Atualmente a otimização e redução de custos verificados na fabricação de tubulações está caminhando para um limite. Toda e qualquer modificação no processo produtivo exige grandes investimentos com retorno a prazos cada vez maiores. Assim, a possibilidade de poder contar com técnicas que permitam a redução de esforços sobre tubulações enterradas traz sem dúvida uma importante contribuição. Este trabalho estuda o uso da trincheira como forma de reduzir os esforços que atuam sobre condutos enterrados, utilizando duas séries de ensaios denominados \"A\" e \"B\". Cada série é composta basicamente de quatro combinações diferentes, com variações geométricas da relação de altura relativa (h/B) e largura relativa (b/B). A série B teve a posição relativa (H/B) da camada flexível modificada em relação à série A. Os ensaios realizados no Departamento de Geotecnia da Escola de Engenharia de São Carlos apresentam como resultado uma redução dos esforços da ordem de 44% a 86% em relação ao ensaio de referência montado sem o uso da camada indutora. / Nowadays the optimization and the reduction of costs verified in the pipes production are walking for a limit. All and whatever modification on the productive process demands great investments with larger time return. Thus, the possibility of taking account with techniques that allows reduction efforts on buried pipes bring without any doubt, an important contribution. This work studies the induced trench to reduce the efforts that act over buried conduits, using two series, \"A\" and \"B\", with four treatments each one. The A series is composed with four different combinations. These combinations have geometric variation between relative height (h/B) and relative width (b/B) of flexible layers, were built directly over the trap door. The \"B\" series is composed with the same geometric flexible layer used in series \"A\", and they have their relative position (H/B) modified. The treatments were conducted at the \"Departamento de Geotecnia\" da \"Escola de Engenharia de São Carlos\". The results obtained were a reduction of the 44 to 86% on the efforts in relation to the reference treatment built without the use of an induced layer.

