This thesis explores stylistic features in two novels by Joseph Conrad--The Nigger of the "Narcissus" published in 1897 and The Rover published in 1923. The main focus of the discussion of these novels is the way in which form and meaning are integrated, that is, how style creates and affects theme and subject. In particular, the various literary devices that create style--the individual word, the sentence, and larger elements such as metaphoric and metonymic patterns—are dealt with. These elements are considered under three headings: dialogue, narrative, and imagery. The mimetic character of dialogue, its integration into a text, the various types of dialogue such as reported speech and direct discourse, and variations of dialogue such as interior monologue and free indirect style are discussed in relation to theme. Secondly, narrative, the larger frame into which dialogue fits, is treated at length, with narrative method, the characteristics of narrative prose in both novels, and the effects produced by Conrad's attention to rhythm and vocabulary forming the central concerns of this section. Lastly, metaphor and simile are discussed as stylistic elements not confined to individual sentences or passages but extending over an entire work, and as the means by which visual and auditory impressions are conveyed to the reader. The traditional types of simile and metaphor, "as if" and "as though" clauses functioning as similes, and metonymic images are analyzed with the intention of demonstrating the relationship between technique and vision. / Arts, Faculty of / English, Department of / Graduate

京都大学 / 0048 / 新制・論文博士 / 博士(農学) / 乙第13294号 / 論農博第2877号 / 新制||農||1073(附属図書館) / 学位論文||R1||N5239(農学部図書室) / (主査)教授 清水 浩, 准教授 中嶋 洋, 教授 飯田 訓久 / 学位規則第4条第2項該当 / Doctor of Agricultural Science / Kyoto University / DFAM

The space industry has been accelerating technological evolution since its inception. It has resulted in countless innovations being adapted and eventually finding their way into people's everyday life. It has also played a significant role in understanding life itself and the circumstances that are necessary to support it. A crucial step in obtaining an even further understanding of humanity's place in the universe is truly comprehending the Moon and its mysteries. In order to do the previously mentioned a manned research operation to the Moon is necessary. However, doing this requires an in-situ resources utilization (ISRU) approach due to the complexity as well as cost of launching material and equipment to space. The Moon holds a lot of valuable resources from which several critical substances and materials can be extracted, e.g., oxygen and hydrogen. In order to make use of the locally available resources, such as the regolith, a standardized approach is necessary.  There are several ways of designing something tasked with mining the Moon as well as enabling supporting activities, e.g., infrastructure development. A Design Thinking approach was used in order to get clarity regarding on how a concept doing this might look like. This thesis deals with the topic on a high, conceptual level due to the complexity of the subject. The needfinding and literature study provided background and context to design a solution enabling the earlier mentioned goal. The solution is a swarm system of Lunar rovers that are capable of operating together, as a unit, as well as on their own depending on the nature of the task that is performed. The activities are performed by interchangeable tool modules operated by the robots rather than the robots themselves. This provides prerequisites for a more flexible as well as resilient mission operation compared to many other scenarios. The interchangeable modules mechanism is the most important aspect of the proposed concept. Another important aspect concerning the platform of the concept is that it enables an infrastructure for new activities post-launch as long as the module fulfills some constraints. The thesis provides concepts for the robot, a regolith collector module as well as the container module. As a means of verifying the concept, a subsystem was selected and tested. The subsystem that was chosen was the module exchanging mechanism. Thus, a conceptual version of this was built and tested. The test was delimited and intended to determine whether an approach using screws and movable arms was appropriate to pick up a simplified container module. The test performed concluded that the subsystem has potential, even though a more similar mechanism to the one actually envisioned would be necessary to test. However, there are certain iterations that beneficially may be performed prior to a complete representation of the module equipping mechanism is built.

The SherpaTT rover is prepared for further autonomous long distance traverses in terrain akin to the Martian environment. However, it features a fueled power generator which cannot be employed in extra-terrestial scenarios. As the rover is meant to approach a higher technology readiness level, a photovoltaic power subsystem is proposed to guide future design iterations. This thesis presents the solar array sizing, design, and integration processes considered for two Martian mission sites: Iani Chaos at 2°S and Ismenius Cavus at 34°N. An alternative use case for the active suspension system is presented so that the proposed solar arrays may be inclined and oriented into power generating configurations that are more favorable than those achieved with passive suspension rovers. This results in traverse gains of up to 34% and 25% for clear days at Iani Chaos and Ismenius Cavus, respectively.

With an increased interest in precision agriculture, it is important to identify efficient ways to monitor soil moisture. Soil moisture can be monitored using handheld sensors, but this method is laborious and time consuming. Remote methods, such as radar systems can be used as well, but these methods require ground truth data to verify their accuracy. It becomes clear that to collect this data regularly and reliably, a mobile robotic device is necessary. This thesis proposes to implement mobile robot take soil moisture measurements with less human effort than existing methods while maintaining the same accuracy. This soil moisture data collection system uses an unmanned ground vehicle (UGV) to take measurements with position data. This system uses an actuator inserted soil moisture probe, and a radio frequency identification (RFID) sensing system that uses buried moisture sensing tags. Field testing of both measurement systems showed that the actuator-based system worked reliably.

