This Master`s thesis is focused on through acquaintance of principles of the function circuits with switched capaticors and posibility of their application mainly in frequency filters or signal generators. The origin of the switched capacitor circuits is mentioned at the beginning of the work. There are references to the first scientific work and scientists who have dealt with this issue. Maxwell`s idea: lossy element (resistor) replace with lossless element (switched capacitor) in electric circuit, is further described. In the next chapter of this work are listed types of switching capacitors and their use in simple RC filters and in structures of inverted or noninverted integrators and their application in more complex higher order filters. The advantages and disadvantages of SC circuits versus circuit composed of discrete components are shown. It is also listed a simple low-pass switched RC filter implemented with analogue multiplexer 4053. Using the LTC1043 integrated circuit, which structure and properties are described and analyzed in detail in the work, the 1st order aktive or pasive low and high pass filters were designed and subsequently simulated in the computer simulator OrCAD PSpice v.10. Another chapter deals with the integrated circuits higher order filters, structure and properties of the integrated filter LTC1060 are further analyzed here. Except this IC there are mentioned integrated filters commercially less available from the corporations Linear Technology and Maxim. The main objective of thesis was to propose and establish laboratory device and laboratory measurment focused on the switched capacitor circuits. The laboratory device has been designed with integrated circuits LTC1043 and LTC1060, which is demonstrated by using passive and active integrator, 2nd order band-pass and 4th order band-pass with Chebyshevovou approximation.

Den Kern der vorliegenden Arbeit bilden sog. sensorgeführte Roboterbewegungen, d. h. die Nutzung von Informationen externer Sensoren zur Regelung des Roboters. Da gängige Industrierobotersysteme üblicherweise positionsgeregelt sind und seitens der Robotersteuerung lediglich der Zugriff zu den Sollwerten der Lageregelkreise erlaubt wird, kann auch der Regelkreis der sensorgeführten Roboterbewegung nur über den Lageregelkreis geschlossen werden. Aus diesem Grunde werden hier nur positionsbasierte Regelungsansätze verfolgt. Die Kraft-/ Momentregelung gilt als eine der wichtigsten Varianten sensorgeführter Roboterbewegungen. Dementsprechend widmet sich auch ein großer Teil dieser Arbeit dem Thema, mit dem Ziel durch innovative und übersichtliche Regelalgorithmen die Akzeptanz der Kraft-/ Momentregelung in industriellen Produktionsprozessen zu erhöhen. Beginnend mit der eindimensionalen Kraftregelung führt der Weg dabei über Konzepte zur Konturenverfolgung und kraft-/ momentgeregelten Montageaufgaben hin zur Kooperation von Robotern. In einem weiteren Teil wird ein Konzept zur Kollisionsvermeidung zwischen Robotern und Hindernissen präsentiert. Es basiert auf dem Ansatz der virtuellen Potential- bzw. Kraftfelder. Dabei ruft das künstliche Feld eine Bewegung des Roboters hervor, die vom Hindernis weg führt. Um das Feld zu erzeugen, wird die Methode der künstlichen Punktladungen entwickelt. Diese werden auf der Oberfläche eines Hindernisses platziert und generieren dann das virtuelle Kraftfeld. Die Platzierung kann z. B. mithilfe der CAD-Daten des Hindernisses erfolgen. Bei bewegten Objekten müssen alle Ladungspositionen ständig aktualisiert werden. Für Lehr- und Präsentationszwecke ist das sog. inverse Pendel eine oft genutzte Regelstrecke. Sein Aufrichten und Stabilisieren ist auch mit Hilfe eines Industrieroboters möglich. Dazu beschäftigt sich ein Kapitel dieser Arbeit mit Fragen zur Modellbildung der Kombination inverses Pendel und Industrieroboter und mit Regelungskonzepten für das Aufschwingen und Balancieren. Letztendlichen wird in diesem Zusammenhang noch ein Visual-Servoing System präsentiert, dass den Neigungswinkel des Pendels mit einer Kamera bestimmt. Alle hier vorgestellten Konzepte und Algorithmen werden Anhand von praktischen Experimenten verifiziert. / This work deals with so-called sensor guided robot motions, which means using the data of external sensors to control the robot. The control loop of the sensor guided robot motion can be only closed around the position control loop, because industrial robot systems usually work position controlled and only access to the desired positions is enabled. For this reason here only position based control approaches are regarded. Force/torque control is a very important type of sensor guided robot motions. According to this, a good portion of this work deals with the subject of force/torque control. Thus, the acceptance of force/torque control in industrial production processes should be increased, by using innovative and clear control algorithms. For this purpose force control in one degree of freedom, contour-following, force/torque controlled assembling tasks and the cooperation between robots are discussed here in different chapters. Thereafter, a concept to collision avoidance between robots and obstacles is presented. It uses the approach of virtual potential/force fields. In this case the artificial field induces a robot motion away from the obstacle. The method of artificial charges is developed to generate this field. For this purpose virtual charges are placed on the surface of the obstacles. Placing of the charges can be performed using e.g. CAD data of the obstacles. Having moving obstacles charge positions must be updated continuously. The inverted pendulum is commonly used teaching students in control theory. The swinging up and the stabilization of the pendulum also can be performed by an industrial robot. One chapter of this work deals with modelling of the robot mounted inverted pendulum and control algorithms for its swinging up and its stabilization. Finally, in combination with the inverted pendulum a visual-servoing system is presented, which measures the pendulum inclination angle by camera. All concepts introduced in this work are verified by practical experiments.

