Introdução: Síncope e sintomas ortostáticos são comuns em pessoas saudáveis. A suplementação de sal é utilizada em pacientes com melhora na resposta pressora e aumento da tolerância ortostática. Nós testamos à hipótese de que uma suplementação de sal aumentaria a tolerância ortostática em voluntários saudáveis. Métodos e Resultados: Vinte voluntários saudáveis (13 do sexo feminino, idade 29 ± 5,6 anos), sem história de síncope, foram submetidos ao teste inclinação ortostática, em um ângulo de 70 graus, por 35 minutos ou até que sintomas de pré-síncope ou síncope fossem observados. Foram randomizados e cruzados para receber 6g de sal em um dos exames e placebo no outro, 3 horas antes, em um protocolo duplo-cego. Para avaliar para-efeitos, foram avaliados índices clínicos e laboratoriais. A ingestão de sal melhorou a tolerância ortostática em 11 de 12 voluntários (55%) que apresentaram présincope ou síncope (variação de 1 a 6 minutos). O tempo com a suplementação de sal foi de 33,35 ± 4,1 minutos e com placebo 31,95 ± 4,4 minutos (média ± DP; p = 0,009), a tolerância ortostática diferiu em 1,4 ± 2,09 minutos (IC 95%, 0,42 - 2,37 minutos). A pressão arterial sistólica, a diastólica e a freqüência cardíaca na posição supina não alteraram de forma significativa. No entanto, a pressão arterial sistólica e a diastólica (120,85 ± 30,9 e 78,75 ± 20,6 mmHg) mantiveram-se mais elevadas ao término do exame com a suplementação de sal quando comparadas com o placebo (99,2 ± 29,8 e 64 ± 21 mmHg; p = 0,006 e p = 0,007, respectivamente). Conclusão: A suplementação de sal parece melhorar a tolerância ortostática em voluntários saudáveis, sem alterar as variáveis clínicas em repouso. / Background: Orthostatic symptoms and syncope are common in healthy subjects. Salt supplementation can be used in patients showing improvement in the pressor response and increase in the orthostatic tolerance. We tested the hypothesis that single salt supplementation increases the orthostatic tolerance in healthy subjects. Methods e Results: Twenty healthy volunteers (13 females, 29.05 ± 5.57 years old), without syncope history, were submitted to head-up tilt test, at an angle of 70 degrees, for 35 minutes or until presyncope or syncope were observed. They were randomized and crossover to receive 6g of salt in one of the exams and placebo in the other, 3 hours before, in a double-blind protocol. To evaluate for side effects, there were evaluate clinical and laboratorial indexes. Ingestion of salt improved orthostatic tolerance in 11 out of 12 volunteers who presented presyncope or syncope (variation from 1 to 6 minutes). The time with salt supplementation was of 33.35 ± 4.1 minutes and with placebo it was of 31.95 ± 4.4 minutes (mean ± SD; p = 0.009), orthostatic tolerance differed in 1.4 ± 2.09 minutes (95% CI, 0.42 - 2.37 minutes). Systolic and diastolic blood pressure and heart rate in the supine position did not change significantly with salt or with the placebo. However, Systolic and diastolic blood pressure with salt supplementation (120.85 ± 30.9 mmHg and 78.75 ± 20.6 mmHg) were higher at the end of the exam when compared to placebo (99.2 ± 29.8 and 64 ± 21 mmHg; p = 0.006 and p = 0.007, respectively). Conclusion: Salt supplementation seems to improve orthostatic tolerance in healthy volunteers without changing clinical variables at rest.

