The goal of this diploma thesis is design of the electric wheelchair. The purpose is designed with knowledge of historic and todays devices for handicapped people. The design respects aesthetic, ergonomic and technical requirements. The electric wheelchair would go over the usual obstacles, would be solution of long sitting problems and also have an interesting and modern feel.

Les patients atteints de syndromes d’hypoventilation centrale ont une hypoventilation associée à une sensibilité au CO2 réduite ou abolie, au moins pendant le sommeil. A ce jour, il n’existe pas de traitement pharmacologique (Gozal, 1998, Cielo & Marcus, 2014). Ce constat nous a conduit à étudier les mécanismes de modulation de la commande centrale respiratoire (CCR) de base ou lors d’une hypercapnie par 3 molécules distinctes (i.e. l’étonogestrel, l’érythropoïétine, la leptine) dontl’implication dans la réponse ventilatoire à l’hypercapnie préalablement démontrée ou suggérée a éveillé un intérêt thérapeutique.Dans ce contexte, l’objectif de ces travaux de thèse a constitué d’une part à caractériser l’influence de ces molécules sur la ventilation de base et sur la réponse ventilatoire à l’hypercapnie,d’autre part à déterminer en parallèle leurs mécanismes d’action. Pour aborder cette problématique,nous avons mené nos expérimentations sur des souris sauvages recevant de l’étonogestrel et des souris génétiquement modifiées sous-exprimant l’érythropoïétine (Epo-TAgh) et déficientes en leptine(ob/ob). Afin appréhender les mécanismes centraux mis en jeu par l’ETO en normocapnie, nous avons couplé l’analyse de la CCR lors d’applications pharmacologiques à de l’histologie fonctionnelle sur des préparations ex vivo de bulbe rachidien-moelle épinière isolé de souris nouveau-née. En revanche pour étudier les mécanismes d’actions de l’Epo et la leptine en normocapnie et lors d’une hypercapnie,nous avons couplé une analyse des variables ventilatoires enregistrées par pléthysmographie à de l’histologie fonctionnelle sur des souris ob/ob et Epo-TAgh. Pour ces dernières, une analyse de la CCR sur des préparations ex vivo de bulbe rachidien-moelle épinière isolé de souris nouveau-né Epo-TAgha également été réalisée. Nos données obtenues chez l’animal sauvage sont permis de mettre en évidence un effet dose dépendant de l’ETO sur la fR de base en normocapnie. L’effet global du progestatif semble résulter de la sommation d’un effet facilitateur bulbaire dépendant d’interactions avec des récepteurs GABAA etNMDA et de l’activation des systèmes sérotoninergiques. L’ensemble de nos expériences réalisées sur les souris génétiquement modifiées Epo-TAgh et ob/ob ont permis de conclure que l’Epo ou la leptine n’était pas nécessaire à l’obtention d’une réponse ventilatoire à l’hypercapnie mais qu’un déficit en Epo ou en leptine induisait une modification du patron ventilatoire et du réseau neuronal activé par l’hypercapnie au niveau bulbaire pour l’Epo et également supra-bulbaire et diencéphalique pour la leptine. Nous posons ainsi l’hypothèse que ces modifications soient reliées à une plasticité neuronale importante induite par la déficience en Epo et en leptine. Les données obtenues ouvrent des perspectives quant au fait de déterminer si les mécanismes enclenchés par les progestatifs de la famille des gonanes visant à moduler la CCR pourraient être utilisés comme une alternative thérapeutique pertinente pour le traitement des troubles respiratoires rencontrés chez des patients souffrants de syndrome d’hypoventilation centrale. Enfin, la plasticité du réseau neuronal respiratoire induite par la déficience en Epo et en leptine pourrait aider à comprendre plus encore les mécanismes de la chémoréception centrale au CO2/H+ et mettre en avant des cibles thérapeutiques potentielles jusque-là insoupçonnées pour le traitement des CHS. / Non communiqué

