Von Fahrzeugen des Öffentlichen Verkehrs sind deren Positionen bekannt, wenn sie informationstechnisch in ein Betriebsleitsystem eingebunden sind. Über die auf dem Streckenband zwischen Meldepunkten zurückgelegte Wegstecke und die jeweils dafür benötigte Zeit kann auf die mittlere Geschwindigkeit geschlossen werden. Aus dieser wiederum kann eine Verkehrslageaussage abgeleitet werden. In wie weit diese für den Gesamtverkehrsstrom gültig, belastbar und richtlinienkonform ist, welche Randbedingungen für eine Auswertung einzuhalten sind, welche Verfahren sich zur Aufbereitung anbieten und welche Nutzungsszenarien unterstützt werden, wird aufgezeigt.

Long Walk in Flight School is a document intended to complement a body of artwork that includes photographs, giclee prints, animation, and a twenty two page book of images. The main focus of the text is to discuss two types of exchange; my energy with tools in exchange for an object or event, which is then exchanged in the imagination of the audience for something else, a hybrid thing. These exchanges are part of the performance or presentation of the work. Beginning with a brief description of intent at the start of graduate school, it traces my development as an artist over a two year period, highlighting shifts in my thinking and activity during that time. Finally, it describes my thesis artwork as a set of potential narratives that are conceptually related but visually diverse.

This thesis The Comparison of the Traditional Material Transport in the Mountain Economy of the Krkonoše and Šumava Mountains introduces the traditional forms of material and goods transport in the Krkonoše Mountains (the Giant Mountains) and the Šumava Mountains (the Bohemian Forest). The way of life in the highland area of Giant Mountains was significantly affected by the Alpine colonization in the second half of the 16th century. The Alpine colonists brought knowledge of logging, mountain economy and transport equipment into the mountains. Inhabitants of the Giant Mountains used water power, skids, later sledge called "rohacky" for bundles of wood. They also used backpacks, textile "loktuse", baskets, wheeled means of transportation and animal skid for the transport of other goods and materials. The comparison shows that the Bohemian Forest unlike the Giant Mountains was populated by gradual colonization of woodmen from the surrounding regions. Various forms of traditional vehicles were applied in this area. Unlike the Giant Mountains there was increasingly developed timber transport on the canals and rivers. The thesis maps the traditional modes of material transport in both regions, highlightes their differences and records their transformation in the present. Powered by TCPDF (www.tcpdf.org)

M.A. / This study was prompted principally by two events: reading Kazuo Ishiguro's The Remains of the Day (1989), and encountering Pico lyer's Time article "The Empire Writes Back" (1993). lyer argues that the late twentieth century has been witness to an important event in the world of literature: the emergence of a new generation of writers writing in English, but not necessarily originating from British-colonial (or postcolonial) backgrounds. Among the writers lyer mentions are Vikram Seth, Michael Ondaatje, Ben Okri and - most notably - Kazuo Ishiguro. Ishiguro was born in Japan but emigrated with his parents to the United Kingdom at the age of six. This study focuses on his biculturalism and the impact that his mixed upbringing has had on his style and thematic concerns. This forms the principal focus of the first part of the study. The influence of Japanese writers, that of Japanese film and, finally, that of the European literary tradition are looked at in turn. The core of this study is a comparative analysis of Ishiguro's first three novels: A Pale View of Hills (1982), An Artist of the Floating World (1986), and The Remains of the Day (1989). Here certain common pre-occupations are identified and discussed - chiefly, Ishiguro's concern with memory, with constructions of the past, and his use of "unreliable" first-person narrators. It is argued that Ishiguro returns insistently to these thematic concerns in his first three novels, and that they can therefore be seen as constituting a three-part exploration of the notion of memory, of "reconstructing" the past. A separate chapter briefly examines Ishiguro's most recent work, The Unconsoled (1995), in which these themes are once again present, although they are bodied forth in a strikingly different style. The purpose of examining this novel is mainly to illustrate its formal and stylistic divergence from the first three (far more successful) novels - a divergence which in turn serves to throw into relief the thematic integrity of the first three novels. The study concludes by drawing together the discussion of the first three novels before moving on to a consideration of Ishiguro's place in what has become known as "New Internationalism". Here it is argued that Ishiguro's work has important resemblances to that of other writers loosely grouped into this literary movement and that he deserves his place among this illustrious group of writers who are changing the face of world literature written in English.

