Nesta tese analisamos a influência dos preços dos ativos na condução da política monetária nos países emergentes no período de 1990 a 2006. Primeiramente, investigamos a presença de bolhas racionais nos preços das ações dos países emergentes através de testes de cointegração linear e não linear. Os resultados indicam a presença de bolhas racionais em pelo menos um dos testes realizados para cada um dos países estudados. Todavia, nossos resultados permitem concluir que as bolhas tendem a ser provocadas por fatores extrínsecos e não pela relação não linear intrínseca entre os preços das ações e os dividendos. Estudamos também a relação entre os retornos de mercado, inflação esperada e crescimento/hiato do produto, através de testes individuais e em conjunto utilizando modelos em painel linear e não linear. Em ambos verificamos que as variáveis financeiras carregam informações úteis, tanto direta como indireta, a respeito da inflação e do crescimento do produto, dentro ou fora da amostra. Por fim, investigamos se os preços dos ativos devem exercer um papel central nas decisões de política monetária, através de modelos GMM (individuais e em painel) e de otimização dinâmica. Os resultados indicam que a razão dividendo-preço e a taxa de câmbio real são bons instrumentos na função de reação dos bancos centrais dos países emergentes, porém não podemos concluir que estas variáveis devam ser utilizadas como argumentos nestas funções de reação. Os resultados também indicam que, nos países que optaram pelo regime de metas de inflação estrita, a melhor opção seria não considerar explicitamente os retornos das ações em suas funções de reação. Para bancos centrais atuando em regimes de metas de inflação com política monetária acomodatícia ou outro tipo de regime, a melhor opção seria considerar os preços das ações em suas funções de reação. / We examine the relationship (if any) between stock prices and monetary policy in 22 emerging countries over the period 1990-2006. First, we investigate whether rational stock price bubbles are present in such countries using linear and nonlinear cointegration. Bubbles were found in at least one out of the six tests considered. These were likely to be caused by extrinsic factors, rather than by the intrinsic nonlinear relation between the stock prices and dividends. Secondly, we evaluate the link between market returns, expected inflation and output gap and growth by employing both individual and joint tests of linear and nonlinear panel models. We find that the stock prices convey useful information about inflation and output growth in-sample and out-of-the-sample Finally, we ask whether the stock prices are to be given a central role in monetary policy decisions using both (individual and panel) GMM models and dynamic optimization. We find that though the dividend-price ratio and the real exchange rate can provide useful information for monetary policy decisions, we should not jump to the conclusion that they have to be considered as arguments of the central banks' reaction functions. For the central banks with explicit inflation targeting, the best choice is not to consider the stock returns in their reaction functions. However, for the other regimes the best choice is to consider the stock returns in the reaction functions.

Despite considerable research on the monetary policy rules, little is known about internal relation between policy rules targets. Research approach frequently consists in estimating parameters or identifying variables to make the rule operate accurately. The overall image that emerges from the literature is that there is no contradiction in attaining the targets once set properly. Dissertation switches attention to mutual feasibility of incorporated targets. To contribute to this strikingly overlooked fact hypothesis is tested. Analyzed are variances of inflation and output representing policy rule targets. Time regression processed throughout OLS technique, gap analysis and calculation of variances are applied as principal analytical tools. Examined are data for 14 countries. Countries are divided into two groups according to size of their economy: small economies (Austria, Belgium, Czech Republic, Hungary, Ireland, The Nederlands and Slovak Republic); large economies (Euro zone, France, Germany, Italy, Spain, Sweden and USA). Results of the analysis show that once monetary authority follows policy rule with multiple targets it faces restriction. Rather than achieving both targets at one time it must respect trade off between them. According to data for selected countries hypothesis is accepted. Variances of output consistently proved to be higher than variances of inflation. Whence it follows that authority need to solve constrained optimization problem. It needs to pick out combination of differently large variances contrary to wining with all reaching low levels.

The Master's Thesis is generally about facility management -- its essence, individual services it consists of, and also about their integration when they are provided by one key supplier, and finally about their complex integration in one service package, i. e. complex integrated supporting services provision what is a modern trend of this discipline. The aim of the thesis is to evaluate the advantages and efficiency of the trend of service integration under one key supplier based on specific practical examples.

