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Ce mémoire présente des manœuvres de réorientation appliquées à un robot articulé et à un robot mobile en chute libre. Ces manœuvres, initialement inspirées du phénomène du chat qui atterrit toujours sur ses pattes, sont aussi attribuées à d'autres animaux, tels que certains reptiles et même les humains dans le contexte de certains sports. Les manœuvres de réorientation ont aussi des applications dans le domaine de la robotique. En effet, de tels manœuvres s'avèrent utiles pour le contrôle de pose d'atterrissage pour des robots susceptibles aux chutes, comme les robots sauteurs ou les robots de secours qui doivent être déployés dans des environnements dangereux et difficiles à parcourir. Dans cette optique, le travail présenté dans ce mémoire vise à développer et démontrer des manœuvres de réorientation permettant une réorientation rapide (redressement de 180 degrés -- le pire cas possible -- dans le temps d'une chute d'un mètre) et multiaxe. Tout d'abord, une architecture articulée ainsi que deux manœuvres de réorientation sont conçues afin d'atteindre les capacités de réorientation visées et les performances de cette architecture sont testées en simulation. Les résultats obtenus démontrent que l'architecture proposée est capable de se réorienter selon plusieurs axes, mais n'atteint pas les performances visées en termes de vitesse de réorientation. Par la suite, une architecture mobile omnidirectionnelle et compacte est conçue afin d'adresser les limitations de la première architecture. Un prototype de cette architecture est développé et permet d'effectuer une réorientation de 179 degrés selon son axe de tangage en 0.44 secondes tout en conservant sa capacité de se redresser selon plusieurs axes. Les performances de réorientation visées sont alors atteintes avec ce deuxième prototype. Enfin, une méthode de fusion de données par filtre de Kalman étendu servant à estimer l'orientation d'une plateforme en apesanteur est explicitée et est validée dans des conditions contrôlées. Ces résultats démontrent l'utilité de telles méthodes de fusion de données pour implémenter la planification automatique des manœuvres de réorientation dans les itérations futures du prototype développé. / This thesis explores the application of reorientation manoeuvres to an articulated and a mobile robot architecture. These manoeuvres are often attributed to cats that are said to always land on their feet, but have also been observed in other animals and used by humans in certain sports. However, these manoeuvres are more than just a curiosity and have seen some use in the field of robotics. Indeed, reorientation manoeuvres are used for orientation control in falling robots, such as rescue robots deployed in dangerous environments, and in jumping robots. With such applications in mind, this thesis aims to develop and demonstrate fast (180-degree reorientation about one axis -- the worst-case scenario -- within the time of a one-metre fall), multi-axis reorientation manoeuvres. Firstly, an articulated architecture, along with two different manoeuvres, are designed in order to attain the desired reorientation capabilities and are tested in simulated conditions. The results obtained show that, although multi-axis reorientation is achieved, the required motor torques to reach the desired reorientation speeds are not feasible for the proposed architecture. Secondly, an omnidirectional mobile robot architecture is designed to address the limitations of the first architecture. A prototype of this mobile architecture is developed and is used to demonstrate a reorientation of 179 degrees about the pitch axis in 0.44 seconds as well as a reorientation about multiple axes. Therefore, with this prototype, the desired reorientation capabilities are achieved. Finally, the use of sensor fusion methods based on extended Kalman filtering in the context of estimation of the orientation of a free-floating platform is studied. The results obtained from this study support the viability of using such methods for on-board trajectory planning in future iterations of the developed prototype.

No / Autodesk Moldflow Simulation Insights has been used to predict the fibre orientation within notched specimen injection mouldings. Currently available fibre orientation models including the classis Folgar-Tucker (FT), the modified version of Folgar-Tucker (MFT) and the Reduced Strain Closure (RSC) [1] have been assessed, alongside the relative effects of their associated parameters, for their suitability for fibre orientation prediction. Compared to experimentally determined values the Reduced Strain Closure model was shown to most closely represent the fibre orientation within the moulded components.