Les mémoires à nanocristaux de silicium sont considérées comme l'une des solutions les plus intéressantes pour remplacer les grilles flottantes dans les mémoires Flash pour des applications de mémoires non-volatiles embarquées. Ces nanocristaux sont intéressants pour leur compatibilité avec les technologies de procédé CMOS, et la réduction des coûts de fabrication. De plus, la taille des nanocristaux garantie un faible couplage entre les cellules et la robustesse contre les effets de SILC. L'un des principaux challenges pour les mémoires embarquées dans des applications mobiles et sans contact est l'amélioration de la consommation d'énergie afin de réduire les contraintes de design de cellules. Dans cette étude, nous présentons l'état de l'art des mémoires Flash à grille flottante et à nanocristaux de silicium. Sur ce dernier type de mémoire une optimisation des principaux paramètres technologiques a été effectuée pour permettre l'obtention d'une fenêtre de programmation compatible avec les applications à faible consommation d'énergie. L'étude s'attache à l'optimisation de la fiabilité de la cellule à nanocristaux de silicium. On présente pour la première fois une cellule fonctionnelle après un million de cycles d'écriture et effacement dans une large gamme de températures [-40°C;150°C], et qui est capable de retenir l'information pendant dix ans à 150°C. Enfin, une analyse de la consommation de courant et d'énergie durant la programmation montre l'adaptabilité de la cellule pour des applications à faible consommation. Toutes les données expérimentales ont été comparées avec les résultats d'une cellule standard à grille flottante pour montrer les améliorations apportées. / The silicon nanocrystal memories are one of the most attractive solutions to replace the Flash floating gate for nonvolatile memory embedded applications, especially for their high compatibility with CMOS process and the lower manufacturing cost. Moreover, the nanocrystal size guarantees a weak device-to-device coupling in an array configuration and, in addition, for this technology it has been shown the robustness against SILC. One of the main challenges for embedded memories in portable and contactless applications is to improve the energy consumption in order to reduce the design constraints. Today the application request is to use the Flash memories with both low voltage biases and fast programming operation. In this study, we present the state of the art of Flash floating gate memory cell and silicon nanocrystal memories. Concerning this latter device, we studied the effect of main technological parameters in order to optimize the cell performance. The aim was to achieve a satisfactory programming window for low energy applications. Furthermore, the silicon nanocrystal cell reliability has been investigated. We present for the first time a silicon nanocrystal memory cell with a good functioning after one million write/erase cycles, working on a wide range of temperature [-40°C; 150°C]. Moreover, ten years data retention at 150°C is extrapolated. Finally, the analysis concerning the current and energy consumption during the programming operation shows the opportunity to use the silicon nanocrystal cell for low power applications. All the experimental data have been compared with the results achieved on Flash floating gate memory, to show the performance improvement.

The work deals with a theoretical description of mathematical model and practical aspects of model simulation. Subsequently, it solves the current flow and the two design versions of the flowing debris trap profile. For the original channel and for the two designed versions two simulations were done for the flows of Q2 and Q5. As part of the work the theoeretical calculation of velocity in two cross sections of the existing channel was realized for the existing channel, which were due to calibration of the model. Results were compared at the same cross sections in the existing channel simulation solutions. Simulations are created in FLOW-3D. The purpose of this thesis is to determine whether the construction of trap profile is feasible.