La sténose aortique (SA) est la maladie valvulaire cardiaque ayant la plus forte prévalence dans les pays occidentaux. On s’aperçoit que, malgré le respect des recommandations pour les indications opératoires, les patients présentent des évolutions très variables après chirurgie : certains patients restent symptomatiques, décèdent précocement, ou présentent une dysfonction ventriculaire gauche persistante. Il a été montré que les patients présentant à la fois une SA en bas débit (c’est-à-dire un volume d’éjection bas), une fraction d’éjection ventriculaire gauche (FEVG) altérée et un gradient de pression entre le ventricule et l’aorte abaissé avaient un pronostic péjoratif, avec un risque opératoire majoré lorsqu’ils subissaient un remplacement valvulaire chirurgical. Il a aussi été récemment démontré que, dans le contexte de la SA, un bas débit peut survenir alors que la FEVG est normale. Les objectifs généraux de ce doctorat sont d’étudier l’impact du débit (plus précisément le volume d’éjection ventriculaire gauche) sur le pronostic des patients atteints de SA, ainsi que l’évolution du débit après intervention et les déterminants de son évolution. Les résultats indiquent que le volume d’éjection ventriculaire gauche, que ce soit avant intervention, ou son évolution après TAVI (Transcatheter Aortic Valve Implantation), sont des prédicteurs indépendants puissants de mortalité chez ces patients. / Aortic stenosis (AS) is the most common valvular heart disease in occidental countries. Despite proper use of the guidelines, some patients can present adverse outcomes after surgery: some of them remain symptomatic, some die prematurely, or suffer from a persistant left ventricular dysfunction. It has been demonstrated that patients presenting an AS with low flow (i.e. low stroke volume), impaired left ventricular ejection fraction (LVEF), and a low transvalvular mean gradient, have poor prognosis, with increased risk during aortic valve replacement surgery. It has also been demonstrated that, in AS, a low flow can occur despite a preserved LVEF. The main goals of this PhD were to evaluate the impact of flow (more precisely left ventricular stroke volume) on the prognosis of patients with AS, the evolution of flow after intervention, and the factors that influence it. The results show that left ventricular stroke volume, before or after intervention, or its evolution after TAVI (Transcatheter Aortic Valve Implantation), are powerful independant predictors of mortality.

FundaÃÃo Cearense de Apoio ao Desenvolvimento Cientifico e TecnolÃgico / Este estudo visa a investigar a existÃncia de uma possÃvel interface entre atividades de traduÃÃo na sala de L2 e as funÃÃes da HipÃtese da ProduÃÃo de Swain. Swain (1985) postula que ao produzir lÃngua, o aprendiz se engaja em trÃs funÃÃes: percepÃÃo de lacunas, testagem de hipÃteses e reflexÃo metalinguÃstica. O presente estudo parte do pressuposto de que traduzir à produzir lÃngua, considerando a traduÃÃo como recriaÃÃo de efeitos de sentido (Santoro, 2011) e, assim, analisamos se as funÃÃes da HipÃtese da ProduÃÃo emergem durante a atividade de traduÃÃo, de cunho pedagÃgico, a ser realizada. A metodologia previu a conduÃÃo de um experimento prÃtico com uma atividade de traduÃÃo, para a geraÃÃo de dados, em que os participantes da pesquisa foram oito estudantes de graduaÃÃo em Letras-InglÃs, na qual estes fizeram uma atividade narrativa em dupla, gravada em Ãudio. Com base na transcriÃÃo dos Ãudios, os dados foram analisados, qualitativamente, visando a investigar se os processos mentais nos quais os alunos embarcam tÃm relaÃÃo com as funÃÃes da HipÃtese da ProduÃÃo de Swain. Analisamos, portanto, se durante a atividade de traduÃÃo, os participantes notaram lacunas, formularam hipÃteses e se refletiram metalinguisticamente acerca da L2. Os resultados comprovam que as funÃÃes ocorrem de forma entrelaÃada e justaposta dentro dos processos cognitivos exigidos pela referida tarefa. Estes resultados implicam em novas formas de se considerar a traduÃÃo no contexto da sala de LE e de novas proposiÃÃes de tarefas tradutÃrias. Implica, tambÃm, em novas necessidades na formaÃÃo do professor de LE, considerando o contexto de formaÃÃo deste profissional. / The present study aims to investigate the existence of an interface between translation activities in L2 classroom and the functions of Swain`s Output Hypothesis. For this, the present study assumes that translating is language production, considering translation as re-creation of meaning effects (Santoro, 2011) and thus, we analyzed if the functions of the Output Hypothesis emerge during a translation activity in a pedagogical nature, to be held. The methodology provided the conduction of a practical experiment with a translation activity, where participants were eight undergraduate students, in which they made an activity in pairs, and it was audio recorded. Based on the transcription of these recordings, the data was analyzed with a view to investigate whether the mental processes in which students embark relate to the functions of Swain`s Hypothesis. In conclusion, we observed if during the translation activity, the participants noted gaps, formulated hypotheses and if they reflected metalinguistically about the L2. The results show that the functions occur interwoven, in a juxtaposed manner within the cognitive processes required by the task. The results imply in news ways of considering the pedagogic translation in the foreign language classroom and it also implies in new necessities in the foreign language teachersâ training.