Les distorteurs de ségrégation méiotiques sont des éléments génétiques égoïstes qui favorisent leur propre transmission en manipulant la méiose à leur avantage. La diffusion dans les populations d’un distorteur lié au chromosome X (Sex-Ratio) provoque un excès de femelles et cela conduit à un conflit entre le chromosome X et les autres chromosomes. Ces conflits intra-génomiques sont d’importants moteurs de l’évolution des génomes. Mais, peu de choses sont connues sur la nature moléculaire et la fonction des éléments égoïstes Sex-Ratio. Le premier chapitre de cette thèse présente une synthèse actualisée sur les distorteurs de ségrégation méiotiques liés à un chromosome sexuel. Le second chapitre est consacré à l’identification et la caractérisation d’un élément distorteur du système Sex-Ratio « Paris » de Drosophila simulans, dans lequel deux éléments distorteurs liés au chromosome X provoquent ensemble la misségrégation des chromatides sœurs du chromosome Y lors de la méiose II. J’identifie à travers une cartographie génétique par recombinaison un des loci distorteur et je conduis une validation fonctionnelle de son implication dans la distorsion. Il s’agit d’un jeune gène qui évolue rapidement et appartient à une famille de gènes bien connus, impliquée dans la constitution de l’hétérochromatine. Ce gène a émergé par duplication il y a environ 15-22 millions d’années et a connu de façon indépendante de multiples duplications en cis, pseudogenizations, ou bien directement sa perte tout au long de son histoire évolutive. Cela suggère que ce gène pourrait avoir été impliquée dans de multiples conflits génétiques. Le dernier chapitre est consacré à une étude exploratoire de la diversité structurale des chromosomes Y en relation avec la distorsion de ségrégation méiotique du système « Paris ». Les résultats présentés dans ce manuscrit contribuent à augmenter les connaissances sur l’origine moléculaire des conflits génétiques et sur leur impact évolutif. / Segregation distorters are selfish genetic elements that promote their own transmission by subverting the meiotic process to their advantage. The spread of an X-linked distorter (Sex-Ratio) in populations results in an excess of females, which triggers a genetic conflict between the X chromosome and the rest of the genome. Such conflicts are important drivers of genome evolution, but little is known about the molecular nature and the function of the Sex Ratio selfish elements. The first chapter of this manuscript is a review of the current knowledge about X-linked segregation distorters. Then, I present my work on the « Paris » Sex Ratio system of Drosophila simulans, in which two distorter elements on the X chromosome co-operate to prevent Y chromosome sister chromatids segregation during meiosis II. I mapped a gene in one of the distorter loci and achieved the functional validation of its involvement in sex-ratio distortion. It is a young and rapidly evolving gene that belongs to a well-known gene family involved in chromatin state regulation. It emerged through duplication about 15-22 Myrs ago and has experienced multiple independant cis-duplications, loss or pseudogenization throughout its evolutionary history. This suggests that this gene could have been involved in multiple genetic conflicts. Finally, the last chapter is about an opening study of the strucural diversity of Y chromosomes in relation to « Paris » segregation distorter. These findings should help understanding the molecular basis of genetic conflicts and the evolutionary impact of heterochromatin regulation during meiosis.

Multiple drive belt conveyors are being increasingly incorporated in mining plans worldwide because of their high economic performance and the ease of moving these installations around, especially in underground mines. A typical modern multi-drive conveyor system consists of one or more intermediate drive stations positioned along the upper stretch of the conveyor and a single drive station situated in the lower stretch. Despite the acknowledged cost saving potential of the multiple drive technology, no previous work was reported on the methodology to realize a cost-effective design of multi-drive belt conveyors. This study investigates a design approach for multiple drive belt conveyors with the objective to achieve the lowest life cycle cost of multi-drive belt conveyors for a specified material transport task. For this purpose, an optimization model for the cost-effective design of multi-drive conveyor systems is formulated on the basis of the recommendations of the DIN 22101 and SANS 1313 standards. For a given number of intermediate drive stations, the proposed model optimizes a set of design parameters so that the minimum equivalent annual cost of a conveyor can be attained whilst handling the transport requirements and design conditions. The conveyor parameters optimized in this study are the rated powers of motors, the rated torques of gear reducers, the diameters and wrap angles of drive pulleys, the belt width, the belt speed, the lengths of the belt sections not nestled between drive pulleys, the spacings between idler rolls and the shell diameters and shaft diameters of idler rolls. For benchmark analysis purposes, a similar optimization model is also developed for the single drive technology. Described as mixed integer nonlinear programming (MINLP) problems, the two optimization models are solved using the MIDACO solver embedded in the MATLAB environment. The results of this study show the validity and effectiveness of the design model proposed for multi-drive belt conveyors. The results also indicate that the multiple drive technology is more beneficial for the conveying over long distances. The impact of the possible instability of inflation throughout the project lifetime is also investigated through three hypothetical scenarios, which involve a fixed inflation rate, a higher fluctuating inflation rate and a lower fluctuating inflation rate, respectively. The results of this sensitivity analysis show that the most cost-effective multi-drive belt conveyors obtained under a fixed inflation rate is robust enough against limited fluctuations of this parameter. / Dissertation (MEng)--University of Pretoria, 2017. / Electrical, Electronic and Computer Engineering / MEng / Unrestricted

