En la presente tesis se describen los trabajos desarrollados para obtener un sistema completo de navegación autónoma para robots terrestres con cinemática Ackermann operando en entornos exteriores no estructurados y dinámicos. Los trabajos aquí descritos abarcan las principales áreas de la robótica móvil terrestre, incluyendo localización, detección y seguimiento de obstáculos dinámicos, análisis del terreno, planificación y control, e incluso la creación de plataformas robóticas de investigación a partir de máquinas convencionales. A lo largo de la tesis se mantiene un especial énfasis en la modularidad y escalabilidad del sistema y en lograr la capacidad de navegación en ausencia de mapas (sin renunciar a las ventajas de poder integrar otro tipo de planteamientos en caso necesario), lo cual es especialmente interesante en entornos exteriores de grandes dimensiones, o en los que la escasez de landmarks dificulta la localización mediante técnicas de SLAM. En general, la tesis se articula en torno a la complementariedad de la percepción local basada en sensores LiDAR tridimensionales -capaces de generar una ingente cantidad de información geométrica de gran precisión del entorno en el que se encuentra el robot- con la capacidad de los sistemas de posicionamiento basado en satélite de proporcionar información de localización con un error acotado en cualquier punto del planeta. En concreto, se puede decir que la presente tesis narra el camino realizado desde el nacimiento de la idea abstracta (el diseño de un sistema de navegación), hasta la obtención de un sistema completamente autónomo, capaz de operar en la red peatonal de un campus universitario. / Esta tesis ha sido financiada por la ayuda para la Formación del Profesorado Universitario con código FPU15/04446 del Ministerio de Educación, Cultura y Deporte.

This thesis report presents a study on the virtualization of an Electric Cabin Scooter used to validate the feasibility of converting it into an autonomous vehicle. The project aimed to design, develop, and test a virtual model of the car that can navigate from points A to B while avoiding obstacles. The report describes the methodology used in the project, which includes setting up the workspace, construction of the virtual model, implementation of ROS2 controllers, and integration of SLAM and Navigation2. The thesis report also describes and discusses related work, as well as the theoretical background of the project. Results show a successfully developed working virtual vehicle model, which provides a solid starting point for future work. / Detta examensarbete presenterar en studie om virtualiseringen av en elektrisk kabinscooter. Den virtuella modellen används för att validera genomförbarheten av att omvandla den till ett autonomt fordon. Projektet syftade till att designa, utveckla och testa en virtuell modell av bilen som kan navigera från punkt A till B medan den undviker hinder. Rapporten beskriver metodiken som används i projektet, vilket inkluderar att sätta upp arbetsytan, konstruktion av den virtuella modellen, implementering av ROS2-kontroller och integration av SLAM och Navigation2. Rapporten diskuterar även relaterat arbete, samt teoretisk bakgrund till arbetet. Resultaten visar en framgångsrikt utvecklad fungerande virtuell fordonsmodell, som ger en solid utgångspunkt för framtida arbete.

The thesis has been done in collaboration with Kalmar Solutions AB and is a conceptual study that aims to design a hydraulic steering arrangement for the reachstacker DRG 450 where each wheel is steered independently of each other. This is done in order to reduce tire wear by achieving an Ackermann steering geometry; lesser tire wear reduces costs for customers. When steered independently of each other the same steering arrangement could be used on multiple different wheelbases while still achieving an Ackermann steering geometry. During the thesis, calculations for required steering angles and their required piston strokes has been done by creating a geometrical model of the steering arrangement. CAD-modeling and kinematic simulations of concepts has been conducted with CATIA R2024x where the concepts movement when turning could be simulated. Three main concepts of the steering arrangement were studied and developed during the thesis. Kinematic simulations concluded that by changing to two independent cylinders, along the same axis, and redesigning the steering knuckles could allow for the same steering arrangement to achieve an Ackermann steering geometry for multiple different wheelbases. This reduces tire wear and turning radius when compared to the current steering axle. Having the cylinders along the same axis proved to be best because less redesigns were needed and mainly no major redimensioning of the steering arrangement or chassis were needed.

This thesis covers the topic of controlling RC servos and constructions of robotic vehicles. The goal is to propose a model of robotic vehicle with RC components and other off the shelf components, 3D printing and demonstrate its capabilities. In the thesis, a mobile robot platform was proposed. It uses a single-board computer together with readily available parts and does not require complicated assembly. An optimization algorithm was used for the design of rack and pinion steering. The result of the thesis is the implementation of a robotic vehicle.

