Thesis (M.S.)--School of Advanced Air and Space Studies, 2008. / "June 2008." Vita. Includes bibliographical references (p. 102-108). Also available via the Internet.

Thesis (doctoral)--Universität Bielefeld, 2004. / Includes bibliographical references (p. 193-201).

Submitted by Automa??o e Estat?stica (sst@bczm.ufrn.br) on 2016-08-16T23:40:57Z No. of bitstreams: 1 AlzenyPereiraNeloDeFarias_DISSERT.pdf: 14634667 bytes, checksum: 5e96735e390990153ba1defa10b0fda3 (MD5) / Approved for entry into archive by Arlan Eloi Leite Silva (eloihistoriador@yahoo.com.br) on 2016-08-24T22:46:32Z (GMT) No. of bitstreams: 1 AlzenyPereiraNeloDeFarias_DISSERT.pdf: 14634667 bytes, checksum: 5e96735e390990153ba1defa10b0fda3 (MD5) / Made available in DSpace on 2016-08-24T22:46:32Z (GMT). No. of bitstreams: 1 AlzenyPereiraNeloDeFarias_DISSERT.pdf: 14634667 bytes, checksum: 5e96735e390990153ba1defa10b0fda3 (MD5) Previous issue date: 2016-03-03 / Este artigo apresenta uma discuss?o sobre o ciclo de can??es Slopiewnie op. 46bis de Karol Szymanowski, um dos mais importantes compositores poloneses do s?culo XX, cuja obra tem sido cada vez mais difundida por grandes nomes da m?sica erudita. O artigo primeiramente introduz um breve resumo biogr?fico, para contextualizar Slopiewnie em rela??o ?s obras do compositor; em seguida, o artigo fornece uma an?lise das cancoes e de seus textos, para servir como ferramenta de estudo para futuros int?rpretes. Sugest?es interpretativas tamb?m sao fornecidas, baseadas tanto na experi?ncia de aprendizagem das can??es como em refer?ncias bibliogr?ficas. / This text presents a discussion about the song cycle Slopiewnie Opus 46 bis of Karol Szymanowski, one of the most important Polish composers of the 20th century. Slopiewnie was composed on texts of Julian Tuwim, poet born in 1894 in ??d?, who used ancient roots to create new words and search for special sonorities. First, this text introduces a brief biographical sketch about Szymanowski, in order to contextualize Slopiewnie in relation to the composer?s works. Afterwards, the text provides an analysis of the songs and their texts, which may serve as a study tool for future perfomers. Interpretative suggestions are offered, based on the experience of learning these songs and on references. The text also presents the phonetic transcription of the poems, as well as a suggested translation to Portuguese, making it easier for Brazilian singers to learn the cycle?s text and prosody.