Section 33(1)(b) is fraught with borrowed provisions. The end-product marries German and Canadian features. The failure of the German Constitutional Courts to interpret the "essential content of a right" precipitated the adopted infant's bumpy landing in South Africa. That the sibling still lacks identity is evidenced by our Constitutional Court's evasive and superficial treatment of the clause. Section 33(1)(a) - proportionality prong enables judges to justify their neglect of Section 33(1)(b). The opinion is expressed that Section 33(1){b) demands interpretation but to date it has been shrouded in vagueness. After all without demarcating boundaries with sufficient precision and highlighting where the State may not tread the State may trespass. Alternatively the limitable nature of human rights could become a myth as Section 33(1)(b) could be transformed into an insurmountable hurdle for the State, rendering every right absolute in practice. A workable conceptual framework proposes an inverted, porous and value imbibing solution. / Law / LL.M.

Dispatched 3 (Disp3), a thyroid hormone-regulated gene, is studied extensively in our laboratory. Phenotype of cells with overexpressed Disp3 and its expression pattern make it a perfect candidate for a molecular link between thyroid hormone action and cholesterol homeostasis in the brain. Moreover, we hypothesize that it might play a role in certain neurodegenerative disorders and brain tumours. This thesis is aimed at the process of regulation of this gene via thyroid hormone receptor (TR), specifically identification of responsive elements of the thyroid hormone receptor that are necessary for the regulation. Also, we searched for elements recognized by liver X receptor (LXR), as LXR binds to the same arrangement of repeats as TR and there are a number of genes regulated by both of them. We combined in silico analysis of the Disp3 locus with reporter luciferase assays. A cluster of six elements identified around the first exon with two of them being conserved among human and mice draw our attention. In order to analyze this sequence in more detail, reporter vectors of various truncations of 3 kb region around exon 1 were constructed and tested in reporter assays. Reporter assays did not reveal any substantial element activated by TR or LXR; on the other hand, region containing repressor element(s)...

