El siguiente trabajo busca desarrollar y testear un controlador para un robot móvil con fines agrícolas. Enmarcado en un proyecto más grande, que actualmente desarrolla un prototipo de robot móvil con desplazamiento autónomo para colaborar en las tareas agropecuarias, este trabajo parte de las ecuaciones cinemáticas desarrolladas para este prototipo y desarrolla una estrategia de control mediante torque computado para el desplazamiento autónomo del vehículo en el medio y se realizan simulaciones de las mismas. Realizado este trabajo y obteniendo resultados certeros se deja todo pronto para continuar con la instancia experimental en el prototipo. / The following dissertation tries to develop and test a movil robot controller for agricultural purposes. Framed in a bigger proyect that is currently developing a mobile robot prototype with autonomous movement to help with agricultural work, this work starts in the kinematic equations developed for the prototype and develops a control strategy through computed torque control for the autonomous movement of the vehicle and simulations are performed of such computation. With this work finished and with the results obtained is ready to continue with the experimental instance in the prototype.

El siguiente trabajo busca desarrollar y testear un controlador para un robot móvil con fines agrícolas. Enmarcado en un proyecto más grande, que actualmente desarrolla un prototipo de robot móvil con desplazamiento autónomo para colaborar en las tareas agropecuarias, este trabajo parte de las ecuaciones cinemáticas desarrolladas para este prototipo y desarrolla una estrategia de control mediante torque computado para el desplazamiento autónomo del vehículo en el medio y se realizan simulaciones de las mismas. Realizado este trabajo y obteniendo resultados certeros se deja todo pronto para continuar con la instancia experimental en el prototipo. / The following dissertation tries to develop and test a movil robot controller for agricultural purposes. Framed in a bigger proyect that is currently developing a mobile robot prototype with autonomous movement to help with agricultural work, this work starts in the kinematic equations developed for the prototype and develops a control strategy through computed torque control for the autonomous movement of the vehicle and simulations are performed of such computation. With this work finished and with the results obtained is ready to continue with the experimental instance in the prototype.

El siguiente trabajo busca desarrollar y testear un controlador para un robot móvil con fines agrícolas. Enmarcado en un proyecto más grande, que actualmente desarrolla un prototipo de robot móvil con desplazamiento autónomo para colaborar en las tareas agropecuarias, este trabajo parte de las ecuaciones cinemáticas desarrolladas para este prototipo y desarrolla una estrategia de control mediante torque computado para el desplazamiento autónomo del vehículo en el medio y se realizan simulaciones de las mismas. Realizado este trabajo y obteniendo resultados certeros se deja todo pronto para continuar con la instancia experimental en el prototipo. / The following dissertation tries to develop and test a movil robot controller for agricultural purposes. Framed in a bigger proyect that is currently developing a mobile robot prototype with autonomous movement to help with agricultural work, this work starts in the kinematic equations developed for the prototype and develops a control strategy through computed torque control for the autonomous movement of the vehicle and simulations are performed of such computation. With this work finished and with the results obtained is ready to continue with the experimental instance in the prototype.

Self-propelled microjet engines (microbots) can transport multiple cells into specific locations in a fluid. The motion is externally controlled by a magnetic field which allows to selectively load, transport and deliver the cells. / Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich.

Thesis deals with automatic guided mobile robot focused on obstacle avoidance during ride on planned route. There are summaries of usually used obstacle detecting sensors and algorithms used for path finding. Based on this, own solution is designed. It uses waypoints changes to pass obstacle. MATLAB simulation is created for tests of new designed method. This method is implemented to real robot for real world testing. Reached goals and upgrade possibilities are summarized in bottom of thesis.

Self-propelled microjet engines (microbots) can transport multiple cells into specific locations in a fluid. The motion is externally controlled by a magnetic field which allows to selectively load, transport and deliver the cells. / Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich.

