Search and rescue mobile robots have shown great promise and have been under development by the robotics researchers for many years. They are many locomotion methods for different robotic platforms, including legged, wheeled, flying and hybrid. In general, the environment that these robots would operate in is very hazardous and complicated, where wheeled robots will have difficulty physically traversing and where legged robots would need to spend too much time planning their foot placement. Drawing inspiration from biology, we have noticed that the snake is an animal well-suited to complicated, rubble filled environments. A snake’s body has a very simple structure that nevertheless allows the snake to traverse very complex environments smoothly and flexibly using different locomotion modes. Many researchers have developed different kinds of snake robots, but there is still a big discrepancy between the capabilities of current snake robots and natural snakes. Two aspects of this discrepancy are the rigidity of current snake robots, which limit their physical flexibility, and the current techniques for control and motion planning, which are too complicated to apply to these snake robots without a tremendous amount of computation time and expensive hardware. In order to bridge the gap in flexibility, pneumatic soft robotics is a potential good solution. A soft body can absorb the impact forces during the collisions with obstacles, making soft snake robots suitable for unpredictable environments. However, the incorporation of autonomous control in soft mobile robotics has not been achieved yet. One reason for this is the lack of the embeddable flexible soft body sensor technology and portable power sources that would allow soft robotic systems to meet the essential hardware prerequisites of autonomous systems. The infinite degree of freedom and fluid-dynamic effects inherent of soft pneumatics make these systems difficult in terms of modeling, control, and motion planning: techniques generally required for autonomous systems. This dissertation addresses fundamental challenges of soft robotics modeling, control, and motion planning, as well as the challenge of making an effective soft pneumatic snake platform. In my 5 years of PhD work, I have developed four generations of pressure operated WPI soft robotics snakes (SRS), the fastest of which can travel about 220 mm/s, which is around one body per second. In order to make these soft robots autonomous, I first proposed a mathematical dynamical model for the WPI SRS and verified its accuracy through experimentation. Then I designed and fabricated a curvature sensor to be embedded inside each soft actuator to measure their bending angles. The latest WPI SRS is a modularized system which can be scaled up or down depending on the requirements of the task. I also developed and implemented an algorithm which allows this version of the WPI SRS to correct its own locomotion using iterative learning control. Finally, I developed and tested a motion planning and trajectory following algorithm, which allowed the latest WPI SRS to traverse an obstacle filled environment. Future research will focus on motion planning and control of the WPI SRS in outdoor environments utilizing the camera instead of the tracking system. In addition, it is important to investigate optimal control and motion planning strategies for mobile manipulation tasks where the SRS needs to move and manipulate its environment.. Finally, the future work will include the design, control, and motion planning for a soft snake robot where each segment has two degrees-of-freedom, allowing it to lift itself off the ground and traverse complex-real-world environments.

ABSTRACT This research report quantifies the soft tissue profile changes that occur as a result of the placement of orthodontic brackets. It also assesses whether patients are able to perceive any changes in their own profiles immediately post bonding. Using a standardised photographic technique, profile photographs were taken of a group of patients both before and immediately after the placement of orthodontic brackets. A series of angular and linear measurements were made each on the photographic images using a computer software program. The data obtained from the ‘before’ and ‘after’ photographs were then compared. Patients were also asked several standard questions about their ‘before’ and ‘after’ photographs. The results indicate that the placement of orthodontic brackets can cause changes in the soft tissue profile of patients. Statistically significant changes were found for four of the ten profile measurements that were investigated, namely the Nasolabial Angle, the Maxillo-Mandibular Contour, the Interlabial Angle and the Lower Lip Projection. It was also found that patients are able to perceive changes in their profiles brought about by the placement of orthodontic brackets, and that most are able to correctly recognise which photograph was taken after bracket placement. The majority of patients prefer the photographs of their profiles taken before bracket placement. This study was conducted using a standardised orthodontic bracket. Future research may be carried out to compare profile changes occurring with other bracket systems. This may assist manufacturers in designing brackets that are more comfortable and acceptable for patients.

