Sammanfattning   Förutsättning   I examensarbetet har det ingått ett verkligt ärende som handläggs av mig som MBK-ingenjör inom Lantmäteriet. Det är ett naturvårdsuppdrag från Länsstyrelsen och innefattar bl a inmätning och utstakning av gräns på ett blivande naturreservat.   Naturvårdsuppdraget Huskeberget ligger ca 5 km norr om Södra Finnskoga och sydväst om Höljes i norra Värmland. Omkrets 2,38 km. Områdets höjd är ca 550 m över havet och ligger på sydöstra sluttningen av Huskeberget.   Fix   Lantmäteriet använder idag Leica Viva CS15/GS15 mätutrustning vid inmätning av brytpunkter och gränser. I detta fall det blivande naturreservatet. Under vissa omständigheter kan det ta tid att få fix-lösning eller helt utebli. Dessa omständigheter kan bero på ett flertal faktorer bl a kraftiga jonosfärsstörningar och/eller GPRS-nätets täckningsområde för mottagning av SWEPOS nätverks-RTK tjänst.   Inriktning   Fokus har lagts på att utvärdera ett alternativ till nätverks-RTK, en sk enkelstations-RTK med uppkoppling till en tillfällig referensstation.   Närmare undersökning har gjorts på tiden för initialisering vid varje enskild inmätning som sedan jämförts i de två mätmetoderna. Tiden för själva arbetet sätts sedan i relation till resultatet från undersökningen för att ge en helhetsbild av tidsåtgång i arbetet med vardera mätmetoden.   Resultat   Efter alla brytpunkter mätts in visade det sig att i just det här området inte fanns några anmärkningsvärda problem att få fix-lösning med någon av de valda mätmetoderna. Resultatet visar därmed små skillnader i tidsjämförelser.   En oplanerad testmätning med nätverks-RTK gjordes i tät skog alldeles intill en inmätt brytpunkt utan framgång att få fix-lösning. Detta för att belysa problematiken med att få fix-lösning vid mätning i tät skog.   Rapporten innehåller en kortfattad beskrivning av delar av arbetet i Lantmäteriets handläggning av naturvårdsuppdrag.

10th IFAC Symposium on Robot Control International Federation of Automatic Control September 5-7, 2012. Dubrovnik, Croatia

The current study was designed to: (1) compare the sensitivity of a 2-dimensional video-based system with a 3-dimensional optical system, and (2) investigate movement on the affected and unaffected side of the face during the production of various functional movement tasks in 5 patients who had undergone facial reanimation surgery. The study showed that: (1) distance is the most valuable measure for evaluating facial paralysis, regardless of system; (2) movements associated with maximal contraction and running speech tasks are most informative when assessing facial paralysis; (3) area and volume ratios may be an appropriate measure for tracking changes in facial movement over time; (4) velocity and acceleration measures provide minimal information regarding facial movement; and (5) 2-dimensional analysis is most effective when distance is measured during maximal contraction and running speech tasks. Both systems were effective in tracking small movements of the face, but the 3-dimensional system was superior overall.

One of the main advantages of the Gantry-Tau machine is a large accessible workspace\footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio further by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. In this Thesis some of the features of the Gantry-Tau structure are described and results are presented from the analysis of the kinematic, elastostatic and elastodynamic properties of the PKM. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the machine are still difficult to calculate and this thesis introduces a multi-objective optimisation scheme based on the geometric approach for the workspace area, unreachable area, joint angle limitations and link collisions as well as the functional dependencies of the elements of the static matrix and the Laplace transform to define the first resonance frequency and Cartesian and torsional stiffness. The method to calculate the first resonance frequency assumes that each link and universal joint can be described by a mass-springdamper model and calculates the transfer function from a Cartesian (TCP) force or torque to Cartesian position or orientation. The geometric methods involve the simple geometric shapes (spheres, circles, segments, etc) and vectors. The functional dependencies are based on the properties between the kinematic parameters. These approaches are significantly faster than analytical methods based on the inverse kinematics or the general Finite Elements Method (FEM). The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation gives the following features: • Workspace/footprint ratio more than 3.19. • First resonance frequency greater than 48 Hz. • Lowest Cartesian stiffness in the workspace 5N/μm. • The unreachable space in the middle of the workspace is not detected. • No link collisions. The results show that by careful design of the PKM, a collision free workspace without the unreachable area in the middle can be achieved. High stiffness and high first resonance frequency are important parameters for the the Gantry-Tau when used in industrial applications, such as cutting, milling and drilling of steel or aluminium and pick-and-place operations. These applications require high static and dynamic accuracy in combination with high speed and acceleration. The optimisation parameters are the support frame lengths, actuator positions,endeffector kinematics and the robot’s arm lengths. Because of the fast computational speed of the geometric approaches and computational time saving of the methods based on the functional dependency, they are ideal for inclusion in a design optimisation framework, normally a nonlinear optimisation routine. In this Thesis the evolutionary algorithm based on the complex search method is used to optimise the 3-DOF Gantry-Tau. The existing lab prototype of this machine was assembled and completed at the University of Agder

