olika kommunikativa svårigheter. Svårigheterna kan yttra sig som afasi, dysartri eller kognitiva kommunikativa störningar. De upplevelser av TBI som har framkommit i tidigare studier handlar bland annat om hur personer som har TBI upplever sina nedsatta funktioner, livsomställningen efter skadan, anhörigas roll och stöd, att omgivningen behandlar dem annorlunda efter skadan och emotionella konsekvenser. Vid utredning och behandling är ICF ett användbart verktyg eftersom att en persons svårigheter kan kopplas till ICF:s olika komponenter. Syftet med föreliggande studie är att undersöka vilka upplevelser personer som har TBI har erhållit i relation till sin hjärnskada, deras kommunikativa svårigheter samt hur dessa kan kopplas till ICF. För att besvara frågeställningarna användes en kvalitativ metod med semi-strukturerade intervjuer av fyra personer och innehållsanalys av dessa. Deltagarna i föreliggande studie uttryckte att deras TBI hade påverkat dem på olika sätt: kommunikativt, kognitivt, fysiskt och socialt. Deltagarna upplevde sina skador och svårigheter som begränsande och att de i vissa perioder hade upplevt isolering. De berättade dock att det fanns positiva aspekter av situationen såsom förbättrade familjerelationer och att livet värderades på ett annat sätt. Trots att deltagarnas skador, svårigheter och rehabilitering har skiljt sig åt, har deltagarnas berättelser haft likartad karaktär, även om de också till viss del har varierat. I framtiden vore det intressant med fler svenska studier som undersöker vilka upplevelser personer som har TBI har i relation till sina hjärnskador, men framförallt gällande sin kommunikation efter hjärnskadan. Det skulle vara betydelsefullt med fler studier eftersom att det skulle ge logopeder en större förståelse för hur personer som har TBI upplever sin situation och sin kommunikation efter skadan.

Bakgrund: Vårdmiljön inom psykiatrisk heldygnsvård har beskrivits framkalla olika känslor och präglas av en hård miljö där patienter bland annat kan vårdas mot sin vilja och vara utsatta för tvångsåtgärder och restriktioner. Aggressivitet är vanligt förekommande på dessa avdelningar och bedöms vara ett problem. En kunskapslucka finns vad gäller vilka patienter och situationer som ökar risken för aggressivitet inom kontexten psykiatrisk heldygnsvård. Syfte: Att identifiera karaktäristiska drag hos patienter med aggressivt beteende och identifiera aspekter som påverkar situationer där hot- och våldsincidenter uppstått inom psykiatrisk heldygnsvård samt syntetisera en förklaringsmodell. Metod: En integrativ litteraturöversikt beståendes av både kvalitativa och kvantitativa artiklar. Materialet analyserades med hjälp av Whittemore och Knafls (2005) arbetsprocess. Resultat: Resultatet genererade i tre huvudteman och tio underteman. Följande tre huvudteman identifierades: patienten som en trigger, vårdmiljön som en trigger och personalen som en trigger. Diskussion: Metoden diskuteras utifrån begreppen: trovärdighet, pålitlighet, bekräftelsebarhet och överförbarhet. Resultatets huvudfynd diskuteras med stöd av tidigare forskning och i relation till Phil Barkers teori tidvattenmodellen. / Background: The care environment within psychiatric inpatient care has been described to create different emotions and is characterized as a hard environment where patients sometimes are treated against their will and can be exposed to coercive measures and restrictions. Aggressiveness is common at these wards and is considered a problem. There is a knowledge gap when it comes to patients and situations that increase the risk for aggressiveness in the context of psychiatric inpatient care. Aim: To identify characteristic features of aggressive patients and to identify aspects that effects situations where threats and violence has occurred in psychiatric inpatient care and to synthesise an explanatory model. Method: An integrative literature overview containing both qualitative and quantitative articles. The data were analysed using Whittemore and Knafl’s (2005) working procedure. Results: The result generated in three main themes and ten subthemes. Following three main themes were identified: the patient as a trigger, the care environment as a trigger and the staff as a trigger. Discussion: The method is discussed in relation to these concepts: trustworthiness, dependability, confirmability and transferability. The results are discussed with support of previous research and in relation to Phil Barker's theory the Tidal model.