In this thesis, a kinematic model for controlling an Omni-directional 3 DOF DDR with an external navigation point is presented. Two different dynamic models for investigating the resulting torque on the three active motors on the robot are also developed and validated. The focus of the thesis is on the design of kinematic and dynamic models in an ideal environment and the kinematic model in a high fidelity environment. The kinematic model uses inverse kinematics to translate the controlling motion reference from the external navigation point to the three active motors on the DDR. The thesis also includes a comparison of the two different dynamic models based on Kane's method and Newton's second law of motion, respectively. The models presented in this thesis could aid autonomous robots with attached payloads such as hospital beds move with the centre of geometry as a focal point and thereby perform movements. The results show that such a kinematic model for controlling the specific robot is shown to be feasible in an ideal environment. However, due to PID controllers for the active wheel motors not being exact enough, the model in the high fidelity environment does not perform correctly in all cases. Furthermore, the dynamic model results provide an understanding of the difference of torque dependant on the distance to the navigation point.

La Policía Nacional de Colombia en el desarrollo de programas educativos que emplean equipos caninos (Perro-Manejador), utiliza pruebas de selección, fundamentales para determinar cuáles animales son Aptos o No Aptos para iniciar el adiestramiento, continuarlo y finalizar su certificación. Por lo anterior lo que buscó esta investigación es que los instrumentos se validen para que sean confiables y predecir los perros que aprueban o desaprueban las evaluaciones comportamentales, aportando al desarrollo de los programas académicos. Para alcanzar el propósito del estudio, se efectúo un análisis univariado utilizando tablas de contingecia de 2 por 2, estimando la Sensibilidad y Especificidad de cada una de las pruebas realizadas en los caninos detectores de sustancias narcóticas y explosivas (n=549). Determinando los valores predictivos de los Test: Instrumento No 1 (Test-retest), Instrumento No 2 (Potenciación y Asociación) e Instrumento No 3 (certificación final). Estableciendo el nivel de acuerdo entre los evaluadores (Kappa de Cohen), correlacionando las 17 variables comportamentales individuales y agrupadas para predecir los caninos Aptos y No Aptos para el servicio policial. Dentro de los principales hallazgos se evidencia una sensibilidad y especificidad altas, con resultados estadísticamente significativos para la mayoría de las variables comportamentales analizadas individualmente (P

Indiana University-Purdue University Indianapolis (IUPUI) / This thesis proposes a remotely controlled motor drive system which is able to supply a regulated voltage for both DC and AC motors. The proposed system integrates two different technologies, each of which belongs to the field of wireless communications and semiconductor power electronics. The introduction highlights the literature review and technical contributions in these two electrical engineering fields. The pulse width modulated control algorithm for speed control is discussed in detail. Incorporating the zigbee wireless technology into the motor drive system, for the speed control of an AC and a DC motor, by implementing digital pulse width modulation technique is the aim of this thesis. The main characteristics of the proposed system are: 1) its universal feature since it can feed either DC or AC motor without changing the hardware, 2) remotely controlled, which allows the end-user to control the motor speed safely from a remote distance, 3) flexibility in installation of the motor drives in areas that are not easily accessible by end-users, and 4) uninterrupted speed control for distance of up to few 100 feet.