Extensive research has been undertaken to improve the robustness of runoff quantity predictions for urban catchments. However, equally robust predictions for runoff quality have yet to be attained. Past studies addressing this issue have typically been confined to the use of simple conceptual or empirical models which forgo the tedious steps of providing a physical representation of the actual system to be modelled. Consequently, even if the modelling results for the test catchments are satisfactory, the reliability and applicability of these models for other catchments remain uncertain. It is deemed that by employing process-based, deterministic models, many of these uncertainties can be eliminated. A lack of understanding of the hydrological processes occurring during storm events and the absence of good calibration data, however, hamper the advancement of such models and limit their use in the field. This research proposes that the development of a hydrologic model based on the kinematic wave equations linked to an advection-dispersion model that simulates pollutant detachment and transport will improve both runoff quantity and quality simulations and enhance the robustness of the predictions. At the very worst, a model of this type could still highlight the underlying issues that inhibit models from reproducing the recorded historical hydrographs and pollutographs. In actual fact, this approach has already been applied by various modellers to simulate the entrainment of pollutants from urban catchments. Also, the paradigm shift to using the Water Sensitive Urban Design (WSUD) approach in designing urban stormwater systems has prompted the need to differentiate the various sources of pollutants in urban catchments such as roads, roofs and other impervious surfaces. The primary objective of the study reported herein is to model runoff quantity and quality from small urban catchments, facilitated by the procurement of the necessary field data to calibrate and validate the model via implementation of a comprehensive field exercise based in Sydney. From a water quality perspective, trace metals were selected as the foci. The study outcomes include the formulation of a linkage of models capable of providing accurate and reliable runoff quantity and quality predictions for the study catchments by taking into consideration: - The different availability of pollutants from urban catchments, i.e. roads vs. roofs; - The build-up characteristics of pollutants on the distinct urban surfaces and their spatial distribution; - The contribution of rainwater to urban runoff pollution; - The partitioning of pollutants according to particulate bound and dissolved phases; - The respective role of rainfall and runoff in the detachment and entrainment of pollutants; - The influence of particle properties such as particle size distribution and density on pollutant transport; and - The relationship associating particulate bound metals to suspended solids. The simulation results obtained using the proposed model were found to be suitable for modelling the detachment and transport of pollutants for small urban catchments. Interpretation of these results reveals several key findings which could help to rectify shortcomings of existing modelling approaches. Even though the robustness of the model presented here may not translate into a significant improvement in the overall robustness of model predictions, the physical basis on which this process-based model was developed nevertheless provides the flexibility necessary for implementation at alternative sites. It is also shown that the availability of reliable runoff data is essential for implementation of the model for other similar urban catchments. In conclusion, the proposed model in this study will serve as a worthy tool in future urban catchment management studies.

Thesis (Ph.D.(Mechanical Engineering))--University of Pretoria, 2003. / Summaries in Afrikaans and English. Includes bibliographical references.

Thesis (M.Eng.(Mechanical Engineering))--University of Pretoria, 1999. / Summaries in Afrikaans and English. Includes bibliographical references.