La recherche d’une locomotion performante sur des terrains accidentés constitue encore à l’heure actuelle un défi pour les systèmes robotisés de toutes sortes s’y attelant. Les robots hybrides de type “roues-pattes”, qui tentent d’allier l’efficacité énergétique des roues à l’agilité des pattes, en sont un exemple aux capacités potentiellement très prometteuses. Malheureusement, le contrôle de telles structures s’avère rapidement problématique du fait des redondances cinématiques, mais aussi et surtout de la difficulté que pose la connaissance exacte de la géométrie du sol à mesure que le robot avance. Cette thèse propose alors une réponse à la complexité des systèmes roulants reconfigurables par une approche synergique entre compliance et actionnement. Pour cela, nous proposons d’exploiter une décomposition idéalement orthogonale entre les différentes formes de compliances qui réalisent la suspension du robot. Ainsi, l’actionnement au sein de la structure est ici dédié à un contrôle des efforts verticaux s’exerçant sur les roues, tandis que les déplacements horizontaux de ces dernières sont le fait d’une raideur passive combinée à une modulation locale des vitesses d’entraînement. La posture du robot est maîtrisée via l’asservissement des forces verticales fournies par un actionnement de type série-élastique. Ceci permet de garantir une adaptation spontanée de la hauteur des roues tout en conservant l’ascendant sur la distribution de la charge. La faisabilité d’un tel système de locomotion est validée à travers un prototype reposant sur quatre “roues-pattes” compliantes. Celui-ci, entièrement conçu dans le cadre de cette étude, approche la décomposition fonctionnelle proposée tout en répondant aux contraintes de réalisation et de robustesse. Tirant parti de la décomposition fonctionnelle proposée pour la structure, deux procédés de commande sont présentés afin de réaliser le franchissement des obstacles : le premier vise à exploiter l’inertie du châssis pour réaliser une modification locale des forces verticales appliquées aux roues, tandis que le second est basé sur la sélection d’un mode de répartition des efforts adaptés à la poursuite d’une évolution quasi-statique en toutes circonstances. Pour cette dernière commande, deux méthodes de synthèse sont abordées : l’une via un algorithme d’apprentissage de type “Q-learning” et l’autre par détermination de règles expertes paramétrées. Ces commandes, validées par des simulations dynamiques dans des situations variées, se basent exclusivement sur des données proprioceptives accessibles immédiatement par la mesure des variables articulaires de la structure. De cette manière, le robot réagit directement au contact des obstacles, sans avoir besoin de connaître à l’avance la géométrie du sol. / Performing an efficient locomotion on rough terrains is still a challenge for robotic systems of all kinds. “Wheel-on-leg” robots that try to combine energy efficiency of wheels with leg agility are an example with potentially very promising capabilities. Unfortunately, control of such structures turns out to be problematic because of the kinematic redundanciesand, above all, the difficulty of precisely evaluating the ground geometry as the robot advances. This thesis proposes a solution to the complexity of reconfigurable rolling systems by a synergic approach between compliance and actuation.To this purpose, we propose to exploit an ideally orthogonal decomposition between the different movements enabled by the robot suspension due to compliant elements. Then, the structure actuation is here dedicated to controlling the vertical forces applied on wheels, while the horizontal wheel displacements are due to a passive stiffness combined with a local modulation of wheel speed. The robot posture is controlled through the vertical forces servoing provided by a series elastic actuation. This ensures a spontaneous adaptation of wheel heights while keeping the control on load distribution. The feasibility of such a locomotion system is validated through a prototype based on four compliant “wheel-legs”. Entirely conceived as part of this study, this one approximates the proposed functional decomposition while meeting the realization and robustness constraints. We also present two control methods that take advantage of the functional decompositionproposed for the structure in order to cross obstacles. The first one aims to exploit the chassis inertia in order to perform a local modification of the vertical forces applied on wheels, while the second one is based on the selection of proper ways of distributing forces in order to be able to pursue a quasi-static advance in all circumstances. Two approaches are given for the production of the last control : either with a “Q-learning” algorithm or by determining parameterized expert rules. Validated by dynamic simulations in various situations, these controls rely only on proprioceptive data immediately provided by the measurement of articular variables. This way, the robot directly reacts when it touches obstacles, without having to know the ground geometry in advance.

Våld i nära relation förekommer i alla samhällsklasser. Syftet med studien var att få fördjupad kunskap kring olika samhällsinstansers arbete i närområdet kring våldsutövare och våldsutsatta i våld i nära relation, samt hur de arbetar med att minska våldet. Intervjuer genomfördes med åtta olika samhällsaktörer för att få reda mer och undersöka våld i nära relation. Genom att använda normkritiska glasögon vill studien undersöka om resultatet stöder antagandet att ett samhällsnormbrytande beteende härstammar från normer. Intervjuerna var semistrukturerade med en intervjuguide med öppna frågor. Det empiriska materialet analyserades med tematisk analys. Resultatet visar på att våldet i nära relation är fysiskt våld som ofta är kombinerat med andra olika former av som sexuellt och psykiskt våld. Våldet i våld i nära relation leder förutom fysiska skador och psykiska besvär, till långsiktiga konsekvenser för de enskilda individerna, samhället och familjen. Våld i nära relation anses som ett stort samhällsproblem både internationellt och i Sverige ochär en kränkning mot de mänskliga rättigheterna. Det svenska samhällets ansvar är arbeta förebyggande mot våld i nära relation och samtidigt stödja de medborgare som är och varit utsatta för våld i nära relation. Resultatet visat att Trollhättans stad samarbetar med flera olika samhällsinstanser för att motverka mäns våld i nära relation och de ligger i framkant i Sverige när det gäller att förebygga och samtidigt minska konsekvenserna som uppstår i våld i nära relation och samtidigt sänka samhällskostnaderna / Violence in close relationship occurs in all social classes. The purpose of the study was to gain in-depth knowledge of the work of various social institutions concerning violence and particularly violence in close relationships, as well as how they work to reduce violence. Interviews were conducted with eight different actors in society to find out more and to investigate violence in close relationships. Using a norm-critical perspective, the study investigated whether the results support the assumption that a society-breaking behavior stems from norms. The interviews were semi-structured with an open-ended interview guide. The empirical material was analyzed with thematic analysis. The result shows that the violence in close relationship is physical violence, often combined with other forms of sexual and psychological violence. The violence in close relationships leads in addition to physical injuries and mental disorders, to long-term consequences for the individual individuals, society and the family. Violence in close relationship is considered a major social problem both internationally and in Sweden and is an infringement of human rights. The responsibility of Swedish society is to work against violence in close relation while supporting the citizens who are and have been exposed to violence in a close relation. The result showed that Trollhättan's city collaborates with several different social institutions to counter men's violence in close relationships and that they are at the forefront in Sweden in preventing and at the same time reducing the consequences of violence in close relationships while reducing social costs.

