Opening a door is still a hard problem in robotics. Many robotic manipulators use open-loop position control to open doors, which reduces reusability and reliability in the face of slight differences or sensor errors. Many others use force feedback or impedance control but skip past the problem of grabbing the handle, which could lead to failures due to sensor errors. This research assumes that perception is faulty, and uses joint-level force feedback to probe the location of the door and its handle before attempting to open it. The resulting control strategy is at least 33% faster than the open-loop control system it replaces, and had an 83% success rate during testing in place of the previous method's 60% success rate. / Master of Science

Yes / Purpose To assess the impact of a six-week ‘Maths on the Move’ (MOTM) physically active learning programme on primary school children’s physical activity (PA) levels and maths performance. Method Randomised control trial. Year 5 children’s PA was assessed using accelerometry for five consecutive school days at baseline and during the final intervention week (final sample: n=97, age M=9.61±0.29, 52.6% female). Two maths performance tests were used; one assessing mathematical content taught during MOTM and one assessing math’s fluency (MASSAT). Both tests were conducted at baseline and following the intervention (week seven). Focus groups were conducted in week seven with intervention children (n=12), randomly choosing an even split of children classified with pre-intervention low or high PA levels. Results On average, during a typical 45-49 minutes MOTM lesson, children obtained an additional five minutes of moderate-to-vigorous PA and 5.7 minutes of light PA counteracted by a reduction of 9.5 minutes of time spent sedentary compared to children that remained in the classroom (control condition). The maths attainment test performance significantly improved over time for children in the MOTM compared to the control (+6.1 versus +0.9, p≤0.0001, d=1.507). No significant improvements were found in the MASSAT total score. Seven emerging themes were derived from the child focus groups. Children felt the MOTM sessions resulted in social and environmental improvements, which improved learning during the sessions. Children described the MOTM sessions as enjoyable, fun, engaging and invigorating – resulting in positive associations to learning and activity. Conclusion Collectively, the findings identify the MOTM programme improves pupil’s PA levels, academic outcomes and identifies pupil’s willingness, enjoyment, and engagement.

Interacting Multiple Model (IMM) estimator is used extensively to estimate trajectories of maneuvering targets in cluttered environment. In the standard tracking methods, it is assumed that movement of target is applicable to a certain model and the target could be monitored via the usage of status predictions of that model. However, targets can make different maneuvering movements. At that time, expression of target dynamic model with only one model can be insufficient. In IMM approach, target dynamic model is expressed with more than one model capsulating all maneuvering movements or with one model with different noise level values. This thesis investigates the tracking of the maneuvering ground targets in cluttered environment via IMM estimator with constant velocity model with low/high process noise, coordinated turn model and move-stop-move model. The selection strategies of models are highlighted and the state errors are calculated to evaluate the performance of IMM estimator.

The analogue models and the kinematic models based on the seismic data results were used to simulate the fault pattern which develops above a basement horst. The two major normal faults intersect with each other along the strike in the sedimentary covers. The fault pattern developed in the sedimentary cover is controlled by the dip of the basement fault and the width of the basement horst. The single horst structure was only developed in the sedimentary covers above the wider end of the basement horst. The hourglass structure was developed in the sedimentary covers above the narrower end of the basement horst. The precursor faults developed ahead of the major second-order normal faults when the dip angle of the basement fault is larger than 60°. The antithetic faults developed ahead of the major second-order normal faults when the dip angle of the basement fault is less than 50°. The analogue models were designed in a way that the two hanging wall blocks glide down along the basement horst simultaneously to simulate the activity of the basement faults. The kinematic models were designed based on the alternative sequential slip method to study the kinematic behaviors of the conjugate normal faults. The Lufeng Sag was characterized by the basement horst in the center and the deep half-grabens developed beside the horst. The width of the basement horst decreases along its strike. The models indicates that the second-order normal faults developed above the basement horst, observed in the Lufeng Sag seismic profiles, were reproducible and much more detailed structures were revealed / Detta projekt har analog modellering och kinematiska modeller baserade på seismiska data använts för att simulera förkastningsmönster ovanför en berggrundshorst. Två stora normal förkastningar möts i strykningsriktningen hos de ovanliggande sedimentlagren. Förkastningsmönstret som utvecklats i ovanliggande sedimentlager styrs av stupningen hos underliggande urberg samt bredden hos den underliggande horsten. Den enda horststrukturen som utvecklades i sedimentlagren skedde i fallet med en bredare underliggande horststruktur. En timglasstruktur bildades i den sedimentära successionen vid den smalare ändan av berggrundshorsten. De initiala förkastningarna bildades tidigt för att sedan övergå i andra ordningens normalförkastningar i de fall då stupningen hos underliggande berggrund överstiger 60°. Mindre antitetiska förkastningar bildades före andra ordningens förkastningar där berggrunds-stupningen understiger 50°. Den analoga modell som nyttjades experimentellt var konstruerad så att de två hängväggskomponenterna kunde röra sig fritt samtidigt längs med berggrundshorsten för att simulera aktivering av befintliga förkastningar i berggrunden. De kinematiska modeller som nyttjades var konstruerade enligt metoden för sekventiella rörelser (eng - sequential slip method) för att studera kinematiska beteenden hos konjugerande förkastningspar. Lufeng-sänkans utseende har kontrollerats av berggrundshorsten i mitten samt av de djupa halv-grabens på båda sidorna av horsten. Bredden på berggrundshorsten minskar längs dess stupning. Modellerna påvisar att andra ordningens normal-förkastningar bildades ovanför berggrundshorsten, likt i de seismiska profilerna över området, samt att strukturerna var reproducerbara och väldigt detaljrika.