Suite à la mise en place de politiques publiques favorisant les énergies renouvelables, la construction de fermes éoliennes offshore est en plein essor aux quatre coins du monde. Or, la technique de l'éolienne offshore posée, la seule utilisée actuellement, n'est pas viable économiquement dans des eaux trop profondes. Ceci représente un sérieux frein au développement de l'énergie éolienne. Pour cette raison, la communauté scientifique s'intéresse depuis plusieurs années aux éoliennes sur plates-formes flottantes. En eau profonde, cette technologie est intéressante. Mais le fait que l'éolienne ne soit pas encastrée au fond de la mer augmente très significativement les sollicitations mécaniques induites par les vagues.Pour réduire ces sollicitations qui ont de nombreux effets néfastes, différentes approches sont possibles. Essayer de compenser les oscillations « avant-arrière » du mât de l'éolienne en pilotant la force de poussée exercée au niveau du rotor a déjà été écarté dans la littérature. Nous nous sommes concentrés sur l'ajout d'un dispositif de stabilisation interne à la plate-forme, de type Tuned Liquid Column Damper (un tube en U contenant un liquide, TLCD, encore appelé tube anti-roulis), utilisé dans d'autres contextes. Le dispositif que nous proposons est un dispositif actif où les paramètres du TLCD sont ajustés en temps réel, au cours du mouvement induit par les vagues. La mise à jour des paramètres suit une stratégie reposant sur une analyse des interactions entre le TLCD et la plate-forme (appelée ici barge) sur laquelle est installée l'éolienne. Nous avons modélisé le mouvement de la barge seul et son couplage avec le TLCD dans le plan grâce à une approche Lagrangienne. Nous avons étudié les effets des interactions du TLCD avec la barge dans le cas où le coefficient de perte de charge dans le tube était constant. Les limites de cette approche ont été détaillées grâce aux résultats classiques de la littérature sur les oscillateurs mécaniques couplés. Nous nous sommes ensuite concentrés sur une approche active consistant à modifier les caractéristiques du système en temps réel. Nous avons proposé des stratégies de type Linear Quadratic Regulator et de type Model Predictive Control agissant sur le coefficient de perte de charge. Dans un deuxième temps, les simulations nous ont ensuite permis d'écarter la commande MPC dont le rapport performance / complexité n'est pas favorable par rapport à la commande LQR dans ce cas précis.Une étude plus générale du système, en trois dimensions, nous a permis de vérifier que le TLCD classique dans sa version passive ou dans la version active que nous proposions n'est pas du tout robuste à l'incidence de la houle. Nous avons donc imaginé et modélisé des dispositifs inspirés du TLCD mais permettant d'amortir les oscillations de la houle de manière efficace, indépendamment de l'incidence de la houle. Nous avons nommé ces dispositifs TLMCD, pour Tuned Liquid Multiple Columns Damper.Les dispositif que nous proposons sont des systèmes TLMCD actifs. Ils sont conçus d'après les modélisations 3D que nous avons développées et une étude des coûts. Pour ces dispositifs, nous avons aussi détaillé les spécificités de la synthèse des stratégies LQR pour amortir les oscillations de la barge indépendamment de l'incidence de la houle.La performance de ces solutions d'amortissement a finalement été évaluée par simulation pour un large éventail de conditions de houle, couvrant les spécifications d'un “ cahier des charges ” que nous présentons. On observe une réduction des oscillations en roulis de la barge qui peut atteindre un facteur 4 par rapport à l'éolienne flottante sans TLCD. Ces résultats nous montrent que le dispositif TLMCD que nous proposons est un dispositif intéressant pour amortir de manière significative, robuste et économiquement abordable notre système. / Thanks to the recent policies of subsidizing renewables energies, constructions of offshore wind farms are booming all over the world. Yet, fixed-bottom wind turbine technology, the only one currently deployed, are too costly for deep waters. This hinders the development of wind power. This is why the scientific community has an interest in floating wind turbines (FWT). The cost of these wind turbines does not depend much on water depth. But since the wind turbine is not fixed into the seabed, the mechanical stress caused by the waves significatively raises.To reduce these detrimental loads, different approaches can be used. The litterature already discarded the control of the wind thrust applied on the rotor to compensate the "fore-aft" oscillations of the tower. We focused on stabilizing floating wind turbine by means of an attached damping system placed inside the float, it is a Tuned Liquid Column Damper (a U-tube containing a liquid, TLCD, also known as anti-roll tank), used in other areas. The damper we propose is an active system where TLCD parameters are continuously modified. Parameters are updated according to a strategy defined thanks to an analysis of the interactions between TLCD and the float (referred to as barge) supporting the wind turbine. We modelled the coupled dynamics of the barge and the TLCD in the vertical plan using a Lagrangian approach. We studied the motions of the damped system for a constant head-loss coefficient in the TLCD. The limits of this approach were detailed thanks to the classic results in double oscillators literature. Then, we focused on an active approach involving a time varying of the head-loss coefficient. We proposed Linear Quadratic Regulator and Model Predictive Control strategies to determine the head-loss coefficient. At a later stage, simulations enabled us to discard the MPC strategy as its complexity/performance ratio is rather bad compared to the LQR strategy in this particular case.A more general study of the system, in three dimensions, showed us that the TLCD is not robust against wave incidence. Therefore, we imagined and modeled new dampers inspired by the TLCD, which can damp the float effectively, regardless of the wave incidence. We named those dampers Tuned Liquid Multiple Column Damper (TLMCD).The dampers we propose are active TLMCD. Their designs are based on their dynamic properties and a cost study. We also detailed the specificities of LQR design to ensure the best possible robustness against wave incidence.The performance of the proposed TLMCD dampers was assessed through numerical simulations for a wide range of sea conditions. We observe that barge roll can be reduced by a factor of four compared to the undamped FWT. These results show us that the TLMCD we propose is interesting to damp significantly, robustly and economically our FWT.