Avec l’apparition des nouvelles technologies de communication, le nombre des systèmes embarqués avionique et automobile est en constante augmentation. La gestion des communications entre ces systèmes devient alors de plus en plus complexe à mettre en oeuvre dans un contexte où les contraintes temporelles et environnementales sont très fortes et où le taux d’échanges de messages en augmentation continuelle. L’utilisation optimale des réseaux pour acheminer les données tout en respectant les contraintes temporelles imposées est essentielle du point de vue de la sûreté de fonctionnement. Historiquement, pour répondre aux problématiques d’efficacité et de sûreté, les industriels ont développé une palette de réseaux embarqués dédiés à leurs applications cibles (CAN, LIN, . . . ). Ces réseaux présentaient des débits relativement faibles à un moment où un besoin croissant en bande passante se faisait ressentir. le choix d’utiliser le concept de composants dit ‘sur étagères’ (off the shelf COTS) permettait alors de pallier à ce nouveau besoin. Dans un souci de conservation des capacités des réseaux à garantir les contraintes temporelles imposées par les systèmes embarqués temps réel, les industriels ont dû adapter ce concept de composants sur étagères aux systèmes embarqués. L’intérêt de l’utilisation de ces composants est un gain non négligeable en bande passante et en poids pour des coûts de développements relativement faibles. L’introduction de ces composants nouveaux s’est faite de telle sorte que leur impact sur les standards préexistants et les systèmes connectés soit minimal. C’est ainsi que les réseaux dit ‘hétérogènes’ ont vu leur apparition. Ces réseaux constituent une hybridation entre les technologies embarquées historiques et les composants sur étagère. Ils consistent en des réseaux d’extrémité utilisant des technologies éprouvées (telles que le CAN) interconnectés via des passerelles à un réseau fédérateur (backbone) utilisant des composants sur étagères. Dès lors, le défi majeur à relever lors de l’utilisation d’un réseau fédérateur est de respecter les contraintes temporelles des applications sollicitant les différents réseaux. L’objectif est mis à mal sur les points d’interconnexion des réseaux hétérogènes (Passerelles). Ainsi l’approche principale utilisée pour le passage d’un réseau à un autre est l’encapsulation de trames. Pour atteindre l’optimalité de performance de cette technique plusieurs paramètres sont à prendre en compte tels que le nombre de trames à encapsuler, les ordonnancements utilisés, le coût en bande passante ainsi que l’impact sur les distributions de délais (gigue). Dans l’optique de préservation des performances des réseaux, l’objet de nos travaux porte sur l’étude, la comparaison et la proposition de techniques permettant l’interconnexion de réseaux hétérogènes temps réels à la fois pour des applications à faibles et à fortes contraintes temporelles. Après un état de l’art sur les réseaux temps réel, nous spécifions différentes techniques d’interconnexion de réseaux hétérogènes, puis, nous présentons une étude de cas basée sur une architecture réseau interconnectant différents bus CAN via un réseau fédérateur sans fil Wi-Fi. L’étude que nous avons menée montre, par le biais de différentes simulations, que cette architecture réseau est une bonne candidate pour la transmission de flux à contraintes temporelles faibles. Une architecture réseau interconnectant différents bus CAN via un réseau fédérateur Ethernet commuté est ensuite considérée dans une seconde étude de cas ciblant les applications à fortes contraintes temporelles. Dans un premier temps, nous prenons en compte le cas d’un réseau fédérateur Ethernet-PQSE et, dans un second temps, le cas d’Ethernet-AVB. Cette étude nous permet de montrer l’impact des différentes techniques d’interconnexion sur les délais des flux du réseau.

Este documento trata da especificação de uma arquitetura aberta para controle de robôs manipuladores. A arquitetura é implementada utilizando o framework do projeto OROCOS, ambiente que já foi utilizado com sucesso em alguns sistemas de controle de robôs. Esta arquitetura é especificada para um robô manipulador genérico de N juntas, definindo componentes que abstraem o hardware dos robôs. A arquitetura é implementada com três tipos de controladores diferentes: PID independente por junta, controlador de torque calculado e controlador com feedforward. A sua validação é feita através da sua implementação em um robô real. Para isso é utilizada uma placa de acionamento, utilizando o barramento CAN devido ao seu determinismo e a sua taxa de comunicação. Também é necessário a utilização do modelo dinâmico do robô para as estratégias de controle de torque calculado e com feedforward. A obtenção de tal modelo é feita neste trabalho de forma analítica, e a seguir os parâmetros são identificados usando o sistema proposto. / This work deals with the specification of an open architecture for control of manipulator robots. The architecture is implemented by using the OROCOS framework. The architecture is specified for a generic manipulator robot with N joints, through definition of components which abstract the hardware of the robot. Three different controllers are implemented: an independent PID for each joint, a computed torque controller and a controller with feedforward. The validation is made through the implementation on the Janus robot. For this purpose, an actuator card is defined. This card uses the CAN bus due its determinism and bus rate. The dynamic model of Janus, used in computed torque and feedforward controllers, is obtained in an analytical way. After that, the parameters of this model are identified using the least squares method.

The thesis draws attention to the most frequent causes of children unfavourable life situations which are solved in crisis centres. Introductory part focuses on theoretical definitions of crisis, crisis intervention, family and its importance for children, the problems of divorces and CAN syndrome. The aim of the thesis was to find out which are the most frequent problems encountered by the crisis centres workers and compare the clients and services of two selected crisis centres in Prague and České Budějovice. At the beginning the hypothesis was stated: the problems of CAN syndrome in clients of crisis centres occurs more often than other problems. The hypothesis was proved only in Children Crisis Centre in Prague. For the service comparison of the chosen centres semi-standardized interview with nine informants was used. From the answers of crisis centre workers the following hypothesis emerged: crisis centre workers suppose that provided services in terms of crisis intervention are sufficient.