La fovéa est la seule zone de la rétine où l’acuité visuelle est maximale. Les mécanismes qui visent à déterminer à quels endroits vont avoir lieu les prochaines fixations restent débattus. Certains auteurs suggèrent que les yeux sont principalement attirés par les zones les plus saillantes de la scène. D’autres suggèrent qu’ils sont orientés vers les objets. Les propriétés du système oculomoteur contraignent également les mouvements oculaires. L’objectif de cette thèse était de départager ces différents points de vue en examinant la contribution respective et le décours temporel des facteurs visuo-moteurs de bas niveau et des facteurs cognitifs de plus haut niveau dans la détermination des mouvements oculaires. Nous nous sommes focalisés sur trois phénomènes comportementaux clés : la tendance à bouger les yeux à proximité du centre des objets (Prefered-Viewing Location), les répercussions qu’ont ces positions d’atterrissage sur les durées initiales des fixations (Inverted Optimal-Viewing-Position) et les probabilités de refixation (Optimal-Viewing-Position). Nous avons observé que ces trois effets émergeaient, et ce, quel que soit le type de stimulus testé: des objets, des mots ou des objets sans signification. Cela suggère que ces effets reflètent les propriétés de bas niveau des systèmes visuel et oculomoteur. Par ailleurs, nous avons observé que l’endroit où les yeux atterrissaient au sein de l’objet était également influencé au fil du temps par les traitements de plus haut-niveau des propriétés du stimulus. Les saccades initiées plus tardivement atterrissaient plus proches de la zone la plus informative de l’objet. / High-quality vision is restricted to the fovea - a small region at the center of gaze. The mechanisms that determine which locations in a scene are selected for fixation remain debated. Some suggest that eye movements are mainly driven by the salient features in a scene. Others suggest that eye guidance is object based. The properties of the oculomotor system also strongly constrain eye behavior, but these have been neglected in most existing models. The purpose of this thesis was to disentangle between these different views, by investigating how low-level visuomotor factors versus higher-level cognitive factors contribute to eye movements towards and within isolated objects, and with which time course. We focused on three viewing-position effects: the tendency to move the eyes near the centers of objects (the PVL effect), and the repercussions these initial landing positions have on initial fixation durations (the I-OVP effect) and refixation probabilities (the OVP effect). We found that these three viewing-position effects emerged, and were comparable, in all stimulus types that we tested in this thesis: objects, words and even meaningless non-objects. This suggests that the effects reflect low-level properties of the visual and oculomotor systems. Furthermore, we found that where the eye moved within objects became influenced by ongoing processing of higher-level stimulus properties (e.g., object affordances) over time. Later- compared to early-triggered initial saccades, and even more so within-object refixations, were biased towards the most informative part of the objects, and away from their center of gravity.

This thesis presents various integrated antenna solutions for different types of systems and applications, e.g. wireless sensors, broadband handsets, advanced base stations, MEMS-based reconfigurable front-ends, automotive anti-collision radars, and large area electronics. For wireless sensor applications, a T-matched dipole is proposed and integrated in an electrically small body-worn sensor node. Measurement techniques are developed to characterize the port impedance and radiation properties. Possibilities and limitations of the planar inverted cone antenna (PICA) for small handsets are studied experimentally. Printed slot-type and folded PICAs are demonstrated for UWB handheld terminals. Both monolithic and hybrid integration are applied for electrically steerable array antennas. Compact phase shifters within a traveling wave array antenna architecture, on single layer substrate, is investigated for the first time. Radio frequency MEMS switches are utilized to improve the performance of reconfigurable antennas at higher frequencies. Using monolithic integration, a 20 GHz switched beam antenna based on MEMS switches is implemented and evaluated. Compared to similar work published previously, complete experimental results are here for the first time reported. Moreover, a hybrid approach is used for a 24 GHz switched beam traveling wave array antenna. A MEMS router is fabricated on silicon substrate for switching two array antennas on a LTCC chip. A concept of nano-wire based substrate integrated waveguides (SIW) is proposed for millimeter-wave applications. Antenna prototypes based on this concept are successfully demonstrated for automotive radar applications. W-band body-worn nonlinear harmonic radar reflectors are proposed as a means to improve automotive radar functionality. Passive, semi-passive and active nonlinear reflectors consisting of array antennas and nonlinear circuitry on flex foils are investigated. A new stretchable RF electronics concept for large area electronics is demonstrated. It incorporates liquid metal into microstructured elastic channels. The prototypes exhibit high stretchability, foldability, and twistability, with maintained electrical properties. / wisenet