Mechanical compliance will be an essential component for agile robots as they begin to leave the laboratory settings and join our world. The most crucial finding of this dissertation is showing how lessons learned from soft robotics can be adapted into traditional robotics to introduce compliance. Therefore, it presents practical knowledge on how to build soft bodied sensor and actuation modules: first example being soft-bodied curvature sensors. These sensors contain both standard electronic components soldered on flexible PCBs and hyperelastic materials that cover the electronics. They are built by curing multi-material composites inside hyper elastic materials. Then it shows, via precise sensing by using magnets and Hall-effect sensors, how closed-loop control of soft actuation modules can be achieved via proprioceptive feedback. Once curvature sensing idea is verified, the dissertation describes how the same sensing methodology, along with the same multi-material manufacturing technique can be utilized to construct soft bodied tri-axial force sensors. It shows experimentally that these sensors can be used by traditional robotic grippers to increase grasping quality. At this point, I observe that compliance is an important property that robots may utilize for different types of motions. One example being Raibert's 2D hopper mechanism. It uses its leg-spring to store energy while on the ground and release this energy before jumping. I observe that via soft material design, it would be possible to embed compliance directly into the linkage design itself. So I go over the design details of an extremely lightweight compliant five-bar mechanism design that can store energy when compressed via soft ligaments embedded in its joints. I experimentally show that the compliant leg design offers increased efficiency compared to a rigid counterpart. I also utilize the previously mentioned soft bodied force sensors for rapid contact detection (~5-10 Hz) in the hopper test platform. In the end, this thesis connects soft robotics with the traditional body of robotic knowledge in two aspects: a) I show that manufacturing techniques we use for soft bodied sensor/actuator designs can be utilized for creating soft ligaments that add strength and compliance to robot joints; and b) I demonstrate that soft bodied force sensing techniques can be used reliably for robotic contact detection.

Multiple-input multiple-output (MIMO) technique in communication system has been widely researched. Compared with single-input single-output (SISO) communication, its properties of higher throughput, more e?cient spectrum and usage make it one of the most significant technology in modern wireless communications. In MIMO system, sphere detection is the fundamental part. The purpose of traditional sphere detection is to achieve the maximum likelihood (ML) demodulation of the MIMO system. However, with the development of advanced forward error correction (FEC) techniques, such as the Convolutional code, Turbo code and LDPC code, the sphere detection algorithms that can provide soft information for the outer decoder attract more interests recently. Considering the computing complexity of generating the soft information, it is important to develop a high-speed VLSI architecture for MIMO detection. The first part of this thesis is about MIMO sphere detection algorithms. Two sphere detection algorithms are introduced. The depth first Schnorr-Euchner (SE) algorithm which generates the ML detection solution and the width first K-BEST algorithm which only generates the nearly-ML detection solution but more efficient in implementation are presented. Based on these algorithms, an improved nearly-ML algorithm with lower complexity and limited performance lose, compared with traditional K-BEST algorithms, is presented. The second part is focused on the hardware design. A 4*4 16-QAM MIMO detection system which can generate both soft information and hard decision solution is designed and implemented in FPGA. With the fully pipelined and parallel structure, it can achieve a throughput of 3.7 Gbps. In this part, the improved nearly-ML algorithm is implmented as a detector to generat both the hard output and candidate list. Then, a soft information calculation block is designed to succeed the detector and produce the log-likelihood ratio (LLR) values for every bit as the soft output.

Fang Fang. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2003. / Includes bibliographical references (leaves 158-168). / Abstracts in English and Chinese. / ABSTRACT --- p.i / ACKNOLEDGEMENTS --- p.iii / CONTENTS --- p.v / Chapter CHAPTER 1 --- Introduction --- p.1 / Chapter 1.1 --- Empirical Puzzles and Theoretical Questions / Chapter 1.2 --- Casing a Case: A Multinational Soft Drink Company as a Theoretical Case to Study the Interactive Service Work and Emotional Labor / Chapter 1.3 --- The Research / Chapter 1.4 --- Overview of the Thesis / Chapter CHAPTER 2 --- Literature Review --- p.17 / Chapter 2.1 --- Labor Control in Interactive Service Work / Chapter 2.2 --- The Dynamic Relationship among Three Parties / Chapter 2.3 --- The Limitation of Emotional Labor in Existence Literature / Chapter CHAPTER 3 --- The Background of the CRs --- p.35 / Chapter 3.1 --- The Soft Drink Industry in China / Chapter 3.2 --- The Characteristics of Soft Drink / Chapter 3.3 --- The Customers Whom the CRs Interact With / Chapter 3.4 --- The Response of Ultimate Consumers / Chapter 3.5 --- The Development of CR / Chapter Chapter 4 --- Distribution of Power and Responsibility --- p.48 / Chapter 4.1 --- Choose the Right Person / Chapter 4.2 --- Comprehensive and All Round Training / Chapter 4.3 --- Getting People to Work / Chapter 4.4 --- Birth of a Principal of the Fixed Area / Chapter Chapter 5 --- Building Relationship Before Selling --- p.85 / Chapter 5.1 --- The Strategy the CRs Use to Control the Customers / Chapter 5.2 --- The Background of Relationship Based Interaction / Chapter 5.3 --- The Dynamic Relationship among Three Parties / Chapter Chapter 6 --- Emotion: the Instrument of Work --- p.121 / Chapter 6.1 --- Surface Acting VS Deep Acting / Chapter 6.2 --- The Functions and Dysfunctions of Emotional Labor / Chapter 6.3 --- The Emotions being Applied in the Work / Chapter Chapter 7 --- Conclusion --- p.144 / Chapter 7.1 --- A New Form of Management Control / Chapter 7.2 --- A Localized Selling Method: Building Personal Relationship / Chapter 7.3 --- A Mass Production of Emotions / Chapter 7.4 --- The Service Society and Rationality / Chapter 7.5 --- Limitations of the Present Study / Appendix 1 RMS (Relative Market Share) Ratio in Shenzhen --- p.155 / Appendix 2 The Granny-Young Lady Picture --- p.156 / Appendix 3 The Background of Informants --- p.157 / Key References --- p.158