Στην παρούσα μεταπτυχιακή διατριβή ειδίκευσης αναλύεται η γεωμετρία και κινηματική της πλαστικής παραμόρφωσης στο κάλυμμα κυανοσχιστολίθων της Όχης που εμφανίζεται στην ευρύτερη περιοχή του οικισμού Πλατανιστός, στη Ν. Εύβοια. Στα πλαίσια της διατριβής πραγματοποιήθηκε λεπτομερής γεωλογική - τεκτονική χαρτογράφηση της περιοχής, μεσοσκοπική τεκτονική ανάλυση καθώς και ποιοτική και ποσοτική μικροτεκτονική ανάλυση. Η παραμορφωτική ιστορία του καλύμματος της Όχης περιλαμβάνει πέντε διακριτές φάσεις παραμόρφωσης (D1 - D5). Η παλαιότερη, σύνθετη φάση παραμόρφωσης D1/2, έλαβε χώρα σύγχρονα με τη γλαυκοφανιτικής φάσης μεταμόρφωση των πετρωμάτων κατά το Ηώκαινο και χαρακτηρίζεται από την τοποθέτηση των επιμέρους καλυμμάτων (κάλυμμα Στύρας, κάλυμμα Όχης), με διεύθυνση κινήσεων προς τα ΑΝΑ. Το παραμορφωτικό γεγονός D3 εκφράζεται αποκλειστικά με μεσοσκοπικές και μεγασκοπικές όρθιες, συνήθως ανοικτές, πτυχές με άξονες που διευθύνονται ΑΝΑ – ΔΒΔ. Η D4 φάση αντιπροσωπεύει το κύριο γεγονός πλαστικής παραμόρφωσης. Εκφράζεται από μια ηπίως κλίνουσα φολίωση (S4) και μια γράμμωση (L4) ΑΒΑ/κης διεύθυνσης, οι οποίες ορίζονται από ορυκτά της πρασινοσχιστολιθικής φάσης μεταμόρφωσης. Η τελευταία D5 φάση παραμόρφωσης χαρακτηρίζεται από ημιεύθραυστες - εύθραυστες συνθήκες παραμόρφωσης και το σχηματισμό δύο ομάδων ΒΔ – ΝΑ διευθυνόμενων κανονικών ρηγμάτων με αντίθετες φορές μετατόπισης. Χαρακτηριστικό της κύριας φάσης D4 είναι η διαφοροποίηση στην ανάπτυξη των ιστών σε περιοχές κοντά ή μέσα σε ζώνες διάτμησης, αποτέλεσμα του εντοπισμού της παραμόρφωσης (strain localization). Συστηματική τεκτονική ανάλυση των κινηματικών δεικτών σε ζώνες διάτμησης D4 έδειξαν φορά κίνησης προς τα ΒΑ. Ποιοτική και ποσοτική τεκτονική ανάλυση στη ζώνη διάτμησης του Πλατανιστού έδειξε ότι κατά την παραμόρφωση των πετρωμάτων επικρατούσαν συνθήκες γενικής σύσφιξης έως επίπεδης παραμόρφωσης όπως προκύπτει από την παράμετρο Flinn (k) που λαμβάνει τιμές 1.16 < k < 2.56 στους επιμηκυμένους και 1.2 < k < 3.68 στους ανακρυσταλλωμένους κόκκους χαλαζία. Το συμπέρασμα αυτό ενισχύεται από τα διαγράμματα των κρυσταλλογραφικών [c]-αξόνων του χαλαζία που εμπίπτουν στο πεδίο της γενικής σύσφιξης. Επίσης, από τον υπολογισμό του 2D και 3D ποσού της παραμόρφωσης όπου προέκυψαν τιμές 8.05 < RXZ < 10.8 και 1.49 < ες < 1.70 με βάση τους επιμηκυμένους και 2.4 < RXZ < 3.15 και 0.62 < ες < 0.81 με βάση τους ανακρυσταλλωμένους κόκκους χαλαζία, συμπεραίνεται ότι το ποσό της παραμόρφωσης είναι εμφανώς μικρότερο όταν υπολογίζεται για ανακρυσταλλωμένους κόκκους από όταν υπολογίζεται για επιμηκυμένους κόκκους χαλαζία. Τέλος, με την εφαρμογή τριών μεθόδων (RXZ/β, RXZ/δ και δ/β) υπολογίστηκε ο κινηματικός αριθμός της στροβίλισης Wm ο οποίος λαμβάνει τιμές από 0.60 έως 0.99 φανερώνοντας ότι η ζώνη του Πλατανιστού είναι μία ζώνη στην οποία κυριαρχεί η απλή διάτμηση με μικρή συμμετοχή του παράγοντα καθαρής διάτμησης. / Τhis MSc thesis deals with the geometric and kinematic analysis of the ductile deformation in the (CBU) Cycladic Blueschist Nappe (Mt Ochi), which crops out in the vicinity of Platanistos village in south Evia island. As part of the research, detailed geological-structural mapping of the area was combined with mesoscopic structural analysis, as well qualitative and quantitative microtectonic analysis. The deformation history of the Cycladic Blueschist Nappe in the study area includes five distinct deformation phases (D1-D5). The oldest composite D1/2 deformation phase recorded in the study area took place simultaneous with the Eocene blueschist phase metamorphism. This D1/2 phase is characterized by structures that are related with ESE-directed thrusting and the emplacement of the individual units that constitute CBU (Styra and Ochi nappe). The D3 deformation event includes mesoscopic to map-scale upright, usually open, folds with ESE-WNW trending axes. D4 is the dominant phase of ductile deformation and is represented by a gently dipping foliation (S4) and an ENE-trending stretching lineation (L4). D4 fabrics are defined by the shape preferred orientation of minerals (e.g. actinolite) that are stable in the greenschist phase conditions. The latest D5 deformation event took place in semi-brittle - brittle deformation conditions and was characterized by the formation of two sets of NW-SE striking normal faults with opposite displacement directions. The main characteristic of D4 phase is the differentiation in the development of the planar S4 fabric, as a result of localization of D4 deformation (strain localization) in regions close to or into ductile shear zones. Kinematic analysis of D4 deformation was performed in ductile D4 shear zones and showed a top-to-the ENE sense of shear. Qualitative and quantitative analysis on the shear zone of Platanistos revealed that D4 deformation took place under general constriction to plane strain conditions, as shown from the Flinn parameter (k) values obtained from the elongated (1.16<k<2.56) and the recrystallized (1.2<k<3.68) quartz grains. This conclusion is further supported by quartz [c]-axis fabric diagrams, which also show types formed in general constriction. Furthermore, from the 2D and 3D strain analysis yielded values 8.05 < RXZ < 10.8 and 1.49 < ες < 1.70 by measuring the shape of elongated quartz grains and values 2.4 < RXZ < 3.15 and 0.62 < ες < 0.81 by measuring recrystallized quartz grains. Finally, three methods (RXZ/β, RXZ/δ and δ/β) were applied in order to calculate the kinematic vorticity number, Wm, which takes values from 0.60 to 0.99, revealing that Platanistos shear zone is a zone dominated by simple shearing with little contribution of pure shear component.

