La simulation du geste humain est une thématique de recherche importante et trouve notamment une application dans l'analyse ergonomique pour l'aide à la conception de postes de travail. Le sujet de cette thèse concerne la génération automatique de tâches d'atteinte dans le plan horizontal pour un humanoïde. Ces dernières, à partir d'un objectif exprimé dans l'espace de la tâche, requièrent une coordination de l'ensemble des liaisons. L'une des principales difficultés rencontrées lors de la simulation de gestes réalistes est liée à la redondance naturelle de l'humain. Notre démarche est focalisée principalement sur deux aspects : - le mouvement de la main dans l'espace opérationnel (trajectoire spatiale et profil temporel), - la coordination des différentes sous-chaînes cinématiques. Afin de caractériser le mouvement humain, nous avons mené une campagne de capture de mouvements pour des gestes d'atteinte contraignant la position et l'orientation de la main dans le plan horizontal. Ces acquisitions nous ont permis de connaître l'évolution spatiale et temporelle de la main dans l'espace de la tâche, en translation et en rotation. Ces données acquises couplées à une méthode de rejeu ont également permis d'analyser les relations intrinsèques qui lient l'espace de la tâche à l'espace articulaire du mannequin. Le schéma de génération automatique de mouvements réalistes est basé sur une pile de tâche avec une approche cinématique. L'hypothèse retenue pour simuler le geste est de suivre le chemin le plus court dans l'espace de la tâche tout en bornant le coût dans l'espace articulaire. Un ensemble de paramètres permet de régler le schéma. Il en résulte une cartographie de réglages qui permet de simuler une classe de mouvements réalistes. Enfin, ce schéma de génération automatique de mouvements réalistes est validé par une comparaison quantitative et qualitative entre la simulation et le geste humain. / The simulation of human movement is an active theme of research, particularly in ergonomic analysis to aid in the design of workstations. The aim of this thesis concerns the automatic generation of reaching tasks in the horizontal plane for a virtual humanoid. An objective expressed in the task space, requires coordination of all joints of the mannequin. The main difficulties encountered in the simulation of realistic movements is related to the natural redundancy of the human. Our approach is focused mainly on two aspects: - Motion of the hand's operator in the task space (spatial and temporal aspect), - Coordination of all kinematic chains. To characterize human movement, we conducted a set of motion capture with position and orientation constraints of the hand in the horizontal plane. These acquisitions allowed to know the spatial and temporal evolution of the hand in the task space, for translation and rotation aspects. These acquired data were coupled with a playback method to analyze the intrinsic relations that link the task space to joint space of the model. The automatic generation scheme of realistic motion is based on a stack of task with a kinematic approach. The assumption used to simulate the action is to follow the shortest path in the task space while limiting the cost in the joint space. The scheme is characterized by a set of parameters. A global map of parameter adjustment enables the simulation of a class of realistic movements. Finally, this scheme is validated quantitatively and qualitatively with comparison between the simulation and the human gesture.

Chaos-Gnosticism is a branch of the occult tree which through an eclectic approach tries togather all the dark, antagonistic aspects and forces from certain religions and mythologies ofthe world in order to reach back to the primeval Chaos, the stage that existed before theCreation. With a fundamental gnostic worldview the cosmos is seen as a prison, created byDemiurges, and in Chaos a total freedom rules.The philosophy (or Chaosophy to use a term used by the Chaosgnostics) has spread all over theworld during the past ten years or so. It is vital, in connection to this fact, to give the importanceto the music scene, especially the genre called black metal, for the spreading of theChaosgnostic ideas. Some of the leading bands in this genre, for instance Dissection, Watainand Arckanum, have adopted the Chaosgnostic tenets into their music and thus making theseideas more known all around the world than they otherwise would have been. That being said,it is not clear how many actual practioners of Chaos-Gnostcism there are since it is mainly anindividual religion and the handfull of orders that exist display no sorts of missionary ambitionsand are, additionaly, quite closed for outsiders.Although the first ideas of Chaos-Gnosticism emerged in Sweden in the middle of the 1990´s,an in-depth academic survey has not yet been made on the movement itself. This essay aims tochange that by putting Chaos-Gnosticism in its correct historical and occult context and also byshedding some light on the fundamental tenets and beliefsystem aswell as the importance ofnumerology and central symbols. The essay also presents the three different Chaosgnosticbranches that has emerged to date: Temple of the Black Light, with its Qabbalistic approach,Templum Falcis Cruentis, inspired by folktraditions of Central America and the biblical figureof Cain and finally Thursatrú in which the Chaosgnostic worldview is adopted on Old Norsemythology.

In 1990 a small self-published journal/magazine called The Watcher was distributed among New Zealand's occult underground. The Watcher described itself as 'the New Zealand Voice of the Left Hand Path', and was published as the journal of the Order of the Left Hand Path. The Watcher and the Order directed its attentions towards those occultists who identified themselves as Satanists and, as such, the journal articulated a distinctly Satanic philosophy and perspective. However, as the journal evolved and developed, renaming itself as The Heretic and The Nexus in later years, there arose alongside Satanic philosophy an increasing emphases on what could be called esoteric Nazism or esoteric Nationalism. Given that the editor of The Watcher was Kerry Bolton, a man who has been immersed in New Zealand's Nationalist/neo-Nazi movement since the early 1970s, such an increasingly political orientation was perhaps unsurprising. This thesis examines the way in which the Order bought Satanic and neo-Nazi ideologies together and the resulting synthesis. It also looks at the transition from being a Satanic order led by a neo-Nazi to an openly neo-Nazi Order that uses Satanic philosophy to justify and popularise its conception of National Socialism.

With this essay my aim is to uncover the content in the discography of the Swedish Black Metal act Watain in respect to lyrically expressed religious themes revolving around the tendencies within occulture and the Black Metal scene. To investigate the matter I have combined quantitative and qualitative analysis methods from the fields of corpus linguistics as well as content analysis, which provided me with an array of key words and their respective concordances (Key Word In Context, KWIC) in the texts. Through the analysis three overlapping main themes became apparent: satanism, gnosticism and finally apocalypticism. I described each of the themes in detail based on my linguistic findings in the corpus so as to yield a deeper understanding of the religious symbols communicated in the material and their interrelationship. The result was that neither one of these could be explained in isolation as they are all part of a larger system of philosophy, namely the esoteric movement chaos-gnosticism tied to the Swedish order Temple of the Black Light, but also products of occulture. The discussion proved that, although satanism may seem to be the thematical centerpoint in Watain’s lyrics, it is not, as this is a far too simple conclusion in relation to the complexity of the results. Instead, the content requires to be understood in terms of the dark Left-Hand Path spirituality as well as the occultural melting pot of paranormal and occult ideas. / <p>För att få tillgång till mitt korpus och mina korpusresultat hänvisar jag till min privata e-post adress hans.jonsall@gmail.com alternativt att man kontaktar mig via sociala medier.</p>