Introdução: Síncope e sintomas ortostáticos são comuns em pessoas saudáveis. A suplementação de sal é utilizada em pacientes com melhora na resposta pressora e aumento da tolerância ortostática. Nós testamos à hipótese de que uma suplementação de sal aumentaria a tolerância ortostática em voluntários saudáveis. Métodos e Resultados: Vinte voluntários saudáveis (13 do sexo feminino, idade 29 ± 5,6 anos), sem história de síncope, foram submetidos ao teste inclinação ortostática, em um ângulo de 70 graus, por 35 minutos ou até que sintomas de pré-síncope ou síncope fossem observados. Foram randomizados e cruzados para receber 6g de sal em um dos exames e placebo no outro, 3 horas antes, em um protocolo duplo-cego. Para avaliar para-efeitos, foram avaliados índices clínicos e laboratoriais. A ingestão de sal melhorou a tolerância ortostática em 11 de 12 voluntários (55%) que apresentaram présincope ou síncope (variação de 1 a 6 minutos). O tempo com a suplementação de sal foi de 33,35 ± 4,1 minutos e com placebo 31,95 ± 4,4 minutos (média ± DP; p = 0,009), a tolerância ortostática diferiu em 1,4 ± 2,09 minutos (IC 95%, 0,42 - 2,37 minutos). A pressão arterial sistólica, a diastólica e a freqüência cardíaca na posição supina não alteraram de forma significativa. No entanto, a pressão arterial sistólica e a diastólica (120,85 ± 30,9 e 78,75 ± 20,6 mmHg) mantiveram-se mais elevadas ao término do exame com a suplementação de sal quando comparadas com o placebo (99,2 ± 29,8 e 64 ± 21 mmHg; p = 0,006 e p = 0,007, respectivamente). Conclusão: A suplementação de sal parece melhorar a tolerância ortostática em voluntários saudáveis, sem alterar as variáveis clínicas em repouso. / Background: Orthostatic symptoms and syncope are common in healthy subjects. Salt supplementation can be used in patients showing improvement in the pressor response and increase in the orthostatic tolerance. We tested the hypothesis that single salt supplementation increases the orthostatic tolerance in healthy subjects. Methods e Results: Twenty healthy volunteers (13 females, 29.05 ± 5.57 years old), without syncope history, were submitted to head-up tilt test, at an angle of 70 degrees, for 35 minutes or until presyncope or syncope were observed. They were randomized and crossover to receive 6g of salt in one of the exams and placebo in the other, 3 hours before, in a double-blind protocol. To evaluate for side effects, there were evaluate clinical and laboratorial indexes. Ingestion of salt improved orthostatic tolerance in 11 out of 12 volunteers who presented presyncope or syncope (variation from 1 to 6 minutes). The time with salt supplementation was of 33.35 ± 4.1 minutes and with placebo it was of 31.95 ± 4.4 minutes (mean ± SD; p = 0.009), orthostatic tolerance differed in 1.4 ± 2.09 minutes (95% CI, 0.42 - 2.37 minutes). Systolic and diastolic blood pressure and heart rate in the supine position did not change significantly with salt or with the placebo. However, Systolic and diastolic blood pressure with salt supplementation (120.85 ± 30.9 mmHg and 78.75 ± 20.6 mmHg) were higher at the end of the exam when compared to placebo (99.2 ± 29.8 and 64 ± 21 mmHg; p = 0.006 and p = 0.007, respectively). Conclusion: Salt supplementation seems to improve orthostatic tolerance in healthy volunteers without changing clinical variables at rest.

Introdução: Síncope e sintomas ortostáticos são comuns em pessoas saudáveis. A suplementação de sal é utilizada em pacientes com melhora na resposta pressora e aumento da tolerância ortostática. Nós testamos à hipótese de que uma suplementação de sal aumentaria a tolerância ortostática em voluntários saudáveis. Métodos e Resultados: Vinte voluntários saudáveis (13 do sexo feminino, idade 29 ± 5,6 anos), sem história de síncope, foram submetidos ao teste inclinação ortostática, em um ângulo de 70 graus, por 35 minutos ou até que sintomas de pré-síncope ou síncope fossem observados. Foram randomizados e cruzados para receber 6g de sal em um dos exames e placebo no outro, 3 horas antes, em um protocolo duplo-cego. Para avaliar para-efeitos, foram avaliados índices clínicos e laboratoriais. A ingestão de sal melhorou a tolerância ortostática em 11 de 12 voluntários (55%) que apresentaram présincope ou síncope (variação de 1 a 6 minutos). O tempo com a suplementação de sal foi de 33,35 ± 4,1 minutos e com placebo 31,95 ± 4,4 minutos (média ± DP; p = 0,009), a tolerância ortostática diferiu em 1,4 ± 2,09 minutos (IC 95%, 0,42 - 2,37 minutos). A pressão arterial sistólica, a diastólica e a freqüência cardíaca na posição supina não alteraram de forma significativa. No entanto, a pressão arterial sistólica e a diastólica (120,85 ± 30,9 e 78,75 ± 20,6 mmHg) mantiveram-se mais elevadas ao término do exame com a suplementação de sal quando comparadas com o placebo (99,2 ± 29,8 e 64 ± 21 mmHg; p = 0,006 e p = 0,007, respectivamente). Conclusão: A suplementação de sal parece melhorar a tolerância ortostática em voluntários saudáveis, sem alterar as variáveis clínicas em repouso. / Background: Orthostatic symptoms and syncope are common in healthy subjects. Salt