Thesis (MA (Modern Foreign Languages))--University of Stellenbosch, 2009. / The noticeable popularity of contemporary German novels set in Africa, as well as the many similarities between these novels, provided the cause for this investigation. Especially the large number of autobiographies, biographies, novels, television productions and films featuring a white female protagonist raised some questions regarding the cause of the popularity of this character. The aim of this thesis is to try and answer some of these questions based on a close analysis of two particular female characters in two contemporary German novels set in Africa. A short overview of the research done on popular fiction, colonial German literature and the history of the white woman in Africa in literature will be given. Theoretical points of departure involve a discussion of the aims and effects of popular fiction in general, as well as a look at how German colonial Fantasies, as found in colonial Literature, are being propagated by contemporary Literature set in Africa, specifically with regard to the representation of the white female Protagonist. Further theoretical background will be provided by a brief appraisal of Gender Studies and Postcolonial Studies. Furthermore, a considerable part of the research for this thesis involved the reading of several contemporary popular German novels. Ein Land, das Himmel heißt (2002) by Stefanie Gercke and Die weiße Jägerin (2005) by Rolf Ackermann were selected as prime examples for closer analysis. In this thesis the two female protagonists of the selected novels, Jill Court and Margarete Trappe, will be analysed in order to identify and interpret a pattern followed in the representation of the white female protagonist in Africa in general. A central aspect of the depiction of this protagonist is her ability to cross boundaries between stereotypical representations of both masculinity and femininity. Therefore, she is a versatile character, allowing a large number of readers to identify with her. However, her capacity to cross such boundaries is limited to a certain extent and she never oversteps the boundaries far enough in order to surpass her lover when it comes to strength, knowledge, and maturity. The conclusion of this study is that both the versatility and the limitations of this protagonist explain her immense popularity as a new literary stereotype.

Obwohl das Reformationsdrama per definitionem die Reformation der christlichen Kirche voraussetzt und damit als neue Gattung unter gewandelten gesellschaftlichen Bedingungen firmiert, steht es doch stofflich wie formal in einer langen Tradition, die zumindest in Versatzstücken darin präsent sein dürfte. Gerade das sächsische Reformationsdrama hebt sich von den anderen Reformationsdramen andere Regionen durch seinen gemäßigten Ton ab. Durch seine moral-didaktischen Bemühungen bildet es einen Gegenpol zu den teilweise recht polemischen Kampfstücken, wie sie z.B. in der schweizerischen Frühphase zu finden sind. Beachtenswert für den sächsischen Raum ist auch das Faktum, dass hier die meisten Verfasser in enger Verbindung mit Wittenberg standen und zumindest zeitweise pädagogisch wirksam waren. So bilden sie einerseits einen Gegensatz zur Handwerkerdichtung Nürnbergs und erlauben anderseits eine genauere Untersuchung der Aufführung- und Wirkungsgeschichte, wurden sie doch (fast) alle für eine konkrete Aufführungssituation geschrieben.

Tato diplomová práce byla psána při studentské zahraniční stáži, pod záštitou Evropské Unie – program „ERASMUS Student Mobility for Placement“. Stáž byla absolvována mezi prosincem 2010 a květnem 2011 ve společnosti a.d.Tramontana, mající sídlo v Palau de Santa Eulália, Španělsko. Pro kompletní návrh podvozku a odpružení jakéhokoli vozidla je nezbytná znalost mnoha technických disciplín. Tato diplomová práce se zabývá dvěma z nich – odpružení a řízení. Nejprve je rozebrána teorie, na kterou se může navázat v praktické části práce. Velká pozornost byla věnována srozumitelnosti textu a názornosti obrázků, bez zbytečných detailů, avšak bez vynechání důležitého. Tuto práci je tedy možné užít jako prvního kroku před návrhem podvozku. V další části je popsáno, jak byla probraná teorie využita při návrhu řízení u skutečného vozu, přičemž největší pozornost je věnována Ackermannově teorii řízení a geometrii zabraňující samořízení při propružení. V závěrečných částech je pozornost věnována ukázce některých z každodenních činností v malosériové výrobě automobilů – jde o zjištění maximálně možného pohybu kola při propružení a proces výroby příčných trojúhelníkových ramen včetně návrhu jejich připevnění k šasi.