Ce mémoire présente une étude théorique et expérimentale de joints annulaires à bague flottante ainsi que de joints rainurés segmentés, destinés à assurer l’étanchéité dynamique au sein de machines tournantes à haute vitesse dans les domaines aéronautique et aérospatial. Des joints annulaires à bague flottante ont été testés sur un banc d’essais dédié au sein de l’institut Pprime pour de multiples configurations de vitesse de rotation et de différence de pression étanchée. La réponse dynamique des joints par rapport aux vibrations du rotor a été étudiée pour différentes amplitudes de l’excitation. Certains résultats issus de cette étude ont été confrontés à une modélisation numérique basée sur les équations de mouvement d’un joint soumis aux forces d’inertie, aux forces hydrodynamiques dans son étanchéité principale et aux forces de frottement à l’étanchéité secondaire. Le coefficient de frottement à l’étanchéité secondaire a été estimé à partir du modèle de Greenwood et Williamson, appliqué au cas d’un régime de lubrification mixte. Les comparaisons réalisées valident le modèle numérique utilisé, qui reproduit le comportement d’un joint soumis à une excitation rotorique donnée. Un autre modèle est proposé pour le cas des joints rainurés segmentés. Les écoulements au sein des différentes parties d’un tel joint ont été modélisés par des méthodes distinctes. Les forces de frottement sont étudiées par un modèle similaire à celui utilisé dans le cas des bagues flottantes. Une étude paramétrique sur différentes caractéristiques géométriques et de fonctionnement du joint a été menée. / This thesis presents a theoretical and experimental study of floating ring annular seals and radial segmented seals. These seals are designed to prevent leakage inside high-speed rotating machinery used in aeronautics and aerospace applications. Floating ring annular seals were tested on a dedicated test rig inside the Institut Pprime. Various rotation speed and pressure difference configurations were used. The behavior of the floating rings when submitted to rotor vibrations was studied for different excitation amplitudes. Results from this study were confronted to a numerical model based on the equations of motion of the seal. The seal is driven by inertia forces, hydrodynamic forces in the main seal and friction forces on the secondary seal. The friction coefficient on the secondary seal was estimated by Greenwood and Williamson’s model for mixed lubrication. The analysis validates the theoretical model, which reproduces the dynamic behavior of a seal driven by a given rotor excitation. Another model was used to study segmented seals. The flow in each part of such a seal was modeled with various methods. Friction forces were studied with a model similar to that used for floating rings. A parametric study was performed on various geometric and operating parameters.