supplementation can be used in patients showing improvement in the pressor response and increase in the orthostatic tolerance. We tested the hypothesis that single salt supplementation increases the orthostatic tolerance in healthy subjects. Methods e Results: Twenty healthy volunteers (13 females, 29.05 ± 5.57 years old), without syncope history, were submitted to head-up tilt test, at an angle of 70 degrees, for 35 minutes or until presyncope or syncope were observed. They were randomized and crossover to receive 6g of salt in one of the exams and placebo in the other, 3 hours before, in a double-blind protocol. To evaluate for side effects, there were evaluate clinical and laboratorial indexes. Ingestion of salt improved orthostatic tolerance in 11 out of 12 volunteers who presented presyncope or syncope (variation from 1 to 6 minutes). The time with salt supplementation was of 33.35 ± 4.1 minutes and with placebo it was of 31.95 ± 4.4 minutes (mean ± SD; p = 0.009), orthostatic tolerance differed in 1.4 ± 2.09 minutes (95% CI, 0.42 - 2.37 minutes). Systolic and diastolic blood pressure and heart rate in the supine position did not change significantly with salt or with the placebo. However, Systolic and diastolic blood pressure with salt supplementation (120.85 ± 30.9 mmHg and 78.75 ± 20.6 mmHg) were higher at the end of the exam when compared to placebo (99.2 ± 29.8 and 64 ± 21 mmHg; p = 0.006 and p = 0.007, respectively). Conclusion: Salt supplementation seems to improve orthostatic tolerance in healthy volunteers without changing clinical variables at rest.

Submitted by Erika Demachki (erikademachki@gmail.com) on 2016-10-18T20:19:54Z No. of bitstreams: 2 Dissertação - Gabriel Mendonça de Paiva - 2016.pdf: 3565340 bytes, checksum: 6df5384c34ed001061350c147d523756 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Approved for entry into archive by Erika Demachki (erikademachki@gmail.com) on 2016-10-19T16:18:31Z (GMT) No. of bitstreams: 2 Dissertação - Gabriel Mendonça de Paiva - 2016.pdf: 3565340 bytes, checksum: 6df5384c34ed001061350c147d523756 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Made available in DSpace on 2016-10-19T16:18:31Z (GMT). No. of bitstreams: 2 Dissertação - Gabriel Mendonça de Paiva - 2016.pdf: 3565340 bytes, checksum: 6df5384c34ed001061350c147d523756 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2016-06-03 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / This study aimed to evaluate the design of a grid-connected photovoltaic (PV) system according to the positioning of the modules which compose the generator depending on tilt and azimuth angles in Goiânia, Goiás. In that purpose, a review of the literature was carried out concerning the main methods of inverter sizing ratio analysis applied to grid-connected PV systems. Starting from an hourly average climate measurement database from Goiania, an algorithm was developed to search for the ideal local inverter sizing ratio, considering the use of polycrystalline module technology. The parameters used in the analysis were provided by the manufacturers of the componentes used in the grid-connected PV system in installation at the Electrical, Mechanical and Computational Engineering School (EMC) from Federal University of Goias (UFG), which nominal power is 33.84 kWp. An inverter sizing ratio band of 0.54 to 0.77 was obtained for a -90° to +90° azimuth angle variation and 0° to 90° tilt angle variation. The potential of financial indicators improvement was verified and it was estimated a potential reduction in the levelized cost of energy above 10% comparing the inverter sizing ratio improved system to an unitary inverter sizing ratio system. / Este estudo tem como objetivo avaliar o dimensionamento de um sistema fotovoltaico conectado à rede (SFCR) de acordo com o posicionamento dos módulos que compõem o gerador quanto ao ângulo de inclinação e ao ângulo azimutal em Goiânia, Goiás. Para isso foi realizada uma revisão da literatura quanto às principais metodologias de análise do fator de dimensionamento do inversor (FDI) aplicado a SFCRs. A partir de uma base de dados em intervalos horários de medições climáticas de Goiânia desenvolveu-se um algoritmo para busca do FDI ideal para a localidade, considerando o uso de módulos de silício policristalino (p-Si). Os parâmetros utilizados na análise foram os parâmetros fornecidos pelos fabricantes dos componentes utilizados no SFCR em instalação da Escola de Engenharia Elétrica, Mecânica e de Computação (EMC) da Universidade Federal de Goiás (UFG), cuja potência nominal é de 33,84 kWp. Os métodos de análise do FDI foram comparados e foi considerado mais adequado neste estudo o método das perdas máximas anuais por limitação de potência no inversor. A faixa de FDI obtida para uma variação de -90° a +90° no ângulo azimutal e de 0° a 90° no ângulo de inclinação foi da ordem de 0,54 a 0,77. O potencial de aprimoramento de indicadores financeiros por meio do FDI foi verificado e foi estimada uma potencial redução acima de 10% do custo da energia produzida comparando o aperfeiçoamento do FDI com um FDI unitário.