O presente trabalho tem como principal objetivo mostrar de forma empírica a importância relativa do setor agrícola na estrutura produtiva do estado do Mato Grosso, o qual tem apresentado um excepcional desempenho da atividade agrícola no contexto atual. Para tanto, utiliza-se de um modelo insumo-produto inter-regional construído para duas regiões, a saber, Mato Grosso e resto do Brasil, referente ao ano de 1999. A partir dos indicadores desta metodologia, procura-se identificar os setores mais importantes das economias em questão, seus encadeamentos e a propagação de impactos entre as regiões. Além disso, o trabalho faz ainda uma aplicação do modelo para verificar qual o impacto das exportações mato-grossenses, em especial da soja, sobre a produção total, valor adicionado e número de empregos gerados na economia, bem como calcula o PIB do agronegócio da soja no Mato Grosso, além de verificar qual o impacto causado na produção dos transportes rodoviário e ferroviário, nas duas regiões, ao atender a demanda final de cada atividade pertencente ao estado do Mato Grosso. Pelos resultados obtidos, pode-se confirmar a hipótese formulada a respeito da importância dos setores primários para a economia do estado. De acordo com os índices puros de ligações, verificou-se que os setores agrícolas como Soja, Bovinos e Outros da pecuária, foram considerados como chave ou pólos de desenvolvimento econômico na região em estudo, em função de suas fortes relações de compra e venda de insumos na economia. Além destes, quatro setores diretamente relacionados à agropecuária foram também identificados como chave, a saber: Fabricação de óleos vegetais, Abate de bovinos, Abate de outros animais e Álcool. Em especial merece destaque a cultura da soja no Mato Grosso, que embora tenha uma baixa geração direta de emprego e renda, apresenta um elevado efeito multiplicador destas variáveis na economia, uma característica intrínseca de setores altamente produtivos e intensivos em capital, além de destacar-se também como pólo de desenvolvimento econômico em função de suas fortes ligações, conforme mencionado no parágrafo anterior. As evidências empíricas confirmaram também a importância do setor em termos de suas exportações, as quais causam importante impacto na produção e geração de empregos em diversos outros setores, além de atrair ganhos cambiais ao país. Finalmente, o trabalho desenvolve um ferramental útil para a formulação de políticas públicas para o estado do Mato Grosso, embora sejam necessárias algumas atualizações e refinamentos da metodologia utilizada, para que se possa desenvolver um instrumental de avaliação de políticas de estímulo ao desenvolvimento da infra-estrutura de transportes da região, uma vez que esta última constitui-se peça fundamental ao crescimento econômico. / The main goal of this study is to show the empiric frame of the relative importance of agricultural sector into the productive framework of the Mato Grosso State, which has shown an exceptional agricultural activities growth in the actual context. For this purposes, it becomes useful to adopt an inter-regional input-output model built for two regions: Mato Grosso State and rest of Brazil, regarding to 1999. From the indicators of this methodology, it looks for finding the more important sectors of those economies, and its linkages and impacts between the regions as well. Moreover, this study even encourages to make some simulations to verify how the Mato Grosso’s exportations impacts on the total product, income and employment, specially those ones originated from soybean. It was possible to calculate the Mato Grosso’s soybean agribusiness GDP (Gross Domestic Product), besides verifying how much impacts were generated on highways and railways transports. According to results obtained, it is possible to confirm the created hypotheses regarding importance of primary sectors for the state economy. According to pure linkages indexes, it was checked that some sectors such soybean production, beef cattle production and other ones were considered like key sectors or economic developed pools for the region studied. In addition of those ones, four other sectors directly linked with agriculture were also found out like key sectors, so they are vegetable oils production, beef cattle and other slaughters, and alcohol production. The soybean crops is really a spot in Mato Grosso State, even though it has a low generation of directs income and employment. As a matter of fact, the soybean crops have a high multiplier effect on these economy variables, an own feature of highly productive and capital intensive sectors, and it is a prominence sector like a developing economic pool, as seen before. The empiric evidences confirmed the importance of sector in terms of its exportations too, which strongly impacts on product and employments generation in other ones sectors, besides attracting exchanges gains to the country. Finally, this input-output analysis creates an important tool to the public policy formulations of Mato Grosso State, although its important to make some updates and fits on the methodology applied to be able developing a whole evaluation instrumental kit of entire stimulant policies that might develop for example an efficient regional transport structure, due to this one consists of an essential device to the economic growth.