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Yes / Over the previous two decades, a notable array of space exploration missions have been initiated with the primary aim of facilitating the return of both humans and robots from Earth to the moon. The significance of these endeavors cannot be emphasized enough as numerous entities, both public and private, from across the globe have invested substantial resources into this pursuit. Researchers have committed their efforts to addressing the challenges linked to lunar communication. Even with all of these efforts, only a few of the many suggested designs for communication and antennas on the moon have been evaluated and compared. These designs have also not been shared with the scientific community. To bridge this gap in the existing body of knowledge, this paper conducts a thorough review of lunar surface communication and the diverse antenna designs employed in lunar communication systems. This paper provides a summary of the findings presented in lunar surface communication research while also outlining the assorted challenges that impact lunar communication. Apart from various antenna designs reported in this field, based on their intended usage, two additional classifications are introduced: (a) mission-based antennas-utilized in actual lunar missions-and (b) research-based antennas-employed solely for research purposes. Given the critical need to comprehend and predict lunar conditions and antenna behaviors within those conditions, this review holds immense significance. Its relevance is particularly pronounced in light of the numerous upcoming lunar missions that have been announced. / This work is part of the “Performance Evaluation of Lunar Rashid Rover Communication System” research project, supported by the University of Dubai.

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Detaljmätning genomförs främst genom traditionella metoder, d.v.s. mätning med Global Navigation Satellite System (GNSS) eller totalstationsmätning. Ett alternativ till traditionella metoder är terrester fotogrammetri där mätningar sker i bilder som tagits av det aktuella objektet. Syftet med denna studie var att utvärdera terrester fotogrammetri som metod vid detaljmätning och ge riktlinjer för hur insamling av data till terrester fotogrammetri bör genomföras. Olika fotograferingsavstånd och antal fotostationer undersöktes. Koordinatbestämning och avståndsmätning undersöktes med hänseende på mätosäkerhet och det kvadratiska medelvärdet (RMS-värde). Det togs viss hänsyn till tid för fältarbete och efterarbete samt inköpspris vid utvärderingen. Instrumenten som användes för undersökningen i denna studie var en smartphone (iPhone 7), en bildrover (Trimble V10 Imaging Rover (V10)) och en multistation (Trimble SX10 (SX10)). Data från V10 justerades på två olika sätt, dels genom fri standardstation (V10 fri) och dels full orientering (V10 full), vid efterarbetet för att utvärdera om det fanns någon skillnad i resultatet mellan justeringarna. V10 är en bildrover som tar 360° panoramabilder. V10 tillverkas inte längre men tekniken är intressant att undersöka för se om det finns någon framtida användning för den. Baserat på den goda tillgängligheten av smartphones och prisskillnaderna är det intressant att undersöka hur låg mätosäkerhet och RMS-värde en smartphone kan uppnå. Ett antal reflextejper sattes upp på en vägg och utgjorde referensvärden för koordinatbestämningarna och avståndsmätningarna. Referensvärdena bestämdes genom totalstationsmätningar. Resultatet visade att SX10 uppnådde mätosäkerheter och RMS-värden på millimeternivå och påverkades väldigt lite av antal fotostationer och avståndet från objektet som mättes. Mätosäkerheter och RMS-värden för V10 full och V10 fri varierade mellan millimeter- och decimeternivå beroende på hur fotostationerna justerades vid efterarbete och om det var koordinatbestämning eller avståndsmätning. För att uppnå goda resultat med V10 bör instrumentet placeras nära objektet och fler fotostationer bör användas. iPhone 7 uppnådde mätosäkerheter och RMS-värden på millimeternivå. Resultatet med iPhone blev bäst med fler fotostationer men bra även med ett mindre antal och gav liknande resultat från 10 och 50 m. Resultatet i denna studie visar att terrester fotogrammetri har potential för detaljmätning men resultatet varierar beroende på vilket instrument och förfarandet som används. / Detail measurements are performed mainly by traditional methods, i.e. measurements with Global Navigation Satellite System (GNSS) or total station measurements. An alternative to traditional methods is terrestrial photogrammetry. The purpose of this study was to evaluate terrestrial photogrammetry as a method to perform detail measurements and provide guidelines for how to collect data for terrestrial photogrammetry. Different distances from the object and different numbers of photo stations were evaluated. Coordinate measurements and distance measurements were tested with regard to standard deviation and Root Mean Square (RMS) value. Some consideration was paid to the time in field and post processing and price. The instruments investigated were a smartphone (iPhone 7), an image rover (Trimble V10 Imaging Rover (V10)) and a multi-station (Trimble SX10 (SX10)). The data from V10 was adjusted in two different ways; free standard station (V10 fri) and full orientation (V10 full), to evaluate if there was any difference in the result between the adjustments. V10 is an image rover that captures 360° panoramic images. The V10 is no longer manufactured, but the technology is interesting to investigate to see if there is any future application for the technology. Based on the good availability of smartphones and price differences between the methods, it is interesting to investigate how low standard deviation and RMS value a smartphone can achieve. A number of reflective tapes were attached on a wall and represented reference values for the coordinate determination and distance measurements. The reference values were determined by total station measurements. SX10 achieved standard deviations and RMS values at millimeter accuracy and the number of photo stations and distance from the object being measured had a low impact. Standard deviations and RMS values for V10 full and V10 free varied between millimeters and decimeters depending on whether it was coordinate determination or distance measurement. To achieve good results with V10 the instrument should be placed close to the object and more photo stations should be used. iPhone 7 achieved standard deviations and RMS values at millimeter accuracy. The best result with iPhone 7 was achieved with the highest amount of photo stations but also good with fewer photo stations and achieved similar results from 10 and 50 m distance. Terrestrial photogrammetry has potential in detail measurement but varies depending on which instrument and procedure that was used.