Orientador: Rafael Zadorosny / Resumo: Nesse trabalho estudou-se a dinâmica e os fatores de formação de vórtices cinemáticos em supercondutores mesoscópicos sem gap (gapless). Os resultados foram comparados com aqueles de um sistema com gap (gap-like). Para tal, as simulações computacionais foram direcionadas para a solução das equações generalizadas de Ginzburg-Landau dependente do tempo (GTDGL). Primeiramente simulamos amostras homogêneas onde verificou-se que, no sistema gap-like, as correntes se concentram no centro da amostra, com isso, há formação de vórtices cinemáticos. Para criar artificialmente o acúmulo de correntes no centro da amostra, inserimos uma constrição e assim, obtivemos a formação de vórtices cinemáticos em supercondutores gapless. A dinâmica é sempre com um par se formando nas bordas da amostra e se aniquilando no centro. Nota-se que, além da formação de VAv (início do estado resistivo) ocorrer em valores distintos da densidade de corrente aplicada para as diferentes amostras, a corrente crítica apresenta uma pequena diferença entre as amostras gapless e gap-like. Vale ressaltar que parâmetros como o tamanho dos contatos elétricos e a constrição afetam a corrente crítica da amostra, bem como a velocidade média do vórtice cinemático. / Abstract: In this work we study the dynamics and the formation of kinematic vortices in gapless mesoscopic superconductors. The results were compared to those ones of a gap-like system. Then computational simulations were carried out to solve the Generalized Time-Dependent Ginzburg-Landau equations (GTDGL). Firtly, we simulated homogeneous gap-like and gapless samples where it was found that, in the rst one, the currents concentrate in the center of the sample and then, there was the formation of kinematic vortices. To arti cially promote the crowding of the currents in the center of the sample, we worked with samples a constriction. In this way, kinematic vortices in gapless superconductors were formed. The dynamic is always with a pair forming at the edges of the sample and annihilating in the center. It is noted that, besides the formation of a vortex (antivortex) (begin of resistive state) occurs at distinct values of the applied current density for diferent samples, the electric critical current presents a tiny di erence between gapless and gap-like samples. It is worth mentioning that parameters such as the size of electrical contacts and constriction a ect the critical current of the sample as well as the average velocity of the kinematic vortex. / Mestre