狄氏分配(Dirichlet distribution)可視為高維度的貝他分配，其應用範圍包括貝氏分析的共軛先驗分配，多變量資料建模。當狄氏分配參數α_1=⋯=α_(n+1)=1時，可視為在n維空間的單體(simplex)均勻分配。高維度空間的不規則區域均勻分配有很多的應用，例如：在不規則區域中物種調查的方區抽樣和蒙地卡羅模擬(Monte Carlo Simulation)常需要多面體的均勻亂數，利用狄氏分配可更迅速的生成不規則區域的均勻亂數。本論文主要是評估由Cheng et al. (2012) 設計的R統計軟體套件“rBeta2009” [8]，並探討如何利用此套件中的狄氏分配演算法來生成其他多變量分配，如：(i)反狄氏分配(Inverted Dirichlet distribution) (ii) Liouville分配，以及(iii)由線性限制式所圍成的多面體空間之均勻分配。本文也利用電腦模擬的方式驗證本文介紹之方法比現有的電腦軟體中的演算法有效率(以電腦執行時間來看)。 / Dirichlet distributions can be taken as a high-dimensioned version of beta distributions, and it has many applications, such as conjugate prior distribution in bayesian Inference and construction of the model of multivariate data. When the parameters of Dirichlet distributions are α_1=⋯=α_(n+1)=1, it can be regarded as uniform distribution within a n-dimensioned simplex. High-dimensioned uniform distribution in irregular domains has various applications, such as species surveys in quadrats sampling and Monte Carlo simulation, which often need to generate uniform random vectors over polyhedrons. With Dirichlet distributions, it is more efficient to generate uniform random vectors in irregular domain. This article evaluated the module in R, “rBeta2009” [8], originally designed by Cheng et al. (2012), and discusses how to generate other multivariate distributions by using the Dirichlet algorithm in the package, including generation of (i) Inverted Dirichlet random vectors (ii) Liouville random vectors, and (iii) uniform random vectors over polyhedrons with linear constraints. The article also verified that the method is more efficient than the older package in R. (by comparing the CPU time.)

This thesis seeks to uncover women’s concerns about chemicals in the household, and, more specifically, in cleaning products. The research is based on semi-structured interviews with women who are primarily responsible for household cleaning and who consciously avoid conventional cleaning products. From a sociological standpoint, the topic remains unstudied. The women were critical of greenwashing and the institutions responsible for chemical regulation. Further, the women’s chemical-free lifestyle defied conventional definitions of activism. Sociological theories of risk are used to help understand women’s avoidance of chemicals. It was found that tenets of the precautionary principle were reflected in their reasoning for avoiding chemicals. Recent biomonitoring and body burden studies have influenced women’s knowledge of chemical risk and their decision to avoid them. The thesis demonstrates that risk-management, in this context, has become an individualized pursuit reflective of the neo-liberal ideology informing chemical regulation. / Canadian Institutes of Health Research

