In this research a variable-stiffness compliant mechanism was developed to generate variable force-displacement profiles at the mechanisms coupler point. The mechanism is based on a compliant Roberts straight-line mechanism, and the stiffness is varied by changing the effective length of the compliant links with an actuated slider. The variable-stiffness mechanism was used in a one-degree-of-freedom haptic interface to demonstrate the effectiveness of varying the stiffness of a compliant mechanism. Unlike traditional haptic interfaces, in which the force is controlled using motors and rigid links, the haptic interface developed in this work displays haptic stiffness via the variable-stiffness compliant mechanism. The force-deflection behavior of the mechanismwas analyzed using the Pseudo-Rigid Body Model (PRBM), and two key parameters, KQ and g,were optimized using finite element analysis (FEA) to match the model with the behavior of the device. One of the key features of the mechanism is that the inherent return-to-zero behavior of the compliant mechanism was used to provide the stiffness feedback felt by the user. A prototype haptic interface was developed capable of simulating the force-displacement profile of Lachmans Test performed on an injured ACL knee. The compliant haptic interface was capable of displaying stiffnesses between 4200 N/m and 7200 N/m.

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Series elastic actuators (SEAs) have numerous benefits for force controlled robotic applications. This thesis presents the design and assembly of a set of compact, lightweight, low-friction linear SEAs for the legs of the Tactical Hazardous Operations Robot (THOR). The THOR SEA pairs a ball screw driven linear actuator with a configurable titanium leaf spring. A removable pivot changes the effective cantilever length, setting the compliance to either 372 or 655 kN/m. Unlike typical SEAs which measure actuator load through spring deflection, an in-line axial load cell directly measures actuator forces up to the commandable peak of 2225 N. The continuous operating range of the actuator is computed, along with an evaluation of the range of motion and torque profiles for the parallel hip and ankle joints. With a focus on a large power-to-weight ratio and small packaging size, the THOR SEAs are well-suited for accurate torque control of the parallel joints on the robot. Linearly actuated joints, especially ones driven through a crank arm, tend to suffer from a loss of mechanical advantage toward the ends of its limited range of motion. To augment the range of motion and mechanical advantage profile on THOR, an inverted Hoeken's linkage straight line mechanism is paired with a linear SEA at the hip and knee pitch joints on the robot. The resulting linkage assembly is capable of delivering nearly constant peak torque of 115 Nm across its 150 degree range of motion. The mechanical advantage profile of the Hoeken's linkage actuator is computed for the nominal case, as well the deviation resulting from maximum deflection of the titanium beam. / Master of Science

This essay aims to explain the attraction toward the main character Stavrogin that the other characters experience in Dostoevsky's The Possessed, his great novel from 1871. I will mainly employ the terms “orientation” and “disorientation” in my analysis of Stavrogin's power of attraction. The theory used for this reading is principally inspired by Sara Ahmed's Queer Phenomenology – Orientation, Objects, Others (2006), and the meaning I attach to the terms “orientation” and “disorientation” is derived from Ahmed's use of them. Ahmed's queer phenomenology helps us to reflect upon how Stavrogin functions as a point of orientation in the novel. This makes him a demonic influence on the other characters, in the sense that he disorientates them. The Possessed asks us what happens when we “lose our way”, and confusion as well as disorientation is a general theme of the novel. This topic has been raised before, but few have connected the demonic disorientation with the underlying unconventional desires, such as Peter Verchovensky's desire for Stavrogin. In this essay I attempt to show how Stavrogin can be thought of as a “new” orientation for the other characters, and how their following him causes them to follow lines that lead to destruction.