This thesis investigates the strengths and weaknesses of omnidirectional drive and differential drive systems on mobile manipulator robots. Based on a literature study, a hypothetical use case, and identified Key Performace Indicators the drive system’s effects on the performance of the mobile manipulator are evaluated. A qualitative approach was used for evaluation. The research methodology involved analyzing the wheel characteristics of each drive system, identifying parameters affecting the performance, and assessing the two drive system characteristics within the context of the hypothetical use case. Six Key Performance Indicators such as pose accuracy, space utilization, and manipulability were formulated and examined to determine the comparative strengths and weaknesses of the drive systems. The results confirmed that omnidirectional drive systems exhibit greater maneuverability and agility while differential drive systems are less complex and often more durable in rough conditions. However, the results also show that in many cases the answer on what drive system to use will depend on many factors and that these factors can affect the overall performance of the mobile manipulator. This study provides insights into performance-affecting parameters and relevant performance aspects by examining the strengths and weaknesses of omnidirectional and differential drive systems. While acknowledging the need for caution in generalizing the findings and assuming validity in real-world applications, the results obtained serve as a starting point for further investigations. / Detta examensarbete undersöker styrkor och svagheter hos omnidirektionella drivsystem och differentialdrivsystem på mobila manipulatorer. En kvalitativ metod, baserat på en litteraturstudie, ett hypotetiskt användningsscenario och identifierade prestationsindikatorer, användes för att utvärdera drivsystemets effekter på den mobila manipulatorns prestanda. Forskningsmetodiken innebar att analysera hjulegenskaperna för varje drivsystem, identifiera parametrar som påverkar prestandan och bedöma de två drivsystemens egenskaper inom ramen för det hypotetiska användningsfallet. Viktiga prestationsindikatorer som poserings noggrannhet, utrymmesutnyttjande och manipulerbarhet undersöktes för att fastställa och jämförande styrkorna och svagheterna hos drivsystemen. Resultaten bekräftade att omnidirektionella drivsystem uppvisar större manövrerbarhet och smidighet medan differentialdrivsystem ofta är mindre komplexa och mer hållbara under tuffa förhållanden. Dock visar resultaten även att svaret på vilket drivsystem som ska användas i många fall beror på flertalet faktorer och att dessa faktorer kan påverka den mobila manipulatorns totala prestanda. Denna studie ger insikter i prestandapåverkande parametrar och relevanta prestandaaspekter genom att undersöka styrkorna och svagheterna hos omnidirektionella och differentiella drivsystem. Samtidigt som man erkänner behovet av försiktighet med att generalisera resultaten och anta giltighet i verkliga tillämpningar, tjänar de erhållna resultaten som en utgångspunkt för ytterligare undersökningar.

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In this thesis, a suitable mechanical design of a di erential drive robot equipped with a force sensingturntable is presented for a logistical robot application in a hospital environment. The focus of thisthesis will be on the mechanical design of the robot, the force sensor, electronics for the force sensorand the development of a dynamic model. The dynamic model takes advantage of the payloadinformation from the force sensor in order to manoeuvre the robot optimally without it falling over.A complete method of measuring and locating a load on top of the table is successfully tested. Asimulation of the robot using the dynamic model and information about external forces from theforce sensor is created, applied and veri ed towards a set of tests with expected reactions fromthe model. The robot platform was built mechanically but not fully assembled with electronics,power sources, etc. The simulations and tests performed upon the robot platform indicates that itful ls the requirements set up in this paper. The dynamic model has not been tested on a physicalplatform but it behaves exactly like expected in the simulations hence tuning is the only expectedobstruction before it can be applied to the real-life platform. The force sensor works as intendedand can accurately measure payload mass by 0:2kg and lever lengths by 0:1m to the payload.The accuracy of the angle approximation relies on the magnitude of the radial torque signal, hencea threshold of the acceptable radial torque magnitude must be determined in order to in turnde ne the worst acceptable radial angle accuracy.