Gotland har länge präglats av mycket speciella lösningar och legat i framkant vad gäller ny teknik. Under ca 20 år har Gotland haft en VSC-HVDC-station som har stabiliserat spänningen i det gotländska nätet. HVDC Light har löst en del av de tekniska begränsningarna som hindrat utvecklingen av vindkraftverk. Anläggningen börjar lida mot slutet av sin tekniska livslängd och examensarbetet är ett första steg i utredningen för en eventuell ersättning. Med hjälp av elkvalitetsmätare kartlagdes prestanda och eventuella förbättringsområden. Den svenska stamnätsoperatören Svenska kraftnät har sedan 2016 haft en VSC-HVDC-station som använts för att utväxla energi till asynkrona systemet i Östeuropa. Svenska kraftnät har på senare tid velat utnyttja spänningsregleringsmöjligheterna och utreda mättekniska metoder. Elkvalitetsmätare placerades ut på lämpliga mätpunkter för att utreda anläggningens beteenden. ELSPEC G4500 elkvalitetsmätare installerades på Nordbalt och Gotlands HVDC Light för att mäta under sensommar till hösten 2017. Skillnader mellan CVT och IVT samt Rogowskispole och CT mättes. Valet av ELSPEC lämpade sig bra eftersom att inga triggningsvillkor behövdes som tillåter att man kan upptäcka små men viktiga avvikelser. Gotlands HVDC Light stabiliserar nätet främst mot spänningsdippar efter kortslutningar i 10 kV-elnätet och flimmer ifrån vindkraftsparkerna i ände 2. Märkeffekten för en uppdaterad anläggning kommer baseras på den kortslutningseffekt i 10 kV-nätet som kan utvecklas under anläggningens livstid. Spänningsregleringen ska baseras på en PI-regulator och ska kunna reglera fullt på 40 ms. Komponentspänningar kan användas för att ge reaktiv effekt på de faser som behöver det. Behovet mot flimmer ska baseras på en mätning i närmaste konsumtionscentrum, två mil från ände 2. Om behovet finns, ska en separat loop för flimmerkontroll som motverkar 1,5 Hz-komponenter implementeras utifrån en punkt ca 1,5 mil ifrån ände 2. Teknikvalet står mellan two-level generation 3 eller MMC, beroende på uppgradering eller ersättning. Många olika framtida scenarion påverkar HVDC Lights roll och oavsett, kommer mycket resurser behövas för Gotlands och HVDC Lights framtid. Det har observerats två beteenden på Nordbalt varav ena är långsam och det andra beteendet är snabbt. Det snabba beteendet uppstår när lågohmiga fel sker som också synkronmaskinerna tar hand om. Nordbalt kan hjälpa till för mindre spänningsvariationer om den varit snabbare likt beteendet vid lågohmiga fel. En stabilitetsbedömning behövs dock eftersom att snabbare beteende ökar risken för instabilitet. Eftersom att data mellan CVT och IVT skiljde sig mycket, upplystes mättekniska problem. Några lösningar diskuteras varav RCVT och PQSensor gås igenom grundligt. Alternativa lösningar som MoW och mobila enheter presenteras också vagt. Samtliga lösningar visade sig ha praktiska hinder, vilket försvårar genomförandet. Det uppmanas därför att man bör testa teknikerna i laborationsmiljö eftersom begränsat med studier gjorts på dessa samt att konkurrerande tillverkare uppger olika uppgifter. / Gotland has long been known for various special solutions and been on the leading edge regarding new technology. For the past 20 years Gotland has had a VSC-HVDC station that has stabilized the voltage in the Gotlandic grid. HVDC Light has solved some of the technical limitations that has hindered the growth of wind turbines. The station has almost reached the end of its technical lifespan and the thesis is a first step in the investigation for an eventual replacement. With power quality analyzers performance and improvements were investigated. The Swedish transmission system operator Svenska kraftnät have since 2016 had a VSCHVDC station that have been used to exchange energy to the asynchronous system in Eastern Europe. Svenska kraftnät has of lately wanted to take advantage of the voltage control capabilities and investigate measurement technologies. Power quality analyzers were installed on suitable connection points to investigate the behavior of the station. ELSPEC G4500 power quality analyzers were installed on Nordbalt’s and Gotland’s HVDC Light to measure during the late summer to fall of 2017. The differences between CVT and IVT, and Rogowski coil and CT were captured. The choice of ELSPEC suited well since no trigger conditions are needed which allows small but important errors to be discovered. Gotland’s HVDC Light stabilizes the grid mostly against voltage sags for faults in the 10 kVgrid and flicker from the wind farms in node 2. The rated power for an upgrade should be based on the 10 kV-grid short-circuit power to be developed during the station’s life span. The voltage control should be based on a PI-controller and should be able to transmit full power in 40 ms. Component voltages can be used to produce reactive power on the phases in need. The need against flicker should be based on measurements in the closest center of consumption, 2 miles from node 2. If it’s needed, a separate loop for flicker-control that prevents 1.5 Hz-components based on a point 1.5 mile from node 2 should be implemented. Depending on an upgrade or replacement, the topology can either be “two-level generation 3” or MMC. Many different future scenarios affect HVDC Light’s role and more resources will be required for Gotland’s and HVDC Light’s future. Two behaviors have been observed on Nordbalt where one is slow and the other behavior is fast. The fast behavior was only observed when low impedance faults occurs, that the synchronous generators also handles. Nordbalt can contribute to small voltage variations if it was faster, like the behavior for low impedance faults. A consideration in stability is needed since a faster behavior can lead to stability problems. Since the data between CVT and IVT differed a lot, metrology problems were discovered. Some solutions were discussed, of which RCVT and PQSensor was thoroughly reviewed. Alternative solutions like MoW and mobile units were also presented vaguely. All solutions showed practical difficulties, which complicates the implementation. It is therefore encouraged to test the technologies in a laboratory environment since few studies have been made on these and competing manufactures state different information.

Section 33(1)(b) is fraught with borrowed provisions. The end-product marries German and Canadian features. The failure of the German Constitutional Courts to interpret the "essential content of a right" precipitated the adopted infant's bumpy landing in South Africa. That the sibling still lacks identity is evidenced by our Constitutional Court's evasive and superficial treatment of the clause. Section 33(1)(a) - proportionality prong enables judges to justify their neglect of Section 33(1)(b). The opinion is expressed that Section 33(1){b) demands interpretation but to date it has been shrouded in vagueness. After all without demarcating boundaries with sufficient precision and highlighting where the State may not tread the State may trespass. Alternatively the limitable nature of human rights could become a myth as Section 33(1)(b) could be transformed into an insurmountable hurdle for the State, rendering every right absolute in practice. A workable conceptual framework proposes an inverted, porous and value imbibing solution. / Law / LL.M.