Neste trabalho, utiliza-se o modelo de insumo-produto de Leontief, em sua variante nacional, estática e aberta, para quantificar alguns benefícios indiretos gerados por um investimento em construção e manutenção de obras de infra-estrutura de transporte. Estes benefícios são conseqüência do aumento da produção gerado pelo investimento, uma vez que há uma parcela de produção de qualquer bem ou serviço que corresponde a um aumento de riqueza para a região receptora do investimento. Procura-se mostrar que esse aumento de riqueza deve ser considerado como um beneficio indireto adicional, e que a busca da identificação da magnitude desse valor adicionado à economia pode fazer a diferença entre múltiplas alternativas de investimento. Sugere-se que o resultado dessa quantificação possa fazer parte de métodos mais flexíveis de avaliação como os métodos multi-objetivos e multi-critérios. / At this work, the national static open Leontief\'s input-output model is used in order to measure some indirect benefits generated as a consequence of investment in construction and maintenance of transportation infrastructure facilities. These benefits are generated by an increase in production, once there is always a part of the production of goods and services which implies on a growth of wealth for the region into which the investment is applied. It is shown that this increase of wealth has to be taken in to account as an additional indirect benefit, and that searching for identification of the magnitude of that value added into the economy could make the difference among several investment alternatives. It is suggested that the results of that measurement could be considered in more flexible evaluation methods, such as multi-objectives and multi-criteria methods.

Tsang, Chi Chiu. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2008. / Includes bibliographical references (leaves 66-69). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iii / Statement of Originality --- p.v / Table of Contents --- p.vii / List of Figures --- p.x / Nomenclature --- p.xii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Objectives --- p.3 / Chapter 1.3 --- Contributions --- p.3 / Chapter 1.4 --- Thesis Organization --- p.4 / Chapter 2 --- A Ubiquitous Digital Writing System --- p.5 / Chapter 2.1 --- Introduction --- p.5 / Chapter 2.2 --- MEMS Motion Sensing Technology --- p.6 / Chapter 2.2.1 --- Micro-Electro-Mechanical Systems (MEMS) --- p.6 / Chapter 2.2.2 --- Principle of a MEMS Accelerometer --- p.6 / Chapter 2.2.3 --- Principle of a MEMS Gyroscope --- p.7 / Chapter 2.3 --- Architecture of Ubiquitous Digital Writing System --- p.8 / Chapter 2.3.1 --- Micro Inertial Measurement Unit (μlMU) --- p.8 / Chapter 2.3.2 --- Data Transmission Module --- p.10 / Chapter 2.3.3 --- User Interface Software --- p.10 / Chapter 2.4 --- Summary --- p.12 / Chapter 3 --- Calibration of μ-Inertial Measurement Unit --- p.13 / Chapter 3.1 --- Introduction --- p.13 / Chapter 3.2 --- Sources of Error --- p.13 / Chapter 3.2.1 --- Deterministic Errors --- p.13 / Chapter 3.2.2 --- Stochastic Error --- p.14 / Chapter 3.3 --- Calibration of Accelerometers --- p.14 / Chapter 3.4 --- Coordinate Transformation with Gravity Compensation --- p.15 / Chapter 3.4.1 --- Coordinate Transformation --- p.16 / Chapter 3.4.2 --- Attitude Determination --- p.18 / Chapter 3.4.3 --- Gravity Compensation --- p.19 / Chapter 3.5 --- Summary --- p.20 / Chapter 4 --- Zero Velocity Compensation --- p.21 / Chapter 4.1 --- Introduction --- p.21 / Chapter 4.2 --- Algorithm Description --- p.21 / Chapter 4.2.1 --- Stroke Segmentation --- p.22 / Chapter 4.2.2 --- Zero Velocity Compensation (ZVC) --- p.22 / Chapter 4.3 --- Experimental Results and Discussion --- p.23 / Chapter 4.4 --- Summary --- p.24 / Chapter 5 --- Kalman Filtering --- p.28 / Chapter 5.1 --- Introduction --- p.28 / Chapter 5.2 --- Summary of Kalman filtering algorithm --- p.28 / Chapter 5.2.1 --- System Model --- p.28 / Chapter 5.2.2 --- Initialization --- p.29 / Chapter 5.2.3 --- Time Update --- p.32 / Chapter 5.2.4 --- Measurement Update --- p.33 / Chapter 5.2.5 --- Stroke Segmentation --- p.34 / Chapter 5.3 --- Summary --- p.34 / Chapter 6 --- Error Compensation from Position Feedback --- p.35 / Chapter 6.1 --- Introduction --- p.35 / Chapter 6.2 --- Global Positioning System (GPS) --- p.35 / Chapter 6.3 --- Zero z-axis Kalman Filtering --- p.36 / Chapter 6.3.1 --- Algorithm Implementation --- p.36 / Chapter 6.3.2 --- Experimental Results and Discussion --- p.40 / Chapter 6.4 --- Combined Electromagnetic Resonance (EMR) Position Detection Board and μlMU --- p.43 / Chapter 6.4.1 --- EMR Position Detection System --- p.43 / Chapter 6.4.2 --- A Combined Scheme --- p.44 / Chapter 6.4.3 --- Algorithm Implementation --- p.46 / Chapter 6.4.4 --- Synchronization --- p.50 / Chapter 6.4.5 --- Experimental Results and Discussion --- p.50 / Chapter 6.5 --- Summary --- p.54 / Chapter 7 --- Conclusion --- p.55 / Chapter 7.1 --- Future Work --- p.56 / Chapter 7.1.1 --- Improvement in the μlMU --- p.56 / Chapter 7.1.2 --- Combined Camera Optical Tracking and μlMU --- p.57 / Chapter 7.2 --- Concluding Remarks --- p.58 / Chapter A --- Derivation of Kalman Filtering Algorithm --- p.59 / Chapter A.1 --- Introduction --- p.59 / Chapter A.2 --- Derivation of a Priori State Estimation Equation --- p.60 / Chapter A.3 --- Derivation of a Posteriori State Estimation Equation --- p.60 / Chapter A.4 --- Derivation of a Priori Error Covariance Matrix --- p.61 / Chapter A.5 --- Derivation of the Optimal Kalman Gain --- p.62 / Chapter A.6 --- Derivation of a Posteriori Error Covariance Matrix --- p.63 / Chapter B --- Derivation of Process Noise Covariance Matrix --- p.64 / Bibliography --- p.66 / Publications --- p.69

Dong, Zhuxin. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2008. / Includes bibliographical references (leaves 77-80). / Abstracts in English and Chinese. / Abstract --- p.ii / 摘要 --- p.iii / Acknowledgements --- p.iv / Table of Contents --- p.v / List of Figures --- p.vii / List of Tables --- p.ix / Chapter Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Architecture of UDWI --- p.3 / Chapter 1.2 --- Background of IMU Sensor Calibration --- p.5 / Chapter 1.3 --- Organization --- p.7 / Chapter Chapter 2 --- 2D Motion Calibration --- p.10 / Chapter 2.1 --- Experimental Platform --- p.10 / Chapter 2.1.1 --- Transparent Table --- p.10 / Chapter 2.2 --- Matching Algorithm --- p.13 / Chapter 2.2.1 --- Motion Analysis --- p.13 / Chapter 2.2.2 --- Core Algorithm and Matching Criterion --- p.14 / Chapter 2.3 --- Usage of High Speed Camera --- p.17 / Chapter 2.4 --- Functions Realized --- p.17 / Chapter Chapter 3 --- Usage of Camera Calibration --- p.21 / Chapter 3.1 --- Introduction to Camera Calibration --- p.21 / Chapter 3.1.1 --- Related Coordinate Frames --- p.21 / Chapter 3.1.2 --- Pin-Hole Model --- p.24 / Chapter 3.2 --- Calibration for Nonlinear Model --- p.27 / Chapter 3.3 --- Implementation of Process to Calibrate Camera --- p.28 / Chapter 3.3.1 --- Image Capture --- p.28 / Chapter 3.3.2 --- Define World Frame and Extract Corners --- p.28 / Chapter 3.3.3 --- Main Calibration --- p.30 / Chapter 3.4 --- Calibration Results of High Speed Camera --- p.33 / Chapter 3.4.1 --- Lens Selection --- p.33 / Chapter 3.4.2 --- Property of High Speed Camera --- p.34 / Chapter Chapter 4 --- 3D Attitude Calibration --- p.36 / Chapter 4.1 --- The Necessity of Attitude Calibration --- p.36 / Chapter 4.2 --- Stereo Vision and 3D Reconstruction --- p.37 / Chapter 4.2.1 --- Physical Meaning and Mathematical Model Proof --- p.37 / Chapter 4.2.2 --- 3D Point Reconstruction --- p.38 / Chapter 4.3 --- Example of 3D Point Reconstruction --- p.40 / Chapter 4.4 --- Idea of Attitude Calibration --- p.42 / Chapter Chapter 5 --- Experimental Results --- p.45 / Chapter 5.1 --- Calculation of Proportional Parameter --- p.45 / Chapter 5.2 --- Accuracy Test of Stroke Reconstruction --- p.46 / Chapter 5.3 --- Writing Experiments of 26 Letters --- p.47 / Chapter 5.3.1 --- Experimental Results of Letter b --- p.48 / Chapter 5.3.2 --- Experimental Results of Letter n with ZVC --- p.51 / Chapter 5.3.3 --- Experimental Results of Letter u --- p.54 / Chapter 5.4 --- Writing of Single Letter s - Multiple Tests --- p.56 / Chapter 5.5 --- Analysis on Resolution Property of Current Vision Algorithm --- p.58 / Chapter 5.5.1 --- Resolution of Current Algorithm --- p.58 / Chapter 5.5.2 --- Tests with Various Filters --- p.59 / Chapter 5.6 --- Calculation of Static Attitude --- p.61 / Chapter Chapter 6 --- Future Work --- p.64 / Chapter 6.1 --- Another Multiple Tests of Letter k --- p.64 / Chapter 6.2 --- Letter Recognition Based on Neural Networks Classification --- p.66 / Chapter Chapter 7 --- Conclusion --- p.69 / Chapter 7.1 --- Calibration ofMAG-μlMU Sensors --- p.69 / Chapter 7.2 --- Calibration of Accelerometers --- p.70 / Chapter 7.3 --- Calibration of Attitude --- p.70 / Chapter 7.4 --- Future Work --- p.71 / Appendix A The Experimental Results of Writing English Letters --- p.72

Ko, Hoi Fung. / "November 2011." / Thesis (M.Phil.)--Chinese University of Hong Kong, 2012. / Includes bibliographical references (p. 121-125). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iv / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation and Objective --- p.1 / Chapter 1.2 --- Contribution --- p.9 / Chapter 1.3 --- Organization of the Thesis --- p.11 / Chapter 2 --- Background Study --- p.12 / Chapter 2.1 --- Review on 3D Tracking Techniques --- p.13 / Chapter 2.1.1 --- Mechanical base --- p.13 / Chapter 2.1.2 --- Acoustic base --- p.14 / Chapter 2.1.3 --- Magnetic base --- p.15 / Chapter 2.1.4 --- Inertial base --- p.17 / Chapter 2.1.5 --- Optical base --- p.18 / Chapter 2.2 --- Summary --- p.19 / Chapter 3 --- Theory and Methodology --- p.21 / Chapter 3.1 --- Design Framework --- p.21 / Chapter 3.1.1 --- Problem Definition --- p.22 / Chapter 3.1.2 --- Concept --- p.22 / Chapter 3.2 --- Finding the orientation --- p.23 / Chapter 3.2.1 --- Measuring the rotation --- p.23 / Chapter 