At Jones Point in Alexandria, Virginia, it is easy to perceive the movements of the tides, the stars, and the sun, or to point to the markers and structures that dot the peninsula. However, the rules that govern the heavenly bodies and the intended purposes of the earthly constructions are not as readily discerned. Situated here, a marina and sailing school on the banks of the Potomac River finds order in the astronomical rhythm and man-made history of Jones Point, and they structure the significance of the site through building. This project first aspired to re-imagine the ceiling and the floor as primary architectural elements. The floor and the ceiling became an analogy: The floor is the Earth, the ceiling is the sky. This building orders its site by unifying the diverse elements at Jones Point and allows one to find orientation in the terrestrial as well as the celestial. It is by building that we put ourselves in relation to the world. We imbue materials and our constructions with significance. In Architecture, it is the construction of our ideals, desires, and wonder -- rendered in material -- that shelters us from the biting cold or the beating sun. We draw our stories in the sky and we build them on the earth. / Master of Architecture

The problem with which this study deals is that of describing and analyzing current new teacher orientation programs and practices in selected Texas secondary schools.

The problem of this study was to analyze the perceptions held by the following three groups concerning orientation criteria for public junior colleges: (1) a random sample of authorities in the field of orientation, (2) a random sample of public junior college presidents, and (3) a random sample of orientation directors of public junior colleges.

Master of Science / Department of Special Education, Counseling and Student Affairs / Fred Bradley / Outdoor orientation programs (OOPs) have the same goal as traditional first-year student orientation programs (e.g., First-Year Seminar), that is, helping facilitate the transition of first-year students to collegiate life. There are many challenges first-year students face while transitioning into college. Research shows that OOPs can increase retention rates of first-year students; help first-year students to grow personally, socially and spiritually; and increase friendship formation among this population (Davis-Berman & Berman, 1996; Devlin, 1996; Galloway, 2000). Today, there are approximately 164 higher education institutions in the United States that offer OOPs to their first-year students. Currently, Kansas State University has several programs that aid students in their transition to collegiate life. However, they do not currently have an OOP in place. A survey was conducted at Kansas State University to evaluate the level of interest in an OOP and/or an outdoor trips program. Survey results suggest that there are a significant number of current students on campus who would have participated in an OOP if one were offered when they first arrived. Recommendations for the development of an OOP at Kansas State University are made utilizing survey results and interviews with successful OOP program directors at several universities.

What objective should an entrepreneur focus on when starting a new business enterprise? Both a survival orientation and a profit one are important for the continuity of the new venture, but a survival focus is key in the hazardous early months or even years. In this thesis, I identify the conditions under which an entrepreneur should switch from a survival orientation, where the venture’s likelihood of survival is more critical, to a profit orientation where the venture’s profit instead is more critical. I accomplish this task by determining the optimal time to switch from a survival to a profit orientation based on maximizing the entrepreneur’s accumulated utility over a given time horizon. At each time period, the utility is positively associated with the amount of added value to the business venture that entrepreneur owns and manages, and the time horizon is determined by the time at which the entrepreneur’s venture exit – for instance, it is being sold. That added value contains a planned portion (e.g., due to what the entrepreneur can control) and an unplanned portion. The portion of a firm’s added value that is unplanned depends on the entrepreneur’s orientation, whereby, at any time period, the expected added value and its variation are considered to be low under a survival orientation, but they are considered to be high under a profit orientation. I use an approach from the economics literature, known as the LEN model, where the use of an exponential utility function (E), a linear relationship between the utility and random effects (L), and normality of those random effects (N) allow me to transfer the probabilistic objective function into a certainty equivalent that makes the problem tractable. The decision framework and its resulting findings suggest two environmental and two entrepreneurial characteristics that influence the existence of a time at which to switch orientation from survival to profit. Based on these characteristics, I derive sixteen scenarios and discussed some of the necessary conditions for the existence of a switching time. I find that it is not straightforward to determine whether the orientation switch should be delayed or expedited as business environments (or entrepreneurial types) are compared. I thus further develop my analysis by adding more structure to the functional forms that underline the behavior of how the mean of and variation in the firm’s added value are regulated over time, as well as for the risk propensity of the firm’s owner. This exercise allow me to study the conditions under which the switching time should be delayed or expedited, and to numerically investigate the behavior of a firm’s total valuation as changes occur in key model parameters. I use franchising as an application of the sensitivity analysis I perform to identify whether a change in a model parameter (everything else being equal) should delay or expedite the orientation switch. Based on this application, I would advise entrepreneurs to switch their orientation later if they go into entrepreneurship as a franchisee rather than as a franchisor. A simulation analysis allows me to further propose a positive relationship between a firm’s total valuation and the planned added value by the entrepreneur to that firm. That analysis also suggests a positive relationship between a firm’s total valuation and the expected unplanned-added-value growth under a profit orientation, but a negative relationship under a survival orientation. Further, I find a positive relationship between total valuation and the variation in unplanned-added-value growth under a survival orientation, but a negative relationship under a profit orientation. One of the key challenges that have been raised for future entrepreneurship research is how to define an entrepreneur’s objective function. My thesis contributes to this debate by suggesting that, in the early years, there should be an orientation switch, that is, sequentially as opposed to simultaneously consider both survival and profit maximization. My thesis also contributes to the literature on firm growth because using risk-return tradeoffs to characterize the two orientations is unique in the entrepreneurial context, and so is the consideration of a sequential use of these orientations to study firm added value over time and the resulting accumulated total valuation. Characterizing each of the two orientations – survival and profit – based on risk-return tradeoffs and linking these orientations to firm growth open up new avenues for research in entrepreneurial decision making.

