Master of Science

A pesquisa “Raízes para voar – caminhos para uma abordagem somática grounding” investiga a noção de grounding no corpo do performer. Tem como objetivo principal, constituir uma abordagem somática a partir da experiência com o grupo de estudos em grounding, formado especialmente para o desenvolvimento dessa pesquisa. O grounding pode ser entendido como “energia em relação”: um desejo por conexões dentro/fora do corpo e uma atitude que permite comunicação com a Terra. Este senso de grounding está relacionado ao suporte respiratório, ao movimento a partir do assoalho pélvico, à consciência do peso do corpo e do movimento a partir dos pés. Dentro das variadas funções do pé no movimento humano, destaca-se o poder de amortecer o impacto e propulsionar o peso do corpo. Esta dupla personalidade do pé promove o enraizamento necessário para que o corpo salte e suspenda sua massa. Neste sentido, o grounding pode ser descrito metaforicamente como raízes para voar. A abordagem somática entrelaça procedimentos da dança – destacando a influência dos artistas Rudolf Laban e Anna Halprin – e da educação somática (DOWD, 2007; ALEXANDER, 2010) buscando caminhos de acesso ao grounding. Neste sentido, busca-se problematizar a organização e facilitação de tais procedimentos ao grupo, de maneira que os participantes possam se apropriar do material, permitindo reverberar a experiência da pesquisa nos seus trabalhos como atores, terapeutas, músicos, bailarinos, etc. As vivências, registradas em vídeo e acompanhadas de relatos e dos diários de campo constituem a base da reflexão sobre o processo de apropriação de cada integrante, reconhecendo possíveis transformações pessoais. Configura-se como uma pesquisa sobre o processo, de caráter qualitativo, inserida na linha de pesquisa Processos de Criação Cênica do Programa de Pós-Graduação em Artes Cênicas na Universidade Federal do Rio Grande do Sul. / The research "Roots to fly - ways to somatic approach of grounding" investigates the notion of grounding in the body of the performer. It is main purpose, constitute a somatic approach from the experience with the study group, formed especially for the development of this research. The grounding can be understood as "energy in relation": a desire for connections inside/outside the body and an attitude that allows communication with Earth. This sense of grounding is related to breath support, the movement from the pelvic floor, the consciousness of body weight and movement from the feet. Within the various functions of the human foot in motion, there is the power to cushion the impact and propel the weight of the body. This dual personality of the foot promotes rooting necessary to jump and suspend its mass. In this sense, the grounding can be described, metaphorically, as roots to fly. The approach interweaves procedures of dance and somatic education, seeking ways to access the grounding. The research seek to problematize the organization and facilitation of such procedures to the group in such a way that participants can take ownership of the material, allowing reverberate experience of the research in their work as actors, therapists, musicians, dancers, etc.. The experiences, recorded on video and accompanying reports and journals form the basis of reflection on the process of ownership of each member, recognizing possible personal transformations. It configures as a qualitative research process, inserted in the line of research Scenic Creation Processes of the “Programa de Pós-Graduação em Artes Cênicas” at the Universidade Federal do Rio Grande do Sul.