As características intermitentes do futebol exigem a aplicação de testes específicos à modalidade. O teste Yo-yo intermitente recuperativo nível 1 (YYIR1) é considerado um teste específico e confiável na avaliação de jogadores de futebol. Contudo, as variáveis de desempenho que o influenciam são pouco conhecidas. O presente estudo, teve como objetivo verificar as variáveis determinantes do desempenho final do teste YYIR1 em jogadores de futebol de campo. Para tanto, dez jogadores de futebol de campo da categoria sub-20 foram submetidos a três sessões de avaliação onde foram determinadas as seguintes variáveis: a) composição corporal (%G) e força dinâmica máxima (1RM) no exercício agachamento; b) economia de corrida (EC) e as variáveis relacionadas a potência (VO2max e vVO2max) e capacidade aeróbia (Limiar anaeróbio LAn-3,5mM) em esteira rolante e c) no teste YYIR1, determinação de forma direta das variáveis respiratórias e análise cinemática do deslocamento determinando a média da aceleração pico (AP-média) e a média da velocidade pico (VP-média) durante os estágios. Antes e após o teste em esteira (TE) e o teste YYIR1 foram determinadas a altura de salto vertical (Alt-jump), o tempo de contato com o solo (TC-jump) e o índice de força reativa (IFR-jump) através da técnica Drop Jump. Além disso, em ambos os testes foram determinadas as participações energéticas. Os principais resultados foram: a) houve diferença significante entre o VO2max determinado em esteira (57,33 ± 3,4ml/kg/min) e no teste YYIR1 (53,57 ± 2,67ml/kg/min) e estes não se correlacionaram; b) a participação energética tanto no TE (92,31 ± 1,79%) quanto no YYIR1 (74,08 ± 6,88%) é predominantemente aeróbia, porém, o YYIR1 apresenta maior participação anaeróbia quando comparado ao TE (25,91 ± 6,88 e 7,67 ± 1,79%, respectivamente); c) as variáveis determinadas no Drop Jump não foram influenciadas pela realização do TE e o YYIR1; d) nenhuma variável relacionada à capacidade de força (1RM, 1RM/MCT; Alt-jump, TC-jump e IFR-jump) apresentou correlação com o desempenho final do YYIR1; e) a %G (r = -0,63), VO2max (r = 0,74), vVO2max (r = 0,86), LAn-3,5mM (r = 0,76), AP-média (r = 0,77) e a participação anaeróbia alática no YYIR1(r = -0,65) apresentaram correlação significante com o desempenho final no YYIR1; f) destas apenas a vVO2max e a participação anaeróbia alática no YYIR1 foram determinantes no desempenho final do teste. Conclui-se que, embora correlacionado com outras variáveis, o desempenho final do YYIR1 é influenciado pela maior vVO2max determinada no TE e menor participação do metabolismo anaeróbio alático no YYIR1 / The intermittents characteristics of the soccer require the application of specific tests to this game. The Yo-yo intermittent recovery level 1 test (YYIR1) is considered a reliable and specific test in the evaluation of soccer players. However, the variables that influence their performance is little known. The present study aimed at finding out the variables which determine the final YYIR1 performance test in the soccer field. Therefore ten soccer players in the U-20 field underwent three evaluation sessions in which the following variables were determined: a) body composition (% BF) and maximal dynamic strength (1RM) in the squat exercise; b) running economy (RE) and the variables related to power (VO2max and vVO2max), aerobic capacity (anaerobic threshold - AT-3,5mM) on treadmill, and c) determining directly in the YYIR1 test the respiratory variables and analysing the displacement kinematic that causes the average peak acceleration (PA-average) and the average peak velocity (VP-average) during the stages. Before and after the treadmill test (ET) and the YYIR1 test there were determined the height of the vertical jump (Alt-jump), the time of contact with the ground (TC-jump) and reactive strength index (RSI-jump) through Drop Jump technique. Additionally, in both tests there were determined energy holdings. The main results were: a) there was a significant difference between the indicated treadmill VO2max (57.33 ± 3.4 ml/kg/min) and the YYIR1 test (53.57 ± 2.67 ml/kg/min) and these indicators were not correlated; b) the energy participation in TE (92.31 ± 1.79%) and in the YYIR1 (74.08 ± 6.88%) was predominantly aerobic; however the YYIR1 test had a greater anaerobic participation compared to TE (25.91 ± 6 , 7.67 ± 1.79 and 88%, respectively); c) the variables evaluated in the Drop Jump were not affected by the ET, and the YYIR1; d) no variable related to the power capacity (1RM 1RM/MCT; Alt-jump, TC-jump and IFR-jump) was correlated to the YYIR1 final performance; e) the % BF (r = -0.63), VO2max (r = 0.74), vVO2max (r = 0.86), AT-3,5mM (r = 0.76), AP-average (r = 0 , 77) and anaerobic alactic participation in the YYIR1 (r = -0.65) showed significant correlation with the final performance in the YYIR1; f) among these only the vVO2max and anaerobic alactic participation in the YYIR1 were determinant in the final performance. The conclusion is that, although correlated with other variables, the final YYIR1 was influenced by the greater vVO2max determined in the TE and the lower participation of the anaerobic alactic metabolism in the YYIR1