Neste trabalho, o equacionamento dinâmico de um manipulador espacial de base livre flutuante é descrito a partir do conceito do manipulador dinamicamente equivalente para que as técnicas de controle desenvolvidas sejam experimentalmente validadas em um manipulador convencional de base fixa. Dois tipos de controle de movimento são considerados. O primeiro foi desenvolvido no espaço das juntas e realiza o comando direto de posicionamento das juntas do manipulador; o segundo foi desenvolvido no espaço inercial e o controle é direcionado para o posicionamento do efetuador no espaço Cartesiano. Nos dois casos, o problema de acompanhamento de trajetória de um manipulador espacial com base livre flutuante sujeito a incertezas na planta e perturbações externas é proposto e solucionado sob o ponto de vista do critério de desempenho H \'INFINITO\'. Considerando métodos de controle para sistemas subatuados, três técnicas adaptativas foram desenvolvidas a partir de um controlador H \'INFINITO\' não-linear baseado na teoria dos jogos. A primeira técnica foi proposta considerando a estrutura do modelo bem definida, porém calculada com base em parâmetros incertos. Uma lei adaptativa foi aplicada para estimar esses parâmetros utilizando parametrização linear. Redes neurais artificiais são aplicadas nas outras duas abordagens adaptativas. A primeira utiliza uma rede neural para aprender o comportamento dinâmico do sistema robótico, considerado totalmente desconhecido. Nenhum dado cinemático ou dinâmico da base é utilizado neste caso. A segunda abordagem considera a estrutura do modelo nominal do manipulador bem definida e a rede neural é aplicada para estimar o comportamento das incertezas paramétricas e da dinâmica não-modelada da base. O critério H \'INFINITO\' é aplicado nas três técnicas para atenuar o efeito dos erros de estimativa. Resultados experimentais foram obtidos com um robô manipulador de base fixa subatuado (UArmII) e apresentaram melhor desempenho no acompanhamento da trajetória e no consumo de energia para as abordagens baseadas em redes neurais. / In the present work, the dynamics of a free-floating space manipulator is described through the dynamically equivalent manipulator approach in order to obtain experimental results in a planar fixed base manipulator. Control in joint and Cartesian spaces are considered. The first acts directly on joints positioning; the second control scheme acts on positioning the end-effector in some inertially fixed position. In both cases, the problem of tracking control with a guaranteed H-infinity performance for free-floating manipulator systems with plant uncertainties and external disturbances is proposed and solved. Considering control methods for underactuated systems, three adaptive techniques were developed from a nonlinear H-infinity controller based on game theory. The first approach was proposed considering a well defined structure for the plant, however it was computed based on uncertain parameters. An adaptive law was applied to estimate these parameters using linear parametrization. Artificial neural networks were applied in the two other approaches. The first one uses a neural network to learn the dynamic behavior from the robotic system, which is considered totally unknown. No kinematics or dynamics data from the spacecraft are necessary in this case. The second approach considers the nominal model structure well defined and the neural network is applied to estimate the behavior of the parametric uncertainties and of the spacecraft non-modeled dynamics. The H-infinity criterion was applied to attenuate the effect of estimation errors in the three techniques. Experimental results were obtained with an underactuated fixed-base planar manipulator (UArmII) and presented better performance in tracking and energy consumption for the neural based approaches.

Como tópico de fundamental importância na robótica, o planejamento de rotas tem encontrado excelentes resultados nos últimos anos através da utilização de algoritmos baseados no conceito de árvore de exploração rápida, RRT. No entanto, a aplicação desses métodos em sistemas robóticos espaciais revela um cenário ainda a ser explorado. O comportamento não-holonômico e a presença de singularidades dinâmicas são alguns fatores que dificultam a consideração de obstáculos no planejamento de rotas desses sistemas. Além disso, os trabalhos relacionados ao planejamento de movimento para manipuladores espaciais mostram-se concentrados na estratégia ponto-a-ponto, com interesse especial nos aspectos particulares da dinâmica desses sistemas. De modo geral, para manipuladores espaciais, o planejamento de trajetória envolvendo o desvio de obstáculos depende de uma rota previamente computada. Contudo, essa tarefa carece de formulações ou técnicas solidificadas, sobretudo para manipuladores espaciais de base livre flutuante. Com esta motivação, o trabalho proposto nesta dissertação de mestrado cria um planejador de rotas com suporte a desvio de obstáculos para um manipulador espacial planar de base livre flutuante. O modelo dinâmico utilizado é baseado no conceito de manipulador dinamicamente equivalente e incorporado a um algoritmo baseado no conceito de RRT. / As major challenge in the field of robotics, path planning has experienced successful results in recent years by means of the RRT algorithm. However, the application of such algorithms in space manipulators reveals a scenario yet to be explored. The non-holonomic behavior, added to the presence of dynamic singularities are only a few factors that make collision-avoidance path planning of these systems such a hard task. Besides, works in the field of motion planning of space manipulators often concentrate in the strategy pointto- point, with particular interest in the complex dynamics of such systems. As a rule of thumb, collision-avoidance for space manipulators depends on a previous computed path. However, this task still lacks robust formulations, specially in the case of free-floating manipulators. With this motivation, the proposed work creates a collision-avoiding path planning for a free-floating planar manipulator. The dynamic model is based on the Dynamically Equivalent Manipulator and the concept of Rapidly-Exploring Random Trees serves as a frame for the developed algorithm.