A pesquisa “Raízes para voar – caminhos para uma abordagem somática grounding” investiga a noção de grounding no corpo do performer. Tem como objetivo principal, constituir uma abordagem somática a partir da experiência com o grupo de estudos em grounding, formado especialmente para o desenvolvimento dessa pesquisa. O grounding pode ser entendido como “energia em relação”: um desejo por conexões dentro/fora do corpo e uma atitude que permite comunicação com a Terra. Este senso de grounding está relacionado ao suporte respiratório, ao movimento a partir do assoalho pélvico, à consciência do peso do corpo e do movimento a partir dos pés. Dentro das variadas funções do pé no movimento humano, destaca-se o poder de amortecer o impacto e propulsionar o peso do corpo. Esta dupla personalidade do pé promove o enraizamento necessário para que o corpo salte e suspenda sua massa. Neste sentido, o grounding pode ser descrito metaforicamente como raízes para voar. A abordagem somática entrelaça procedimentos da dança – destacando a influência dos artistas Rudolf Laban e Anna Halprin – e da educação somática (DOWD, 2007; ALEXANDER, 2010) buscando caminhos de acesso ao grounding. Neste sentido, busca-se problematizar a organização e facilitação de tais procedimentos ao grupo, de maneira que os participantes possam se apropriar do material, permitindo reverberar a experiência da pesquisa nos seus trabalhos como atores, terapeutas, músicos, bailarinos, etc. As vivências, registradas em vídeo e acompanhadas de relatos e dos diários de campo constituem a base da reflexão sobre o processo de apropriação de cada integrante, reconhecendo possíveis transformações pessoais. Configura-se como uma pesquisa sobre o processo, de caráter qualitativo, inserida na linha de pesquisa Processos de Criação Cênica do Programa de Pós-Graduação em Artes Cênicas na Universidade Federal do Rio Grande do Sul. / The research "Roots to fly - ways to somatic approach of grounding" investigates the notion of grounding in the body of the performer. It is main purpose, constitute a somatic approach from the experience with the study group, formed especially for the development of this research. The grounding can be understood as "energy in relation": a desire for connections inside/outside the body and an attitude that allows communication with Earth. This sense of grounding is related to breath support, the movement from the pelvic floor, the consciousness of body weight and movement from the feet. Within the various functions of the human foot in motion, there is the power to cushion the impact and propel the weight of the body. This dual personality of the foot promotes rooting necessary to jump and suspend its mass. In this sense, the grounding can be described, metaphorically, as roots to fly. The approach interweaves procedures of dance and somatic education, seeking ways to access the grounding. The research seek to problematize the organization and facilitation of such procedures to the group in such a way that participants can take ownership of the material, allowing reverberate experience of the research in their work as actors, therapists, musicians, dancers, etc.. The experiences, recorded on video and accompanying reports and journals form the basis of reflection on the process of ownership of each member, recognizing possible personal transformations. It configures as a qualitative research process, inserted in the line of research Scenic Creation Processes of the “Programa de Pós-Graduação em Artes Cênicas” at the Universidade Federal do Rio Grande do Sul.

A pesquisa “Raízes para voar – caminhos para uma abordagem somática grounding” investiga a noção de grounding no corpo do performer. Tem como objetivo principal, constituir uma abordagem somática a partir da experiência com o grupo de estudos em grounding, formado especialmente para o desenvolvimento dessa pesquisa. O grounding pode ser entendido como “energia em relação”: um desejo por conexões dentro/fora do corpo e uma atitude que permite comunicação com a Terra. Este senso de grounding está relacionado ao suporte respiratório, ao movimento a partir do assoalho pélvico, à consciência do peso do corpo e do movimento a partir dos pés. Dentro das variadas funções do pé no movimento humano, destaca-se o poder de amortecer o impacto e propulsionar o peso do corpo. Esta dupla personalidade do pé promove o enraizamento necessário para que o corpo salte e suspenda sua massa. Neste sentido, o grounding pode ser descrito metaforicamente como raízes para voar. A abordagem somática entrelaça procedimentos da dança – destacando a influência dos artistas Rudolf Laban e Anna Halprin – e da educação somática (DOWD, 2007; ALEXANDER, 2010) buscando caminhos de acesso ao grounding. Neste sentido, busca-se problematizar a organização e facilitação de tais procedimentos ao grupo, de maneira que os participantes possam se apropriar do material, permitindo reverberar a experiência da pesquisa nos seus trabalhos como atores, terapeutas, músicos, bailarinos, etc. As vivências, registradas em vídeo e acompanhadas de relatos e dos diários de campo constituem a base da reflexão sobre o processo de apropriação de cada integrante, reconhecendo possíveis transformações pessoais. Configura-se como uma pesquisa sobre o processo, de caráter qualitativo, inserida na linha de pesquisa Processos de Criação Cênica do Programa de Pós-Graduação em Artes Cênicas na Universidade Federal do Rio Grande do Sul. / The research "Roots to fly - ways to somatic approach of grounding" investigates the notion of grounding in the body of the performer. It is main purpose, constitute a somatic approach from the experience with the study group, formed especially for the development of this research. The grounding can be understood as "energy in relation": a desire for connections inside/outside the body and an attitude that allows communication with Earth. This sense of grounding is related to breath support, the movement from the pelvic floor, the consciousness of body weight and movement from the feet. Within the various functions of the human foot in motion, there is the power to cushion the impact and propel the weight of the body. This dual personality of the foot promotes rooting necessary to jump and suspend its mass. In this sense, the grounding can be described, metaphorically, as roots to fly. The approach interweaves procedures of dance and somatic education, seeking ways to access the grounding. The research seek to problematize the organization and facilitation of such procedures to the group in such a way that participants can take ownership of the material, allowing reverberate experience of the research in their work as actors, therapists, musicians, dancers, etc.. The experiences, recorded on video and accompanying reports and journals form the basis of reflection on the process of ownership of each member, recognizing possible personal transformations. It configures as a qualitative research process, inserted in the line of research Scenic Creation Processes of the “Programa de Pós-Graduação em Artes Cênicas” at the Universidade Federal do Rio Grande do Sul.