3.2.2 --- Sensor fusion --- p.26 / Chapter 3.3 --- Finding the translational motion --- p.32 / Chapter 3.3.1 --- Translational motion --- p.32 / Chapter 3.3.2 --- Laser speckle pattern --- p.35 / Chapter 4 --- Implementation --- p.38 / Chapter 4.1 --- Hardware Configuration --- p.38 / Chapter 4.1.1 --- Accelerometer --- p.39 / Chapter 4.1.2 --- Gyroscope --- p.40 / Chapter 4.1.3 --- Digital Compass --- p.41 / Chapter 4.1.4 --- Optical flow chip --- p.42 / Chapter 4.1.5 --- Microcontroller --- p.43 / Chapter 4.2 --- Software Implementation --- p.45 / Chapter 4.2.1 --- On the Microcontroller --- p.45 / Chapter 4.2.2 --- On the PC --- p.47 / Chapter 5 --- Experimental Results --- p.50 / Chapter 5.1 --- Experiments on orientation estimation --- p.50 / Chapter 5.1.1 --- Overall Experimental Setup --- p.51 / Chapter 5.1.2 --- Experiment 1: The improvement of static accuracy by utilising two-axis measurement method --- p.52 / Chapter 5.1.3 --- Experiment 2: The improvement of the dynamic response with Kalman filter and gyroscope --- p.55 / Chapter 5.1.4 --- Experiments 3: The static accuracy of the compass module --- p.59 / Chapter 5.1.5 --- Experiment 4: The dynamic accuracy of the compass module with Kalman filter and gyroscope --- p.63 / Chapter 5.1.6 --- Experiment 5: Kalman filter tuning --- p.64 / Chapter 5.2 --- Experiment on Translational accuracy --- p.67 / Chapter 5.2.1 --- Experiment 6: The relation between the output of the chip and the actual displacement --- p.68 / Chapter 5.2.2 --- Experiment 7: Tracking ability with different materials --- p.70 / Chapter 6 --- The Haptic module --- p.73 / Chapter 6.1 --- Introduction --- p.73 / Chapter 6.2 --- Theory of operation --- p.75 / Chapter 6.3 --- Implementation --- p.77 / Chapter 6.4 --- Experiment and evaluation --- p.80 / Chapter 6.4.1 --- Experiment 1: Calibration of the spring . --- p.80 / Chapter 6.4.2 --- Experiment 2: Latency on force output . . --- p.82 / Chapter 6.5 --- Possible applications --- p.85 / Chapter 7 --- 3D input for immersive display --- p.87 / Chapter 7.1 --- Methodology --- p.88 / Chapter 7.1.1 --- Tracking method --- p.89 / Chapter 7.2 --- Implementation --- p.96 / Chapter 7.2.1 --- Hardware setup --- p.96 / Chapter 7.2.2 --- Software implementation --- p.97 / Chapter 7.2.3 --- Setup Calibration --- p.98 / Chapter 7.2.4 --- Laser Spot Detection --- p.99 / Chapter 7.2.5 --- Pose Estimation --- p.100 / Chapter 7.2.6 --- State Tracking --- p.102 / Chapter 7.3 --- Experiment --- p.105 / Chapter 7.3.1 --- Experiment on translational motion --- p.105 / Chapter 7.3.2 --- Experiment on rotational motion --- p.106 / Chapter 7.3.3 --- Experiment on tracking ability --- p.108 / Chapter 7.4 --- Application --- p.109 / Chapter 8 --- Limitations and Discussions --- p.110 / Chapter 8.1 --- The limitation of the orientation tracking module --- p.110 / Chapter 8.2 --- The limitation of the translational motion tracking module --- p.111 / Chapter 8.3 --- The limitation of the haptic module --- p.112 / Chapter 8.4 --- The limitation of the tracking cube setup --- p.113 / Chapter 8.5 --- Comparison of the result of utilizing simple moving average filter and Kalman filter --- p.114 / Chapter 8.6 --- Comparison with other devices on the market --- p.115 / Chapter 8.7 --- Future work --- p.115 / Chapter 9 --- Conclusion --- p.117 / Bibliography --- p.121