What objective should an entrepreneur focus on when starting a new business enterprise? Both a survival orientation and a profit one are important for the continuity of the new venture, but a survival focus is key in the hazardous early months or even years. In this thesis, I identify the conditions under which an entrepreneur should switch from a survival orientation, where the venture’s likelihood of survival is more critical, to a profit orientation where the venture’s profit instead is more critical. I accomplish this task by determining the optimal time to switch from a survival to a profit orientation based on maximizing the entrepreneur’s accumulated utility over a given time horizon. At each time period, the utility is positively associated with the amount of added value to the business venture that entrepreneur owns and manages, and the time horizon is determined by the time at which the entrepreneur’s venture exit – for instance, it is being sold. That added value contains a planned portion (e.g., due to what the entrepreneur can control) and an unplanned portion. The portion of a firm’s added value that is unplanned depends on the entrepreneur’s orientation, whereby, at any time period, the expected added value and its variation are considered to be low under a survival orientation, but they are considered to be high under a profit orientation. I use an approach from the economics literature, known as the LEN model, where the use of an exponential utility function (E), a linear relationship between the utility and random effects (L), and normality of those random effects (N) allow me to transfer the probabilistic objective function into a certainty equivalent that makes the problem tractable. The decision framework and its resulting findings suggest two environmental and two entrepreneurial characteristics that influence the existence of a time at which to switch orientation from survival to profit. Based on these characteristics, I derive sixteen scenarios and discussed some of the necessary conditions for the existence of a switching time. I find that it is not straightforward to determine whether the orientation switch should be delayed or expedited as business environments (or entrepreneurial types) are compared. I thus further develop my analysis by adding more structure to the functional forms that underline the behavior of how the mean of and variation in the firm’s added value are regulated over time, as well as for the risk propensity of the firm’s owner. This exercise allow me to study the conditions under which the switching time should be delayed or expedited, and to numerically investigate the behavior of a firm’s total valuation as changes occur in key model parameters. I use franchising as an application of the sensitivity analysis I perform to identify whether a change in a model parameter (everything else being equal) should delay or expedite the orientation switch. Based on this application, I would advise entrepreneurs to switch their orientation later if they go into entrepreneurship as a franchisee rather than as a franchisor. A simulation analysis allows me to further propose a positive relationship between a firm’s total valuation and the planned added value by the entrepreneur to that firm. That analysis also suggests a positive relationship between a firm’s total valuation and the expected unplanned-added-value growth under a profit orientation, but a negative relationship under a survival orientation. Further, I find a positive relationship between total valuation and the variation in unplanned-added-value growth under a survival orientation, but a negative relationship under a profit orientation. One of the key challenges that have been raised for future entrepreneurship research is how to define an entrepreneur’s objective function. My thesis contributes to this debate by suggesting that, in the early years, there should be an orientation switch, that is, sequentially as opposed to simultaneously consider both survival and profit maximization. My thesis also contributes to the literature on firm growth because using risk-return tradeoffs to characterize the two orientations is unique in the entrepreneurial context, and so is the consideration of a sequential use of these orientations to study firm added value over time and the resulting accumulated total valuation. Characterizing each of the two orientations – survival and profit – based on risk-return tradeoffs and linking these orientations to firm growth open up new avenues for research in entrepreneurial decision making.