Le prolapsus des organes pelviens (vessie, rectum, utérus, vagin) est un problème de santé qui touche de plus en plus de femmes. Ce trouble, dont la fréquence augmente avec le vieillissement de la population, altère inévitablement la qualité de vie des malades. Pour autant, les causes de cette pathologie sont mal connues et les pratiques chirurgicales demeurent mal évaluées. La réalisation d’un simulateur du comportement dynamique des organes pelviens permettant au chirurgien d’estimer l’impact fonctionnel de son geste avant sa réalisation est donc un besoin identifié. Ce travail concerne ainsi le développement, par la méthode des éléments finis, d’un modèle numérique du mouvement des organes pelviens et de leurs interactions. Un modèle est construit à partir d’une segmentation de l’IRM des patiente, permettant de générer la géométrie des organes pelviens. Des lois hyperélastiques sont ensuite adoptées pour modéliser le comportement mécanique des organes. Des résultats qualitatifs sont obtenus, permettant de comprendre les causes de certaines formes de prolapsus et d’estimer l’effet virtuel des interactions entre les organes. / Pelvic organ prolapse is a health problem that occurs only in women and becomes more common. These disorders whose frequency increases with the aging of the population affect the patients’ quality of life. However, the causes of these diseases are poorly understood and the surgical practices remain poorly evaluated. The realization of a simulator will allow surgeon to estimate the functional impact of his actions before implementation, to perform the surgery in a more controlled and reliable way. This work concerns the development of a numerical model of pelvic organs’ movement and their interactions based on the finite element methods. A first model is constructed from patients MRI images, allowing the generation of the organ geometries. Hyperelastic modeling of the organs behaviors were considered. Qualitative results could help to understand the reasons for the prolapse and to estimate the potential effect of organs interactions.

The formation of a functional surfaces combines the properties of a substrate and monolayer to produce a new hybrid that can combine aspects of each. Monolayers can be made on many surfaces, and well defined functionalized monolayers were assembled on for silicon(111) and polydicyclopentadiene (PDCPD). Acid terminated monolayers were assembled on silicon(111) and their functionalization chemistry explored. It was shown that using trifluoroacetic anhydride to generate an intermediate reactive anhydride, the surface could be functionalized with amines. It was further shown that using soft lithography these functionalized surfaces could be patterned. Mixed monolayers of methyl and olefin terminated surfaces on silicon(111) were used to develop a new soft lithographic technique with polydimethylsiloxane (PDMS). PDMS can be controllably etched using fluoride species. The surface is first activated by the attachment of the Grubbs' 1st generation catalyst. A PDMS microfluidic device is then placed on the surface. By using a cross metathesis reaction, the exposed channel can be pacified. The next step, a fluoride etchant is used to remove PDMS, exposing an unreacted surface. Polymer brushes were then grown by ring opening metathesis polymerization (ROMP) in this region. Functionalization of the emerging polymer PDCPD was conducted through two different routes. ROMP formed PDCPD has double bonds that can be functionalized. In the first process, the double bonds were reacted with bromine. This is a rapid reaction and proceeds to a significant depth in the material. Bromines can then be displaced with amines in a substitution reaction. This was demonstrated with a fluorinated amine that when examined by XPS were shown to be present only at the surface, further more we were able to pattern this surface too. Secondly, a process using epoxides was developed. The epoxidation reaction could not be quantified, but formation in the second step of an amine functionalized surfaces was observed by XPS. Further reaction of surface hydroxyls was also observed. This was also used to grow polyethylimine from the surface to sufficient thickness that it became observable by infrared spectroscopy.

