Vision-based object stabilisation is an exciting and challenging area of research, and is one that promises great technical advancements in the field of computer vision. As humans, we are capable of a tremendous array of skilful interactions, particularly when balancing unstable objects that have complex, non-linear dynamics. These complex dynamics impose a difficult control problem, since the object must be stabilised through collaboration between applied forces and vision-based feedback. To coordinate our actions and facilitate delivery of precise amounts of muscle torque, we primarily use our eyes to provide feedback in a closed-loop control scheme. This ability to control an inherently unstable object by vision-only feedback demonstrates an exceptionally high degree of voluntary motor skill. Despite the pervasiveness of vision-based stabilisation in humans and animals, relatively little is known about the neural strategies used to achieve this task. In the last few decades, with advancements in technology, we have tried to impart the skill of vision-based object stabilisation to machines, with varying degrees of success. Within the context of this research, we continue this pursuit by employing the classic Cart Inverted Pendulum; an inherently unstable, non-linear system to investigate dynamic object balancing by vision-only feedback. The Inverted Pendulum is considered to be one of the most fundamental benchmark systems in control theory; as a platform, it provides us with a strong, well established test bed for this research. We seek to discover what strategies are used to stabilise the Cart Inverted Pendulum, and to determine if these strategies can be deployed in Real-Time, using cost-effective solutions. The thesis confronts, and overcomes the problems imposed by low-bandwidth USB cameras; such as poor colour-balance, image noise and low frame rates etc., to successfully achieve vision-based stabilisation. The thesis presents a comprehensive vision-based control system that is capable of balancing an inverted pendulum with a resting oscillation of approximately ±1º. We employ a novel, segment-based location and tracking algorithm, which was found to have excellent noise immunity and enhanced robustness. We successfully demonstrate the resilience of the tracking and pose estimation algorithm against visual disturbances in Real-Time, and with minimal recovery delay. The algorithm was evaluated against peer reviewed research; in terms of processing time, amplitude of oscillation, measurement accuracy and resting oscillation. For each key performance indicator, our system was found to be superior in many cases to that found in the literature. The thesis also delivers a complete test software environment, where vision-based algorithms can be evaluated. This environment includes a flexible tracking model generator to allow customisation of visual markers used by the system. We conclude by successfully performing off-line optimization of our method by means of Artificial Neural Networks, to achieve a significant improvement in angle measurement accuracy. / Goodrich Engine Control Systems and Balfour Beatty Rail Technologies

京都大学 / 新制・課程博士 / 博士(人間健康科学) / 甲第24095号 / 人健博第102号 / 新制||人健||7(附属図書館) / 京都大学大学院医学研究科人間健康科学系専攻 / (主査)教授 市橋 則明, 教授 稲富 宏之, 教授 松田 秀一 / 学位規則第4条第1項該当 / Doctor of Human Health Sciences / Kyoto University / DFAM

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A Clinic for the study of Sleep Disorders The proposal for a clinic for sleep disorders sited on the edge of Dupont Circle within the District of Columbia. This thesis is a reference to time and movement as it relates to our individual perception. We each experience our environments differently and architecture should be prescribed to the fit the needs of the individual. It is the study of design evolution along a time-line. The science of effect. As we move along a line how does our environment and influence shape the final outcome? In architecture, process is the task of understanding. The following documentation is my personal time-line along that undefined path. / Master of Architecture

Control applications are used in almost all scientific domains and are subject to timing constraints. Moreover, different applications can run on the same platform which leads to even more complex timing behaviors. However, some of the timing issues are not always considered in the implementation of such applications, and this can make the system fail. In this thesis, the timing issues are considered, i.e., the problem of non-constant delay in the control of an inverted pendulum with a real-time kernel running on an ATmega328p micro-controller. The study shows that control performance is affected by this problem. In addition, the thesis, reports the adaptation of an existing real-time kernel based on an EDF (Earliest Deadline First) scheduling policy, to the architecture of the ATmega328p. Moreover, the new approach of a server-based kernel is implemented in this thesis, still on the same Atmel micro-controller.