O presente trabalho tem por objetivo primário abordar os atuais conhecimentos sobre o transporte ferroviário interurbano e regional de passageiros, com foco na tecnologia dos trens de caixa móvel, também conhecidos como trens pendulares. Como objetivo secundário busca-se analisar a influência dos trens de caixa móvel ou pendulares na implantação e operação de novas ferrovias, com ênfase na adequação em fase de projeto, mostrando-se o potencial dessa tecnologia para o aumento da velocidade média e a redução dos tempos de viagem. São tratados os tópicos relevantes para o transporte ferroviário de passageiros, como o conforto do usuário, as especificações técnicas do material rodante e referências dos custos de implantação e operação envolvidos, mostrando-se também dentro de cada aspecto as diferenças dos trens pendulares em relação aos trens convencionais. Três estudos de caso elaborados terão como objetivo explicitar as interveniências da operação dos trens pendulares com o projeto ferroviário, em especial com o projeto geométrico, e através de simulações de marcha e comparações, mostrar de maneira prática o potencial do uso dos trens pendulares. Através do embasamento teórico e dos estudos de caso, é feita uma análise crítica de modo a possibilitar tanto um entendimento do transporte ferroviário de passageiros, quanto do material rodante de caixa móvel e suas possibilidades. Os resultados dos estudos de caso e a análise crítica mostram uma redução significativa dos tempos de viagem, entre 8,1 e 20,0%, mediante a operação de trens pendulares em substituição ao material rodante convencional. / As a primary objective, the present work aims to summarize the current knowledge on intercity and regional passenger railway transportation, focusing on tilting train technology, also known as car body tilt. As a secondary objective, the present work seeks to analyze the influence of tilting train technology on the design, implementation and operation of new railway corridors, with emphasis on design phase, showing the potential of this technology to increase speeds and reduce travel times. Railway passenger transportation issues, such as passenger comfort, rolling stock technical specifications and implementation and operational costs are addressed. Additionally, different aspects between conventional and tilting trains are also discussed. Three case studies help clarify the correlation between tilting train operation and railway design, especially the geometric design; further, with the help of speed simulations and comparisons, the potential use of tilting train operations are demonstrated. With the theoretical basis and the case studies, a critical analysis is made, allowing as a better understanding of railway passenger transportation with regards to the use of tilting rolling stock and its possibilities. The results of the case studies and the critical analysis present a considerable reduction in travel times, between 8,1 and 20,0%, with the operation of tilting trains in the place of the conventional rolling stock.