Le travail de recherche réalisé dans le cadre de cette thèse introduit une nouvelle approche thermomécanique pour la modélisation du procédé de taillage à la fraise-mère et la maitrise de la précision géométrique et la qualité des pièces fabriquées. Le processus de coupe de la génération des dentures des couronnes de grandes dimensions a été simulé pour la prédiction des efforts de coupe. Le calcul de ces efforts s’est basé sur trois phases : une phase de simulation de l’'intersection géométrique entre l'outil et la pièce moyennant une simulation de la cinématique du procédé par le logiciel CATIA, une phase de simulation numérique ALE (Approche Eulérienne-Lagrangienne) 2D de la coupe orthogonale, et une dernière phase dite ‘simulation mécanistique’ qui utilise les résultats des deux premières phases pour la prédiction des efforts de coupe. La présente approche conduit à un modèle de prédiction des efforts de coupe 3D pour le processus de taillage et apparaît comme une alternative intéressante à l'approche classique de la littérature qui nécessite beaucoup d’essais expérimentaux pour déterminer les coefficients spécifiques de coupe caractéristique du matériau usiné. Nous avons également proposé une approche prédictive basée sur une modélisation analytique de l’interaction arête-copeau lors d’une opération de taillage en finition. La démarche proposée présente l'intérêt de s'affranchir des essais d'usinage, souvent longs et couteux, dans le cas de cette opération complexe (gabarit et géométrie des pièces, cinématique, formation de copeau, etc.). Enfin, le modèle proposé a été appliqué pour analyser le taillage des grandes couronnes (plusieurs mètres) en phase de finition / This work introduces a novel approach for a predictive model for hobbing process in order to improve the geometrical accuracy and quality of the manufactured part. An industrial case study of the generation of the teeth was simulated for prediction of effort. The calculation of the cutting forces is based on several steps: tool/part intersection step by means of a kinematic simulation of the process by CATIA, 2D numerical simulation of the process of the orthogonal cutting and finally the last step called ‘mechanistic simulation’ which uses the results of the other two steps for the prediction of cutting forces. This approach leads to model the 3D cutting force for hobbing process and appears as an interesting alternative to traditional mechanistic approach which requires a lot of experimental tests to determine the cutting force coefficients. Besides, we have proposed a predictive approach based on an analytical modeling of chip formation in finishing hobbing operation. The interest of the suggested approach is to be able to avoid machining tests in the case of this very complicated operation (huge dimensional parts, kinematic, chip formation process, etc...). Finally, the proposed model was applied to analyze the hobbing of larges parts (several meters) during finishing stage