O aterramento elétrico cumpre uma função essencial em um sistema de distribuição de energia elétrica, devendo atender, dentre vários requisitos, aqueles estabelecidos quanto aos valores de tensão de passo e de toque. Entretanto, em locais onde o solo apresenta valores elevados de resistividade, surgem dificuldades que nem sempre são superadas no sentido de obedecer às exigências citadas nas normas técnicas e especificações. Dentro deste contexto, este trabalho tem por objetivo avaliar a utilização de condutores e hastes envolvidos em concreto em sistemas de aterramento, visando à redução dos valores de resistência de terra. Inicialmente é abordada uma configuração convencional de malha de aterramento adotada por uma concessionária de energia elétrica, sendo realizados estudos de modo a verificar a influência do espaçamento e da quantidade das hastes nos valores de resistência de terra. São também consideradas modificações nas dimensões da malha e a utilização de hastes profundas e, na seqüência, são analisados os resultados de outras configurações. De modo a verificar a efetividade do uso do concreto, foram realizadas várias simulações computacionais considerando o sistema de aterramento com a utilização de condutores e hastes envolvidos em concreto. Diversas situações foram investigadas, sendo possível concluir que o uso do concreto resulta em menores valores de resistência de terra em relação às malhas convencionais. Esse resultado, de certo modo, vem ao encontro das expectativas, porém deve ser ressaltada a contribuição do trabalho, a qual possibilita a análise, através de cálculos teóricos, do comportamento das malhas de aterramento com o uso do concreto. A literatura pesquisada apresenta poucos resultados teóricos, sendo encontradas algumas investigações nesse tema onde são consideradas somente medições realizadas no campo. / The electrical grounding plays an essential role in a system of electric power distribution, and must follow, among many requirements, those ones established as step voltage values and touch voltage values. However, in those places where the soil has high resistivity values, some difficulties arise and may not always be overcomed in order to follow the requirements set forth in technical standards and specifications. In this context, the aim of this study is to evaluate the use of electrical conductors and rods encased in concrete inside grounding systems, in order to reduce the ground resistance values. Initially it was observed a conventional configuration of grounding grid that is used by an electric utility, and studies were made in order to verify the influence of the number of rods and the distance between them in the values of grounding resistance. There are also been taken into consideration the changes in the grounding grid dimensions and the use of deep rods and, right after, the results of other configurations are analyzed. In order to verify the effectiveness of the use of concrete, several computer simulations were performed considering the grounding system that used conductors and rods encased in concrete. Several situations were investigated, and it was possible to conclude that the use of concrete results in lower values of ground resistance compared to conventional grounding grid. This result, in a certain way, matches with the expectations, but it should be emphasized the contribution of the study which enables, through theoretical calculations, the analysis of the grounding grid behavior with the use of concrete. The literature shows few theoretical results and presents only some researches on this issue in which ones only measurements made in the field are considered.