Cette thèse s’inscrit dans le cadre d’un projet industriel multi-partenaires ayant pour objectif le développement d’un robot mobile collaboratif (un cobot), autonome dans ses mouvements au sol, capable de réaliser l’inspection visuelle d’un aéronef, à la fois en phase de petite ou grande maintenance dans un hangar ou en phase de pré-vol sur le tarmac d’un aéroport. Le cobot est équipé de capteurs lui permettant d’effectuer ses tâches de navigation autonome, mais également d’un ensemble de capteurs optiques constituant la tête d’inspection : une caméra orientable Pan-Tilt-Zoom et un scanner 3D qui délivrent respectivement des données sous forme d’images 2D et de nuages de points 3D. L’objectif de la thèse est de développer des algorithmes d’analyse d’images 2D et de nuages de points 3D, afin d’établir un diagnostic sur l’état de l’avion et son aptitude à voler. Nous avons développé des algorithmes pour vérifier certains éléments de l’appareil, tels que valves, portes, capteurs, pneus ou moteurs, et également pour détecter et caractériser des dommages 3D sur le fuselage (impacts, rayures, etc.). Nous avons exploité dans nos algorithmes les connaissances a priori disponibles, en particulier le modèle 3D CAO de l’avion (un AIRBUS A320 dans le cadre de nos essais). Durant ces travaux de la thèse, nous avons pu répondre à deux besoins (parfois antagonistes) : développer des algorithmes d’inspection rapides et robustes, mais également répondre aux exigences spécifiques d’un projet industriel qui visait à développer un prototype opérationnel. Nous nous sommes attachés à développer des algorithmes les plus génériques possibles, de manière à ce qu’ils puissent être utilisés pour d’autres types d’inspection, tels que l’inspection de bâtiments ou de navires par exemple. Nous avons aussi contribué au développement du prototype (robot mobile équipé de capteurs) en développant le module de contrôle des capteurs d’inspection et en intégrant nos codes sur le robot avec les autres modules développés par les partenaires. Le prototype a fait l’objet de nombreux essais en hangar de maintenance ou sur tarmac. / This thesis makes part of an industry oriented multi-partners project aimed at developing a mobile collaborative robot (a cobot), autonomous in its movements on the ground, capable of performing visual inspection of an aircraft during short or long maintenance procedures in the hangar or in the pre-flight phase on the tarmac. The cobot is equipped with sensors for realizing its navigation tasks as well as with a set of optical sensors which constitute the inspection head: an orientable Pan-Tilt-Zoom visible light camera and a three-dimensional scanner, delivering data in the format of two-dimensional images and three-dimensional point clouds, respectively. The goal of the thesis is to propose original approaches for processing 2D images and 3D clouds, with intention to make a decision with respect to the flight readiness of the airplane. We developed algorithms for verification of the aircraft items such as vents, doors, sensors, tires or engine as well as for detection and characterization of three-dimensional damages on the fuselage. We integrated a-priori knowledge on the airplane structure, notably numerical three-dimensional CAD model of the Airbus-A320. We argue that with investing effort to develop robust enough algorithms and with the help of existing optical sensors to acquire suitable data, we can come up with non-invasive, accurate, and time-efficient system for automatic airplane exterior inspection. The thesis work was placed in between two main requirements: develop inspection algorithms which could be as general as possible and also meet the specific requirements of an industry oriented project. Often, these two goals do not go along and the balance had to be made. On one side, we were aiming to design and assess the approaches that can be employed on other large structures, for ex. buildings, ships. On the other hand, writing source code for controlling sensors as well as integrating our whole developed source code with other modules on the real-time robotic system, were necessary in order to demonstrate the feasibility of our robotic prototype.

All across physics research, incoherent and coherent light sources are extensively utilized. Especially highly brilliant X-ray sources such as third generation synchrotrons or free-electron lasers have become an invaluable tool enabling experimental techniques that are unique to these kinds of light sources. But these sources have developed to large scale facilities and a demand in compact laboratory scale sources providing radiation of similar quality arises nowadays. This thesis focuses on Traveling-Wave Thomson-Scattering (TWTS) which allows for the realization of ultra-compact, inherently synchronized and highly brilliant light sources. The TWTS geometry provides optical undulators, through which electrons pass and thereby emit radiation, with hundreds to thousands of undulator periods by utilizing pulse-front tilted