Made available in DSpace on 2016-04-25T20:21:49Z (GMT). No. of bitstreams: 1 Terezinha.pdf: 1411618 bytes, checksum: c982a627318489bd33df3afb8c13fe3a (MD5) Previous issue date: 2007-05-22 / The discussion about the low female partaking in the public sphere, especially in the legislative - a privileged locus for discussing and legislating about the destinies of a nation - has lately frequently arisen. This worry is due to the fact that the woman is considered, according to the law, equal to man in the political sphere. In practice, this equity does not take place. She continues, in spite of the legal equality, badly represented in the Executive as well as in the Legislative. This verification made the legislators create a rule that obliges the parties to present at least 30 % of women candidates in their rolls. The objectives of this thesis are: to go through the political process aiming at the inclusion of women, by obliging the establishment of quotas for women candidates to positions in the Legislative in São Paulo; to discuss the paradoxes (setting up of a system of quotas and the effective participation of women in the decision-making process) faced by the political parties PT, PSDB and PFL and to try to see if it is possible to state that the quotas applied to the election for positions in the legislative, in São Paulo, can be considered an autonomous movement. The focus was on the actors performing parliamentary mandate in the Assembly of São Paulo - parliamentarians elected in the elections of 2002 - and party representatives occupying some type of position in the direction of the PT, PSDB and PFL parties. The results indicate a paradoxical movement: internally, some parties have broadened the discussion and created agencies to foster the number of women candidates, but the majority has not been elected. Another paradox verified is that, in spite of the fact that some parliamentary women present projects concerned with the social change, many of them still continue to make part of the current social and sectarian politics. The small resistance movements, the imperceptible conquests and changes can be considered an autonomous movement because they have an important revolutionary element: they start to change the social relations in the micropolitics in order to, later, reach the social exclusion pattern in the macropolitics / A discussão sobre a baixa participação feminina no espaço público, especialmente no legislativo - locus privilegiado para discutir e legislar sobre os destinos de uma nação - tem aparecido, com freqüência, nos últimos tempos. Essa preocupação decorre do fato de que a mulher é considerada, pela lei, igual ao homem no campo político. Na prática, essa equidade não acontece. Ela continua, apesar da igualdade legal, sub-representada tanto no Executivo, como no Legislativo e no Judiciário. Essa constatação levou os legisladores a criarem uma norma que obriga os partidos a lançarem, pelo menos, 30% de candidatas em suas listas. Os objetivos dessa tese são: percorrer o processo político para inclusão das mulheres, por meio da obrigatoriedade do estabelecimento de cotas para candidatas a cargos no legislativo em São Paulo; discutir os paradoxos (implantação do sistema de cotas e a participação efetiva das mulheres no processo decisório) enfrentados pelos partidos políticos PT, PSDB e PFL e tentar verificar se é possível afirmar que as cotas aplicadas à eleição para cargos no legislativo, em São Paulo, podem ser consideradas um movimento autônomo. Foram enfocados os atores que estão exercendo mandato parlamentar na Assembléia Legislativa de São Paulo parlamentares eleitos no pleito de 2002 - e representantes partidários que ocupam algum tipo de cargo na direção dos partidos PT, PSDB e PFL. Os resultados apontam para um movimento paradoxal: internamente, alguns partidos ampliaram a discussão e criaram instâncias para fomentar o número de candidatas, mas a maioria não se elegeu. Outro paradoxo verificado é que, apesar de algumas parlamentares apresentarem projetos preocupados com a transformação social, muitas ainda continuam fazendo parte da política social vigente e sectária. Os pequenos movimentos de resistência, as imperceptíveis conquistas e transformações podem ser considerados um movimento autônomo porque contêm um elemento revolucionário importante: começam a transformar as relações sociais na micropolítica para, mais tarde, atingir o modelo de exclusão social na macropolítica