För att skapa kraftfullare presentationer måste nya metoder implementeras för att visualisera projekt. Ett aktivitetshus för ungdomar visualiseras i detta projekt genom att 3D-modellen av huset placeras i ett filmklipp från den plats där huset skall stå. Stegen som togs för att realisera detta var förarbete i form av inskaffande av ritningar, filmande, matchmoving, 3D-modellering, rendering, compositing och ljuddesign. Resultatet blev ett filmklipp som ur ett första persons perspektiv både visar exteriören och interiören.

International Telemetering Conference Proceedings / October 20-23, 2003 / Riviera Hotel and Convention Center, Las Vegas, Nevada / In this paper, based on the parallel move equivalent sequence of m sequence ,one type of CDM telemetry system is issued. Also the method for anti multi-path interference(MPI) of the system is proposed and its performance is analyzed. We proved that this system not only holds the merits which are inherent in common spread-spectrum communication system, but also has better transmission efficiency.

The globalized world is acknowledged by increased competition, and since competition today is between supply chains there is an importance of controlling the supply chain. The globalization is one of the reasons for the increasing need for organizational change, and the process of implementing strategic change is affected by skills for effective leadership; conceptual, interpersonal and technical skills. The purpose of this study was to develop an understanding of the middle manager’s skillset and how it differs through the phases of organizational change in supply chain. By focusing on middle managers, we put emphasis on the individuals involved in putting the plan for organizational change into practice. A model is developed to explain the utilization of skills in the phases of transition. For this study we used a qualitative research method with a single case study design, by interviewing seven middle managers in an international organization. The empirical data were based on semistructured interviews with respondents in middle managerial positions in supply chain. An abductive approach was applied through the process of writing the thesis. Environmental factors as a reason for organizational changes in supply chain were initially described in the theoretical framework. Change and the phases in change processes as well as the middle manager's role in the change process were further explained. Required skills for effective leadership when presenting, implementing and embedding organizational change initiatives were further described. This thesis shows that a middle manager who faces an organizational change in supply chain are required to focus on specific skills at different points of time, when operating in the different phases of transition.

Three adsorption theories--Langmuir, B.E.T., and Freundlich--were applied to boron interaction with Aiken clay loam and Vernal sandy loam soils to determine which bests describes the system. Column studies were conducted to obtain constants related to mass fluid flow and fluid dispersion within the column. An inert ion was used to obtain the pore volume and to calculate the fluid dispersion coefficient. These data were used to solve the material balance equation by the explicit numerical method developed by Lai for a digital computer. The output from the computer was a predicted profile boron distribution within the soil column. The soil columns were undergoing saturated flow and 10 ppm boron solution was introduced at the top and allowed to flow for a specified period of time, at which time the column was segmented and analyzed for boron to obtain the experimental profile boron distribution within the soil column. The experimental and predicted profiles were compared.

<p>För att skapa kraftfullare presentationer måste nya metoder implementeras för att visualisera projekt. Ett aktivitetshus för ungdomar visualiseras i detta projekt genom att 3D-modellen av huset placeras i ett filmklipp från den plats där huset skall stå. Stegen som togs för att realisera detta var förarbete i form av inskaffande av ritningar, filmande, matchmoving, 3D-modellering, rendering, compositing och ljuddesign. Resultatet blev ett filmklipp som ur ett första persons perspektiv både visar exteriören och interiören.</p>

General Game Playing (GGP) deals with the design of players that are able to play any discrete, deterministic, complete information games. For many games like chess, designers develop a player using a specially designed algorithm and tune all the features of the algorithm to play the game as good as possible. However, a general game player knows nothing about the game that is about to be played. When the game begins, game description is given to the players and they should analyze it and decide on the best way to play the game. In this thesis, we focus on two-player constant-sum simultaneous move games in GGP and how this class of games can be handled. Rock-paper-scissors can be considered as a typical example of a simultaneous move game. We introduce the CFR algorithm to the GGP community for the first time and show its effectiveness in playing simultaneous move games. This is the first implementation of CFR outside the poker world. We also improve the UCT algorithm, which is the state of the art in GGP, to be more robust in simultaneous move games. In addition, we analyze how UCT performs in simultaneous move games and argue that it does not converge to a Nash equilibrium. We also compare the usage of UCT and CFR in this class of games. Finally, we discuss about the importance of opponent modeling and how a model of the opponent can be exploited by using CFR.