La théorie de l'échantillonnage uniforme des signaux, développée en particulier par C. Shannon, est à l'origine du traitement numérique du signal. Depuis, de nombreux travaux ont été consacrés à l'échantillonnage non uniforme. Celui-ci permet, d'une part, de modéliser les imperfections des dispositifs d'échantillonnage uniforme. D'autre part, l'échantillonnage peut être effectué de manière délibérément non uniforme afin de bénéficier de propriétés particulières, notamment un assouplissement des conditions portant sur le choix de la fréquence moyenne d'échantillonnage. La plupart de ces travaux reste dans un cadre théorique en adoptant des schémas d'échantillonnage et des modèles de signaux simplifiés. Or, actuellement, dans de nombreux domaines d'application, tels que les communications par satellites, la conversion analogique-numérique s'effectue sous des contraintes fortes pour les largeurs de bande mises en jeu, en raison notamment des fréquences très élevées utilisées. Ces conditions opérationnelles accentuent les imperfections des dispositifs électroniques réalisant l'échantillonnage et induisent le choix de modèles de signaux et de schémas d'échantillonnage spécifiques. Cette thèse a pour objectif général d'identifier des modèles d'échantillonnage adaptés à ce cadre applicatif. Ceux-ci s'appliquent à des signaux aléatoires passe-bande, qui constituent un modèle classique en télécommunications. Ils doivent prendre en compte des facteurs technologiques, économiques ainsi que des contraintes bord de complexité et éventuellement intégrer des fonctionnalités propres aux télécommunications. La première contribution de cette thèse est de développer des formules d'échantillonnage non uniforme qui intègrent dans le domaine numérique des fonctionnalités délicates à implémenter dans le domaine analogique aux fréquences considérées. La deuxième contribution consiste à caractériser et à compenser les erreurs de synchronisation de dispositifs d'échantillonnage non uniforme particuliers, à savoir les convertisseurs analogique-numérique entrelacés temporellement, via des méthodes supervisées ou aveugles. / The theory of uniform sampling, developed among others by C. Shannon, is the foundation of today digital signal processing. Since then, numerous works have been dedicated to non uniform sampling schemes. On the one hand, these schemes model uniform sampling device imperfections. On the other hand, sampling can be intentionally performed in a non uniform way to benefit from specific properties, in particular simplifications concerning the choice of the mean sampling frequency. Most of these works have focused on theoretical approaches, adopting simplified models for signals and sampling devices. However, in many application domains, such as satellite communications, analog-to-digital conversion is submitted to strong constraints over the involved bandwidth due to the very high frequencies used. These operational conditions enhance the imperfections of the involved electronic devices and require the choice of particular signal models and sampling schemes. This thesis aims at proposing sampling models suitable for this context. These models apply to random band-pass signals, which are the classical models for telecommunication signals. They must take into account technological, economical factors and on-board complexity constraints and allow to integrate particular functionalities useful for telecommunication applications. This thesis first contribution is to develop non uniform sampling formulas that can digitally integrate functionalities that appear to be tricky in the analog domain at the considered frequencies. The thesis second contribution consists in applying non uniform sampling theory to the estimation and compensation of synchronization errors encountered in particular sampling devices, the timeinterleaved analog-to-digital converters. This estimation will be performed through supervised or blind methods.