Made available in DSpace on 2016-04-26T14:56:24Z (GMT). No. of bitstreams: 1 Terezinha.pdf: 1411618 bytes, checksum: c982a627318489bd33df3afb8c13fe3a (MD5) Previous issue date: 2007-05-22 / The discussion about the low female partaking in the public sphere, especially in the legislative - a privileged locus for discussing and legislating about the destinies of a nation - has lately frequently arisen. This worry is due to the fact that the woman is considered, according to the law, equal to man in the political sphere. In practice, this equity does not take place. She continues, in spite of the legal equality, badly represented in the Executive as well as in the Legislative. This verification made the legislators create a rule that obliges the parties to present at least 30 % of women candidates in their rolls. The objectives of this thesis are: to go through the political process aiming at the inclusion of women, by obliging the establishment of quotas for women candidates to positions in the Legislative in São Paulo; to discuss the paradoxes (setting up of a system of quotas and the effective participation of women in the decision-making process) faced by the political parties PT, PSDB and PFL and to try to see if it is possible to state that the quotas applied to the election for positions in the legislative, in São Paulo, can be considered an autonomous movement. The focus was on the actors performing parliamentary mandate in the Assembly of São Paulo - parliamentarians elected in the elections of 2002 - and party representatives occupying some type of position in the direction of the PT, PSDB and PFL parties. The results indicate a paradoxical movement: internally, some parties have broadened the discussion and created agencies to foster the number of women candidates, but the majority has not been elected. Another paradox verified is that, in spite of the fact that some parliamentary women present projects concerned with the social change, many of them still continue to make part of the current social and sectarian politics. The small resistance movements, the imperceptible conquests and changes can be considered an autonomous movement because they have an important revolutionary element: they start to change the social relations in the micropolitics in order to, later, reach the social exclusion pattern in the macropolitics / A discussão sobre a baixa participação feminina no espaço público, especialmente no legislativo - locus privilegiado para discutir e legislar sobre os destinos de uma nação - tem aparecido, com freqüência, nos últimos tempos. Essa preocupação decorre do fato de que a mulher é considerada, pela lei, igual ao homem no campo político. Na prática, essa equidade não acontece. Ela continua, apesar da igualdade legal, sub-representada tanto no Executivo, como no Legislativo e no Judiciário. Essa constatação levou os legisladores a criarem uma norma que obriga os partidos a lançarem, pelo menos, 30% de candidatas em suas listas. Os objetivos dessa tese são: percorrer o processo político para inclusão das mulheres, por meio da obrigatoriedade do estabelecimento de cotas para candidatas a cargos no legislativo em São Paulo; discutir os paradoxos (implantação do sistema de cotas e a participação efetiva das mulheres no processo decisório) enfrentados pelos partidos políticos PT, PSDB e PFL e tentar verificar se é possível afirmar que as cotas aplicadas à eleição para cargos no legislativo, em São Paulo, podem ser consideradas um movimento autônomo. Foram enfocados os atores que estão exercendo mandato parlamentar na Assembléia Legislativa de São Paulo parlamentares eleitos no pleito de 2002 - e representantes partidários que ocupam algum tipo de cargo na direção dos partidos PT, PSDB e PFL. Os resultados apontam para um movimento paradoxal: internamente, alguns partidos ampliaram a discussão e criaram instâncias para fomentar o número de candidatas, mas a maioria não se elegeu. Outro paradoxo verificado é que, apesar de algumas parlamentares apresentarem projetos preocupados com a transformação social, muitas ainda continuam fazendo parte da política social vigente e sectária. Os pequenos movimentos de resistência, as imperceptíveis conquistas e transformações podem ser considerados um movimento autônomo porque contêm um elemento revolucionário importante: começam a transformar as relações sociais na micropolítica para, mais tarde, atingir o modelo de exclusão social na macropolítica

The focus of my thesis is on the process of transformation of the leftist movement from autonomous to post-autonomous. Specifically, I am interested in the transformation of the Czech squatting movement and the case of the Autonomous Social Centre Klinika. I ask whether it is possible to consider the case of Klinika an example of post-autonomy in Czech context, and which dimensions of the transformation can we identify there. In the theoretical part I define the concept of autonomy and how the autonomous movements understand it. By defining the characteristics of the autonomous movements alongside with theoretical literature, I then identify five dimensions of the transformation from autonomy to post-autonomy. Because the transformation is influenced by both internal and external facts, it is important to me, to firstly understand the neoliberal mode of thinking, its difficulties and other facts, which can determine the transformation. Crucial for research are the data I collect from the semi-structured interviews with respondents, who have been selected based on their experiences with squatting in Czech context.