Title: Breathing and its parameters in increased demands on postural stability Aims: The main objective is to carry out a quantification research of wind parameters and specify mechanical parameters to compare the effect of increased postural stability claim for breath, prepare the correct research methodology and carry out independent measurements. The first part of the thesis is focused on the search process of the issue. In the second part of special research was done, where we panned respiratory parameters while standing on the ground and on unstable platform and position of markers in 3D space. Methods: 1. Measurement of respiratory parameters using lung spirometer 2. Measurement of defined points in 3D space using Qualisys technology We measured quiet breathing and consciously deep breathing when standing on the ground or when standing on a balance pad. Total 4 measurements were carried out after 20 seconds. The experiment involved 14 probands aged 22-31 years, 10 women and 4 men. The average age of the probands was 24.5 years, mean height was 172.5 cm and mean weight 68.6 kg. From our study were excluded smokers, professional players of wind instruments, professional athletes, pregnant women, children, people with chronic respiratory disease, CNS disorders, persons with motor limitations, or...

O presente trabalho trata da análise da dinâmica de um pêndulo simples excitado em seu suporte por um mecanismo biela-manivela de forma ideal e não-ideal. No caso ideal, verifica-se que o resultado da excitação por este tipo de mecanismo se aproxima do resultado da excitação harmônica de suporte do pêndulo quando o raio da manivela é suficientemente pequeno em comparação com o comprimento da biela. A equação diferencial do sistema é resolvida numericamente e resultados do comportamento pendular são obtidos através de mapas de fase, histórico no tempo e seções de Poincaré. Expoentes de Lyapunov são, também, obtidos para a análise de casos caóticos posteriormente comparados com diagramas de bifurcação. Bacias de atração são desenhadas para os resultados estáveis do pêndulo: oscilatórios ou rotativos. Os resultados obtidos para a excitação por biela-manivela são dos mesmos tipos de movimento observados no caso do pêndulo excitado harmonicamente no suporte, entre eles: ponto fixo, oscilação, rotação pura, oscilação-rotação e o caos. Para a frequência de ressonância principal observam-se resultados caóticos em faixas mais largas de amplitude quando o raio de manivela se aproxima do comprimento da biela. Em frequências ressonantes menores nenhuma relação desse tipo pôde ser estabelecida. Uma análise utilizando o mesmo mecanismo é também feita com excitação por potência limitada de um motor elétrico linear de corrente contínua onde se investigou o efeito de feedback dado pelo pêndulo sobre o motor. Esses resultados são comparados com o caso ideal com a manivela acionada com rotação constante. Observa-se uma supressão do caos no caso não-ideal em casos de menor potência no motor. Entretanto, quando a potência de motor é maior, o modelo ideal coincide com o não-ideal. / In this analysis it was studied the dynamics of a simple pendulum excited by a crank-shaft-slider mechanism in the support ideally and non-ideally. In the ideal case, it was verified the result for an excitation by a crank-shaft-slider approaches to the result of the harmonically excited pendulum when the radius of the crank is sufficiently small in comparison with the length of the shaft. The resultant differential equation is solved numerically and the results of pendulum behavior are obtained by phase portraits, time histories and Poincaré sections. It is also calculated the Lyapunov exponents for the chaotic cases in analysis and a comparison is performed with bifurcation diagrams in the same regions. Basins of attractions are plotted for stable results like oscillatory and rotational solutions. In the results observed for the crank-shaft-slider excitation there are kinds of motion similar to those observed in the harmonic excitation: fixed points, oscillation, pure rotations, oscillation-rotations and chaos. However, in the principal resonance zone, chaotic results were more frequent when the radius of crank approaches the shaft length. A brief analysis is done concerning the same mechanism, but considering the excitation by limited power supply of a linear DC motor. In the sequence it is checked the feedback effect from the pendulum over the motor and comparison with the respective ideal excitation is accomplished where differences are commonly observed. With greater power the ideal model coincides with the nonideal model. In cases of lower power, the two models diverge in the results.