lasers pulses from high peak-power laser systems. TWTS can realize incoherent radiation sources with orders of magnitude higher photon yield than established head-on Thomson sources. Moreover, optical free-electron lasers (OFELs) can be realized with TWTS if state-of-the-art technology in electron accelerators and laser systems is utilized. Tilting the laser pulse front with respect to the wavefront by half of this interaction angle optimizes electron and laser pulse overlap by compensating the spatial offset between electrons and the laser pulse-front at the beginning of the interaction when the electrons are far from the laser pulse axis. The laser pulse-front tilt ensures continuous overlap between electrons and laser pulse while the electrons cross the laser pulse cross-sectional area. Thus the interaction distance can be controlled in TWTS by the laser pulse width rather than laser pulse duration. Utilizing wide, petawatt class laser pulses allows realizing thousands of optical undulator periods. This thesis will show that TWTS OFELs emitting ultraviolet radiation are realizable today with existing technology for electron accelerators and laser systems. The requirements on electron bunch and laser pulse quality of these ultraviolet TWTS OFELs are discussed in detail as well as the corresponding requirements of TWTS OFELs emitting in the soft and hard X-ray range. These requirements are derived from scaling laws which stem from a self-consistent analytic description of the electron bunch and radiation field dynamics in TWTS OFELs presented within this thesis. It is shown that these dynamics in TWTS OFELs are qualitatively equivalent to the electron bunch and radiation field dynamics of standard free-electron lasers which analytically proves the applicability of TWTS for the realization of an optical free-electron laser. Furthermore, experimental setup strategies to generate the pulse-front tilted TWTS laser pulses are presented and designs of experimental setups for the above examples are discussed. The presented setup strategies provide dispersion compensation, required due to angular dispersion of the laser pulse, which is especially relevant when building compact, high-yield hard X-ray TWTS sources in large interaction angle setups. An example of such an enhanced Thomson source by TWTS, which provides orders of magnitude higher spectral photon density than a comparable head-on interaction geometry, is presented, too. / Inkohärente und kohärente Lichtquellen werden in allen Feldern der physikalischen Forschung intensiv eingesetzt. Im Besonderen ermöglichen hoch-brilliante Röntgenquellen, wie Synchrotrone der dritten Generation und Freie-Elektronen Laser, einzigartige Experimentiertechniken wodurch diese zu unverzichtbaren Werkzeugen wurden. Sie sind allerdings auch im Umfang zu Großforschungseinrichtungen herangewachsen. Um den hohen Bedarf an hoch-brillianten Lichtquellen zu decken, besteht daher die Notwendigkeit neuartige und kompakte Quellen zu entwickeln welche auf dem Maßstab eines Labors realisierbar sind. Diese Dissertation widmet sich der Traveling-Wave Thomsonstreuung (TWTS) welche die Realisierung ultra-kompakter, intrinsisch synchronisierbarer und hoch-brillianter Röntgenquellen ermöglicht. TWTS ist eine Methode der Streuung von Laserpulsen an relativistischen Elektronen. Dabei durchquert ein Elektronenpuls mit nahezu Lichtgeschwindigkeit einen Laserpuls. Während der Durchquerung beginnen die Elektronen im Feld des Laserpulses zu oszillieren wobei sie Strahlung emittieren. Die ausgesandte Strahlung besitzt eine deutlich kürzere Wellenlänge als das Laserfeld aufgrund der hohen Elektronengeschwindigkeit und der damit verbundenen großen Dopplerverschiebung. Das besondere an TWTS ist, dass Elektronen- und Laserpropagationsrichtung einen Winkel einschließen sowie pulsfrontverkippte Hochleistungslaserpulse eingesetzt werden. Dadurch können um Größenordnungen längere Interaktionsdistanzen als in herkömmlichen frontalen Thomsonstreuungsanordnungen erreicht werden. TWTS ermöglicht dadurch die Realisierung optischer Freie-Elektronen Laser (OFEL) und inkohärenter Strahlungsquellen mit einer um Größenordnungen erhöhten Photonenausbeute gegenüber Thomsonstreuungsquellen in frontalen Interaktionsanordungen. Werden modernste Elektronenbeschleuniger und Lasersysteme genutzt, dann ist der Betrieb optischer Freie-Elektronen Laser bereits heute mit TWTS möglich. Das wird in der Dissertation am Beispiel eines Vakuumultraviolettstrahlung emittierenden TWTS OFEL gezeigt. Dessen Anforderungen an die Qualität der Elektronen- und Laserpulse werden im Detail in der Arbeit besprochen sowie weitere Beispiele weicher und harter Röntgenstrahlung emittierender TWTS OFEL präsentiert. Diese Anforderungen werden anhand von Skalierungsvorschriften ermittelt welche aus einer selbstkonsistenten, 1.5 dimensionalen Theorie zur Wechselwirkung zwischen Elektronen und Laserfeld in TWTS abgeleitet sind. Sowohl die Theorie zur Wechselwirkung als auch die Ableitung der Skalierungsvorschriften