O protocolo de comunicação CAN destaca-se há mais de duas décadas como um dos protocolos de comunicação mais utilizados na indústria automotiva. Porém a demanda cada vez maior de novas tecnologias embarcadas e as limitações do padrão (máximo de 8 bytes por mensagem e velocidade de até 1 Mbps) provocam a elevação da taxa de ocupação do barramento de comunicação a ponto de comprometer a sua viabilidade em determinadas aplicações. Em situações como esta, a adoção de protocolos de comunicação de maior velocidade (como FlexRay por exemplo) pode causar impactos indesejados aos projetos, como elevação de custos e necessidade de redimensionamento completo de sistemas já existentes. Com o intuito de atender parte desta demanda, surge como proposta o protocolo CAN FD, uma evolução do CAN clássico desenvolvida pela empresa BOSCH no ano de 2012 e a ser definitivamente normatizada apenas no segundo semestre de 2016. O protocolo CAN FD mantém algumas características do CAN clássico e sua maior inovação está na manipulação do campo de dados da mensagem, de modo a oferecer maior velocidade de transmissão (até 10 Mbps) e maior quantidade de dados por mensagem (até 64 bytes). Por tratar-se de um protocolo novo, ainda não implementado em sistemas veiculares, propõe-se neste trabalho a realização de estudo para avaliação do desempenho do novo padrão CAN FD em substituição a um sistema CAN tradicional. O sistema a ser avaliado, neste caso, trata-se de uma rede de comunicação CAN de um caminhão fora-de-estrada, o qual possui duas redes de comunicação SAE J1939, uma para o chassi e outra para a carroceria, interligadas por uma interface de comunicação. Este trabalho apresentará estudo de caso para aplicação do CAN FD no sistema proposto, através da simulação de mensagens CAN e CAN FD e avaliação das taxas de ocupação das linhas de comunicação e avaliação de possíveis atrasos relacionados à transmissão das mensagens. / CAN communication protocol stands out for more than two decades as one of the communication protocols most commonly used in the automotive industry. But the increasing demand of new embedded technologies and the CAN limitations (maximum of 8 bytes per message and a baud rate of until 1 Mbps) cause the elevation of the bus load to the point of compromising its viability in certain applications. In these situations, the adoption of faster protocols (such as FlexRay for example) can cause unwanted impacts on projects, such as higher costs and the need of redesigning existing systems. In order to meet part of this demand comes the new CAN FD protocol, an evolution of the classic CAN, developed by BOSCH company in 2012 and to be definitely normalized only in the second semester of 2016. The CAN FD protocol maintains some characteristics of classic CAN and as a further innovation, the improvement of the message data field, in order to provide higher transmission rates (up to 10 Mbps) and greater amount of data per message (up to 64 bytes). Considering that CAN FD is a new protocol, not yet implemented in vehicular systems, it’s proposed in this work to perform a study to evaluate performance of the new CAN FD standard to replace the traditional CAN system. The system to be evaluated, in this case, is the CAN communication system of an off-road truck, which own two SAE J1939 communication networks, one for the chassis and one for the body, connected by communication interface. This report presents a case study for the application of CAN FD in the proposed system, by simulating CAN and CAN FD messages and evaluation of bus load and eventual delays related to the messages transmission.

The Master thesis entitled as "The Personal View of a Child on Sexual abuse and Its Social Impact" is a research work dealing with the analysis of the monograph "The Spider Games" by Zuzana S. The main aim of the work is to find out what social impact sexual abuse had on the author's life. The research was conducted as a qualitative investigation based on an anchored theory using a monograph analysis as a data acquisition technique. The Student has used the individual case studying method. The results showed that a sexual abuse had an impact on the author's life in all aspects. The sexual abuse has influenced the most the partner's relationships, the relationships in her family, the author's health, author's self-concept, and her sexuality. The work could be beneficial for the general public interested in this problematic, because it provides theoretical basics and refers to the direct resources. Furthermore, we can see the beneficial possibility of this work, to carry out a more extensive research to investigate the theoretical claims. The thesis can be useful for workers in helping professions, as to understand the victims of sexual abuse.

Este documento trata da especificação de uma arquitetura aberta para controle de robôs manipuladores. A arquitetura é implementada utilizando o framework do projeto OROCOS, ambiente que já foi utilizado com sucesso em alguns sistemas de controle de robôs. Esta arquitetura é especificada para um robô manipulador genérico de N juntas, definindo componentes que abstraem o hardware dos robôs. A arquitetura é implementada com três tipos de controladores diferentes: PID independente por junta, controlador de torque calculado e controlador com feedforward. A sua validação é feita através da sua implementação em um robô real. Para isso é utilizada uma placa de acionamento, utilizando o barramento CAN devido ao seu determinismo e a sua taxa de comunicação. Também é necessário a utilização do modelo dinâmico do robô para as estratégias de controle de torque calculado e com feedforward. A obtenção de tal modelo é feita neste trabalho de forma analítica, e a seguir os parâmetros são identificados usando o sistema proposto. / This work deals with the specification of an open architecture for control of manipulator robots. The architecture is implemented by using the OROCOS framework. The architecture is specified for a generic manipulator robot with N joints, through definition of components which abstract the hardware of the robot. Three different controllers are implemented: an independent PID for each joint, a computed torque controller and a controller with feedforward. The validation is made through the implementation on the Janus robot. For this purpose, an actuator card is defined. This card uses the CAN bus due its determinism and bus rate. The dynamic model of Janus, used in computed torque and feedforward controllers, is obtained in an analytical way. After that, the parameters of this model are identified using the least squares method.