Submitted by Filipe dos Santos (fsantos@pucsp.br) on 2016-08-23T17:36:46Z No. of bitstreams: 1 Neide Honorato da Silva.pdf: 2466227 bytes, checksum: ebfc05e2f602832737bf81272e8c7cf6 (MD5) / Made available in DSpace on 2016-08-23T17:36:46Z (GMT). No. of bitstreams: 1 Neide Honorato da Silva.pdf: 2466227 bytes, checksum: ebfc05e2f602832737bf81272e8c7cf6 (MD5) Previous issue date: 2016-03-10 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This study aimed to evaluate the pendulum movement of ABC workers toward employers centers as an essential aspect of the reproduction of labor power in its broad inclusion in numerous tertiary in the metropolis of São Paulo. Seeks to characterize the intrametropolitan mobility and the problems of urban transport, focusing on metropolitan trains, identifying the diversity of its members and their difficulties on the way home to work. This study provides an understanding of the socio-spatial segregation process, evidenced in the long distances that separate the place of residence and place of work of the residents of the suburbs of Greater São Paulo. The implementation of the rail system in São Paulo had intimate relationships with coffee and favored the formation process of the metropolis. The São Paulo Railway was the first railway in the state of São Paulo, built in order to facilitate the transportation of coffee to the port of Santos. After going through several changes during the transition from the nineteenth to the twentieth century, today this railway is managed by CPTM (São Paulo Metropolitan Train Company), especially as part of the mobility and transport workers. Based on theoretical and methodological support consistent with the complexity of the subject, secondary data collection and statistical and field research, we believe present reflections indicative of the need for public policies that prioritize public transport / O presente estudo objetiva conhecer o movimento pendular no cotidiano dos trabalhadores do ABC paulista em direção aos centros empregadores, como aspecto essencial da reprodução da força de trabalho em sua ampla inserção no terciário numeroso na metrópole de São Paulo. Busca caracterizar a mobilidade intrametropolitana e a problemática do transporte coletivo, com foco nos trens metropolitanos, identificando a diversidade de seus usuários e suas dificuldades no trajeto casa-trabalho. Este estudo propicia a compreensão do processo de segregação sócio–espacial, evidenciado nas longas distâncias que separam o local de moradia e o local de trabalho dos moradores dos subúrbios da Região Metropolitana de São Paulo. A implantação do sistema ferroviário em São Paulo teve íntimas relações com a cafeicultura e favoreceu o processo de constituição da metrópole paulista. A São Paulo Railway foi a primeira estrada de ferro do estado de São Paulo, construída com o objetivo de facilitar o transporte do café até o porto de Santos. Após passar por várias transformações ao longo da transição do século XIX para o século XX, atualmente essa ferrovia é administrada pela CPTM (Companhia Paulista de Trens Metropolitanos), destacando-se como integrante das redes de mobilidade e transporte de trabalhadores. Com base em aporte teóricometodológico compatível à complexidade do tema, coleta de dados secundários e estatísticos e pesquisa de campo, acreditamos apresentar reflexões indicativas da necessidade de políticas públicas que priorizem os transportes coletivos

A migração pendular consiste na mobilidade diária que pessoas fazem entre duas diferentes cidades, tradicionalmente, por motivos de trabalho e estudo, porém também ocorre para a busca por serviços de saúde. Esse movimento acontece em todo o mundo dentro dos territórios nacionais de cada país, como o movimento entre cidades pequenas com poucos recursos humanos e tecnológicos em saúde, para cidades maiores próximas que contenham esses recursos. Essa mobilidade é chamada de migração pendular regional. No entanto, ela assume diversas particularidades quando esse movimento leva as pessoas a cruzarem periodicamente uma fronteira internacional para essa finalidade, o que configura a migração pendular internacional. Esse movimento transfronteiriço pode afetar a adesão dos pacientes aos tratamentos de doenças crônicas, como é o caso da infecção pelo HIV, o que pode modificar o seu prognóstico. O objetivo desta dissertação é comparar o prognóstico de pacientes HIV+ moradores de Foz do Iguaçu que fazem acompanhamento no Serviço de Assistência Especializada (SAE), com pacientes que fazem migração pendular regional e internacional e fazem acompanhamento no mesmo serviço. / Pendulum migration is a daily mobility between two different cities that is made, traditionally, to work or study. However, it also can happen to look for healthcare. This kind of human mobility is common around the world inside the national territory of each country, like the movement between a small city with a lack of health human and technological resources and the major city next to it that contains these resources. It is called regional pendulum migration. But it has many particularities when this movement is responsible for people crossing periodically an international border for this end, which represents the international pendulum migration. This crossborder healthcare may influence the adherence to the treatment of chronic diseases like HIV infection and, for this reason, modify the prognosis of these patients. The aim of this dissertation is to compare the prognosis of HIV+ patients living in the city of Iguazu Falls that makes the follow-up in the Specialized Assistance Service (SAS) of this city with patients who makes regional and international pendulum migration for healthcare in the same health facility.