sind Teile dieser Dissertation. Eine wichtige Erkenntnis der Theorie ist die qualitative Äquivalenz von Elektronen- und Strahlungsfeldbewegungsgleichungen in TWTS zu denen herkömmlicher Freie-Elektronen Laser. Das beweist analytisch die Möglichkeit zur Realisierung eines OFEL mit TWTS. Einen weiteren wichtigen Teil dieser Dissertation bildet die Arbeit zur Generierung der Laserpulse mit verkippter Pulsfront. Optische Aufbauten zur Verkippung der Laserpulsfront werden vorgestellt und für einige der präsentierten TWTS OFEL ausführlich dargelegt. Die Aufbauten verkippen nicht nur die Laserpulsfront sondern gewähren gleichzeitig Kontrolle über die Laserpulsdispersionen. Dadurch kann während der gesamten Interaktionen eine ausreichend hohe Qualität des Laserfeldes sichergestellt werden, was für TWTS OFEL und inkohärente TWTS Lichtquellen mit großem Interaktionswinkel unbedingt notwendig ist. Ein Beispiel einer inkohärenten TWTS Lichtquelle wird ebenfalls präsentiert. Diese emittiert Strahlung mit einer um Größenordnungen höheren spektrale Photonendichte als eine herkömmliche Thomsonquelle in einer frontalen Streuanordnung mit vergleichbaren Laser- und Elektronenpulsen.

A wheeled mobile robot (WMR) will move on uneven terrain without slip if the length of the axle connecting two wheels can change or for a fixed length axle the wheels are allowed to tilt in a lateral direction. In this work, we consider a three-wheeled mobile robot with torus shaped wheels capable of lateral tilting. Due to the requirement of lateral tilting a two degree of freedom (DOF) suspension, one for maintaining contact with terrain and one for lateral tilting, is assumed to connect the wheels to the WMR body. Six concepts of two DOF suspension mechanisms are proposed. A WMR with these suspension mechanisms are modeled and two kinds of simulations, namely, direct kinematic analysis and inverse kinematic analysis are performed on several uneven terrains with and without suspension. Slip velocity, the path followed and the lateral tilt angle are estimated as a function of time. The force-angle stability measure is used to check the tip-over instability of the WMR on uneven terrain. It is shown that without the two DOF suspensions and with the wheels not allowed to tilt laterally, the WMR is not capable of traversing uneven terrains without large slip. When the wheels are allowed to tilt laterally with a two DOF suspension, the wheeled mobile robot slips very little. Based on least slip and less deviation from desired path, it is shown that the two best possible suspension mechanisms are the SFTA suspension and D4Bar suspension. Two prototype of three-wheeled mobile robot with these suspensions are fabricated using some components from a readily available commercial kit and with especially designed and manufactured wheels with the two degrees of freedom suspension. Simulations on an uneven terrain verify that the three-wheeled mobile robot can traverse uneven terrains with very little slip for three representative paths, namely a straight line, a circular arc and a path representing a lane change. Experiments with the two prototypes on physically constructed uneven terrain, very similar to the one used for simulation, confirm that the slip is significantly reduced with the two degree of freedom suspensions. The path of the centre of mass of the WMRs, projected on uneven surface, and the error from the desired path is presented for all the three representative paths. The simulation and experimental results clearly show that the three wheeled mobile robot with the novel two DOF suspension mechanisms can traverse uneven terrain with low slip.

The aim of this master thesis is to design a structural arrangement of lifting and tilting mechanism storage tower SSI Logimat, including the design of the drive. The introduction included a description of selected vertical storage systems of different companies and then compared them. Another section includes the design lift and tilt mechanism, calculation and design their drives and the subsequent description of their components. At the end of the master thesis is attached the drawings of the proposed mechanisms.

The first part of the thesis The measurement of the location of centre of gravity of bicycles is firstly about history and division of bicycles, about the legislation in the Czech Republic concerning the cyclists, about the analysis of accidents of cyclists and lastly about the analysis of the method of the measurement of the location of centre of gravity. The second part of the thesis describes the procedure of calculation of the location of centre of gravity in the chosen incline method and the proposal of measure apparatus. The third part of the thesis occupies with the measurement and processing of concrete values for chosen sample of cyclists on the bicycles which are selected in the way that the results of the location of centre of gravity in the final part of the thesis are compared with the respect to their application during the expert opinion.