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The overall aim of this thesis is to examine households´ preferences towards relaxing the time demanding aspects of transporting sorted packaging waste. According to welfare economics, households should be willing to pay an amount equal to their reservation wage to benefit from more leisure time. However, specific types of norms, e.g., personal, self-internalized norms, and warm-glow motives may affect this decision. A theoretical model building on the notion that household members prefer to maintain a positive self-image as a responsible person is therefore used. In total 500 surveys were sent out to villas in the municipality of Skellefteå in order to gather information about recycling motives, socio-economic status and time spent on dropping-off packaging waste. The survey also presented a scenario similar to existing curbside recycling schemes in order to examine households’ willingness-to-pay (WTP) to relax the burden of transporting already sorted packaging waste. The empirical results show how both personal norms (giving rise to a feeling of guilty conscious if not recycling) and the warm-glow of giving affect the WTP for responsibility relief. Stronger personal norms implies a higher likelihood that persons have a positive willingness-to-pay for curbside recycling schemes, while strong warm-glow motives instead lead to a lower likelihood. Overall, the average WTP (per hour saved) tends to be lower than the opportunity cost of time measured through the average wage rate after tax. / Denna rapport behandlar hushålls uppfattning gällande att minska tidskrävande transport av redan källsorterade förpackningar i hemmet. Individen borde enligt ekonomisk teori vara villig att betala motsvarande hans/hennes reservationslön för att frigöra ytterligare fritid. Däremot kan specifika normer, såsom personliga (självpålagda) normer, och så kallade ”warm-glow” motiv påverka beslutet. En teoretisk modell som bygger på idén att individer föredrar att upprätthålla en positiv självbild som en ansvarsfull person utnyttjas. 500 enkäter skickades ut till villor inom Skellefteå kommun med uppgift att samla in data gällande motiv till källsortering, socioekonomisk status och tid nedlagd på att transportera källsorterade förpackningar. Ett scenario likt nuvarande implementering av fastighetsnära insamling lades fram för att undersöka hushållens betalningsvilja (WTP) för inte behöva transportera källsorterade förpackningar till en återvinningsstation. Resultaten visar hur både personlig norm (som bland annat ger individen dåligt samvete av att inte källsortera) och motivet ”warm-glow” påverkar WTP för minskat ansvar. En starkare personlig norm medför en högre sannolikhet för en positiv betalningsvilja, medan ett starkt ”warm-glow” motiv i stället leder till en motsvarande lägre sannolikhet. Slutligen, den genomsnittliga betalningsviljan (per sparad timme) tenderar att vara avsevärt lägre än den genomsnittliga lönenivån (efter skatt).

The current study examined the impact of a recently restarted football program and a new on-campus stadium on the alumni and students of a Division I FCS commuter school. Results showed that alumni felt more connected to the university because of the new football program, they were more satisfied with their overall game-day experience, and the new football stadium was more likely to increase their game attendance when compared to students. Supplementary analysis highlights key differences in how each group rated individual elements of the game-day experience and the mediums used by each group for obtaining team-related information.

Climate alliances like the Climate Council Jönköping have a big impact on combating environmental issues on a local level. Research shows that communication plays a crucial role in such cross-sector partnerships to enhance the collaboration between its members. This thesis wants to explore the impact of climate alliances on their members’ sustainable communication and CSR initiatives, using the example of the Climate Council Jönköping. Based on different theories, namely Communication Constitutes Organization Theorizing, the Model of CSR Implementation, and the Value Belief Norm Theory of Environmentalism, the aim was to contribute knowledge to the research fields of sustainable communication, CSR, and collaboration. To explore the existing research gap, twelve semi-structured interviews with experts from different member organizations of the Climate Council were conducted. By applying qualitative content analysis, it became visible that the Climate Council’s impact on communication and CSR efforts differs among the members. On the one hand, it can be difficult to include the campaigns of the council into one’s own communication. On the other hand, the membership raises awareness about sustainability and environmental topics and enables collaboration and knowledge exchange through cross-sector partnerships. Based on the findings, it can be recommended to the Climate Council to provide more communication material for the members for easy integration. Additionally, more events can increase the visibility of the council and raise awareness for local cross-sector collaborations to tackle environmental problems, enable new networking options, and establish innovative partnerships.

I performed a secondary analysis of existing data and determined that when interacting with physicians during primary care visits for chronic illness treatment, patients using opioids are less likely to continue presenting concerns designed to reinforce their social and emotional uniqueness during the second half of primary care visits when physicians provide empathic support of their concerns in the first half of visits.