Orientadora: Raquel Cabral / Banca: Maximiliano Martin Vicente / Banca: Maria Aparecida Ferrari / Resumo: O presente trabalho objetiva entender como a comunicação intercultural é compreendida por empresas de treinamento intercultural. É vislumbrado atender o objetivo proposto partindo da análise de três empresas brasileiras que possuem em comum o fato de afirmarem oferecer treinamento intercultural e darem grande foco para esses treinamentos no cenário organizacional. Portanto, para sanar o objetivo principal, foi definido o procedimento metodológico que se encontra dividido em três etapas: pesquisa bibliográfica, abordando a comunicação intercultural, interculturalidade, treinamento intercultural, desenvolvimento de competências interculturais e as Epistemologias do Sul através de diversos prismas, buscando aprofundamentos; análise de conteúdo dos sites institucionais e interpretação hermenêutica e por último, entrevistas em profundidade com os responsáveis pela área de treinamento intercultural das empresas estudadas e questionários realizados com brasileiros e estrangeiros em processos de internacionalização. A partir das análises, os principais resultados discutem como os aspectos linguísticos estão fortemente presentes quando se é falado de interculturalidade, competências interculturais e principalmente, de comunicação intercultural. Em suma, conseguimos depreender certas instrumentalizações dos conceitos estudados. Com este estudo, pretende-se iniciar um primeiro passo em direção à perspectiva do Sul, procurando compreender como ela pode contribuir para o entendimento da c... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The present work aims to understand how intercultural communication is understood by intercultural training companies. It is envisaged to meet the proposed goal starting from the analysis of three Brazilian companies that have in common the fact of claiming to offer intercultural training and give great focus to these training in the organizational scenario. Therefore, in order to reach the main objective, the methodological procedure was defined, which is divided into three stages: bibliographic research, addressing intercultural communication, interculturalism, intercultural training, intercultural competence development, and South Epistemologies through several prisms, searching for deepening; content analysis of institutional sites and hermeneutic interpretation, and finally, in-depth interviews with those responsible for the intercultural training area of the companies studied and questionnaires conducted with Brazilians and foreigners in internationalization processes. From the analyzes, the main results discuss how the linguistic aspects are strongly present when it is spoken of interculturality, intercultural competences and mainly, intercultural communication. In short, we have been able to infer certain instrumentalities of the concepts studied. With this study, we intend to begin a first step towards the South perspective, trying to understand how it can contribute to the understanding of intercultural communication, starting from the Brazilian reality. / Mestre

Due to the scarcity of land at coastal regions around the world, land reclamation is commonly carried out for the future expansion of various infrastructure facilities. Marine clay is present at the coastal regions of Southeast Asia. Land reclamation on this highly compressible soil foundation often requires the use of soil improvement works to eliminate significant future settlements from occurring. The combination of prefabricated vertical drains with preloading is one of the most widely used ground improvement methods in land reclamation projects. The best means available for field measurement and back-analysis of the marine clay geotechnical characteristics under reclamation fills is by carrying out extensive field instrumentation and in-situ tests. In-situ testing of marine clay was carried out at a test site. In-situ penetration testing was used to analyse the degree of consolidation, the improved shear strengths, overconsolidation ratio and the effective stress of marine clay prior to reclamation as well as after surcharge loading. In-situ dissipation testing was used to determine the coefficient of consolidation due to horizontal flow and horizontal hydraulic conductivity of the marine clay prior to reclamation as well as after surcharge loading. The in-situ penetration and dissipation tests were carried out by means of the field vane shear, piezocone, dilatometer, self-boring pressuremeter and BAT permeameter. Field instrumentation methods, assessment and hack-analysis of marine clay behaviour under reclamation fills forms the crux of this research. / The factors that affect the field instrumentation assessment of marine clays treated with prefabricated vertical drains, forms an integral part of this research study. Settlement gauges and piezometers were used to monitor the performance of the vertical drains and to assess the degree of consolidation of the improved soil at two case study sites. The field settlement data were back-analysed by the Asaoka and Hyperbolic methods to predict the ultimate settlement of the reclaimed land under the surcharge fill. Back-analysis of the field settlement and piezometer monitoring data also enabled the coefficient of consolidation due to horizontal flow to be closely estimated. Finite element modeling of marine clay and prefabricated vertical drains was carried out and compared with the field surface settlement results at the two case study sites.

Thesis (M.Eng.)--Memorial University of Newfoundland, 2005. / Bibliography: leaves 77-85.