O aterramento elétrico cumpre uma função essencial em um sistema de distribuição de energia elétrica, devendo atender, dentre vários requisitos, aqueles estabelecidos quanto aos valores de tensão de passo e de toque. Entretanto, em locais onde o solo apresenta valores elevados de resistividade, surgem dificuldades que nem sempre são superadas no sentido de obedecer às exigências citadas nas normas técnicas e especificações. Dentro deste contexto, este trabalho tem por objetivo avaliar a utilização de condutores e hastes envolvidos em concreto em sistemas de aterramento, visando à redução dos valores de resistência de terra. Inicialmente é abordada uma configuração convencional de malha de aterramento adotada por uma concessionária de energia elétrica, sendo realizados estudos de modo a verificar a influência do espaçamento e da quantidade das hastes nos valores de resistência de terra. São também consideradas modificações nas dimensões da malha e a utilização de hastes profundas e, na seqüência, são analisados os resultados de outras configurações. De modo a verificar a efetividade do uso do concreto, foram realizadas várias simulações computacionais considerando o sistema de aterramento com a utilização de condutores e hastes envolvidos em concreto. Diversas situações foram investigadas, sendo possível concluir que o uso do concreto resulta em menores valores de resistência de terra em relação às malhas convencionais. Esse resultado, de certo modo, vem ao encontro das expectativas, porém deve ser ressaltada a contribuição do trabalho, a qual possibilita a análise, através de cálculos teóricos, do comportamento das malhas de aterramento com o uso do concreto. A literatura pesquisada apresenta poucos resultados teóricos, sendo encontradas algumas investigações nesse tema onde são consideradas somente medições realizadas no campo. / The electrical grounding plays an essential role in a system of electric power distribution, and must follow, among many requirements, those ones established as step voltage values and touch voltage values. However, in those places where the soil has high resistivity values, some difficulties arise and may not always be overcomed in order to follow the requirements set forth in technical standards and specifications. In this context, the aim of this study is to evaluate the use of electrical conductors and rods encased in concrete inside grounding systems, in order to reduce the ground resistance values. Initially it was observed a conventional configuration of grounding grid that is used by an electric utility, and studies were made in order to verify the influence of the number of rods and the distance between them in the values of grounding resistance. There are also been taken into consideration the changes in the grounding grid dimensions and the use of deep rods and, right after, the results of other configurations are analyzed. In order to verify the effectiveness of the use of concrete, several computer simulations were performed considering the grounding system that used conductors and rods encased in concrete. Several situations were investigated, and it was possible to conclude that the use of concrete results in lower values of ground resistance compared to conventional grounding grid. This result, in a certain way, matches with the expectations, but it should be emphasized the contribution of the study which enables, through theoretical calculations, the analysis of the grounding grid behavior with the use of concrete. The literature shows few theoretical results and presents only some researches on this issue in which ones only measurements made in the field are considered.

The grounding of language in humanoid robots is a fundamental problem, especially in social scenarios which involve the interaction of robots with human beings. Indeed, natural language represents the most natural interface for humans to interact and exchange information about concrete entities like KNIFE, HAMMER and abstract concepts such as MAKE, USE. This research domain is very important not only for the advances that it can produce in the design of human-robot communication systems, but also for the implication that it can have on cognitive science. Abstract words are used in daily conversations among people to describe events and situations that occur in the environment. Many scholars have suggested that the distinction between concrete and abstract words is a continuum according to which all entities can be varied in their level of abstractness. The work presented herein aimed to ground abstract concepts, similarly to concrete ones, in perception and action systems. This permitted to investigate how different behavioural and cognitive capabilities can be integrated in a humanoid robot in order to bootstrap the development of higher-order skills such as the acquisition of abstract words. To this end, three neuro-robotics models were implemented. The first neuro-robotics experiment consisted in training a humanoid robot to perform a set of motor primitives (e.g. PUSH, PULL, etc.) that hierarchically combined led to the acquisition of higher-order words (e.g. ACCEPT, REJECT). The implementation of this model, based on a feed-forward artificial neural networks, permitted the assessment of the training methodology adopted for the grounding of language in humanoid robots. In the second experiment, the architecture used for carrying out the first study was reimplemented employing recurrent artificial neural networks that enabled the temporal specification of the action primitives to be executed by the robot. This permitted to increase the combinations of actions that can be taught to the robot for the generation of more complex movements. For the third experiment, a model based on recurrent neural networks that integrated multi-modal inputs (i.e. language, vision and proprioception) was implemented for the grounding of abstract action words (e.g. USE, MAKE). Abstract representations of actions ("one-hot" encoding) used in the other two experiments, were replaced with the joints values recorded from the iCub robot sensors. Experimental results showed that motor primitives have different activation patterns according to the action's sequence in which they are embedded. Furthermore, the performed simulations suggested that the acquisition of concepts related to abstract action words requires the reactivation of similar internal representations activated during the acquisition of the basic concepts, directly grounded in perceptual and sensorimotor knowledge, contained in the hierarchical structure of the words used to ground the abstract action words.

The topics of Grounding and Metaphysical Explanation have been at the forefront of research and debate within metaphysics for the last decade. Grounding is commonly taken to be a relation of non-causal dependence. In this thesis I address the pertinent question as to what sorts of entities are related in instances of grounding. There has so far been little enquiry into this issue, and it therefore requires urgent attention. I argue here that the entities involved in grounding are facts, where facts are true Fregean propositions. True Fregean propositions are abstract entities composed of senses, and are individuated according the senses which they involve. I proceed by setting out some desiderata which the entities involved in grounding will fulfil. Firstly, they will be individuated sufficiently finely as to provide instances of grounding to back all putative cases of non-causal explanation. Secondly, they will ensure that there is unity between instances of grounding and instances of causation. Finally, they will be mind- independent. I survey different types of entity and show that true Fregean propositions are best-equipped to fulfil these desiderata. We therefore have reason to believe that grounding relates facts, so understood. The conclusion of this thesis therefore makes it incumbent upon us to extend our ontology to include true Fregean propositions.

This thesis is a case study of a 230 kV transmission line in Lao P.D.R. Grounding of electrical systems is essential for safety and reliability of the system. Several standards are developed for designing a grounding system when building new facilities but it is harder to find references when it is an expansion of an old system or when the area for grounding is inferior. The transmission line is routed over a high resistive limestone ridge, where the requirements from the design standard can not be fulfilled. During normal conditions, each tower can be properly grounded to earth with ground electrodes, but in this case the resistivity of the solid rock is too high. By studying different shield wires of different materials and improve the down lead conductor in each side of the mountain, a suitable solution can be found. The importance of grounding, general description of grounding techniques and the risks for human and equipment due to an electrical fault is also presented in this thesis.

Minimization of Construction Costs of Substation Grounding Grids: In every electrical installation, one of the most important aspects is adequate grounding; in particular, the grounding of high-voltage substations to protect people and equipment in the event of an electrical fault. Well-designed grounding systems ensure the performance of power systems and safety of personnel. It is desirable that the substation grounding provides a near zero resistance to remote earth. The prevailing practice of most utilities is to install a grid of horizontal ground electrodes (buried bare copper conductors) supplemented by a number of vertical ground rods connected to the grid, and by a number of equipment grounding mats and interconnecting cables. The grounding grid provides a common ground for the electrical equipment and for all metallic structures at the station. It also limits the surface potential gradient. Currently the IEEE 80-2000 standard for substations grounding limits the determination of the grounding parameters (namely step, touch and ground potential rise) to that of a uniform soil model unless the Sunde graphical method is used. With the Sunde graphical method, it relies on interpretation to obtain a two layer soil model. Without the use of the graphical method, the IEEE 81-1983 has several empirical equations that can be used for the two layer model; however, these equations rely on the use of images which retard the speed of calculations to the point where the overall optimization of the grounding grid (with respect to size and shape) has yet to be determined. The goal of the thesis was to improve upon the current restrictions for the grounding grid design, while minimizing the material (i.e., copper conductors) and installation costs of a grid. The first part of the research examined previous work through a combination of literature review, mathematical computations, and field measurements to validate the theoretical aspects of grid design. The thesis introduces an optimized uniform and two-layer soil with fast accurate calculations directly from soil measurements without the use of graphical methods or the use of complex image theory. Next, the thesis develops enhanced grounding parameter equations using Simpson’s Rule of integration. The final part of the thesis demonstrates how it is possible to optimize the configuration of the grounding grid itself, minimizing costs, and yet still achieving a safe installation. This is the first time such an optimization is possible, and it is made possible by the techniques developed in this thesis. The techniques are applied to existing real-world grid designs, and the results obtained show the effectiveness of the method in reducing construction costs. This thesis shows how these construction and material savings are realized by utilizing a process whereby the grounding design minimizes the overall cost. The overall contribution of this thesis is the optimization of the grounding grid design by eliminating the current restrictions found in the IEEE standards 80 and 81, respectively, and offering an optimized grounding system design, starting from the soil model to the actual grounding design itself.