The use of Ultra High Performance Fibre Reinforced Concrete (UHPFRC) in the construction industry started in the 1990s and has since then been used for bridges all over the world. The mechanical properties and the dense matrix result in lower material usage and superior durability compared to conventional concrete, but the implementation of UHPFRC in the Swedish industry has been delayed. The most evident explanation, based on interview with industry representatives, as to why UHPFRC is not commonly used in Sweden are due to the lack of standards and knowledge. UHPFRC also has a high cement content and the cement industry contributes with high carbon dioxide (CO2) emissions to the total CO2 emissions in the world. This MSc Thesis looks into if a UHPFRC bridge is a feasible alternative to a conventional reinforced concrete structure bridge from design and material usage perspectives, regarding reduction of CO2 emissions. The project’s overall goal is to increase the knowledge in Sweden about the material, regarding the production, mechanical properties and behaviour of UHPFRC, and the design, regarding the difference in design between UHPFRC and conventional concrete bridges. To examine the material, a UHPFRC mixture with short straight steel fibres was developed. Specimens were tested to see how the different fibre contents affect the mechanical properties and which fibre content that is most favourable. Three different fibre contents were tested: 1.5%, 2.0% and 2.5% of the total volume of the mixture. The tested and evaluated mechanical properties were workability, flexural strength, tensile strength, fracture energy, compressive strength and modulus of elasticity. This study does not contain tests of durability of UHPFRC, however trough the literature review it was investigated to what extent the fibres affect the durability. It was concluded that an increase in fibre content results in improved mechanical properties, except for workability and in some cases when using a fibre content of 2.5%. The increase in the mechanical properties is due to the increased cracking resistance and the bond strength between the fibres and the matrix. The decrease in the mechanical properties, e.g. characteristic tensile strength and compressive strength of cylinders, for 2.5% in fibre content can be due to uneven fibre distribution and higher amount of air in the specimens which result in less strength. It was concluded that 2.0% in fibre content is most favourable. It was possible to conclude that the degradation of the fibres takes a long time, however not to what extent the fibres will affect the durability. To evaluate if UHPFRC is a viable economical and environmental alternative to regular concrete bridges, three cases of bridge design are considered. Two cases with UHPFRC (different thickness) and one case with conventional concrete. Up to 2017 only technical guidelines and recommendations for design with UHPFRC existed, but in 2017 the first approved standards in the world were published. The French national standards cover material (NF P18-470, 2016) and design (NF P18-710, 2016) and were used for the design process. The material usage regarding the amount of reinforced UHPFRC/concrete and steel reinforcement as well as the amount of CO2 emissions from the production of cement and steel (fibre and steel reinforcement) used for the bridges in the mid-span and at the support were investigated. The design process was also evaluated. It was concluded that the UHPFRC bridge with an optimized thickness was 47% lighter than the conventional concrete bridge, but the amount of CO2 emissions was still higher (e.g. 23% from the support). To be able to determine if a UHPFRC bridge is a feasible alternative to a conventional concrete bridge, with regards to the reduction of CO2 emissions, the CO2 emissions have to be observed in a wider perspective than only from the production of cement and steel, e.g. fewer transports and longer lifetime. / Användningen av ultrahögpresterande fiberbetong (UHPFRC) i anläggningsindustrin började på 1990-talet och har sedan dess använts till broar i hela världen. De mekaniska egenskaperna och den täta UHPFRC matrisen resulterar i lägre materialanvändning och bättre beständighet i jämförelse med konventionell betong, men användningen av UHPFRC har inte slagit igenom i den svenska industrin. De största förklaringarna till varför UHPFRC sällan används i Sverige är för att det inte har funnits kunskap och standarder. UHPFRC har också en hög cementhalt och cementindustrin bidrar med höga koldioxid (CO2) utsläpp till de totala CO2 utsläppen i världen. Den här masteruppsatsen skrevs för att undersöka om en UHPFRC bro är ett möjligt alternativ till en konventionell betongbro ur dimensionering- och materialanvändningssynpunkt med avseende på reduktion av CO2 utsläpp. Projektets övergripande mål är att öka kunskapen om materialet, med avseende på tillverkningen, de mekaniska egenskaperna och beteendet av UHPFRC, och dimensionering, med avseende på skillnaden i dimensionering mellan UHPFRC broar och konventionella betongbroar. I materialdelen utvecklades ett UHPFRC recept med korta raka stålfibrer. Provkroppar testades för att se hur olika fiberinnehåll påverkade de mekaniska egenskaperna och vilket fiberinnehåll som var mest gynnsamt. Tre olika fiberinnehåll testades: 1.5%, 2.0% och 2.5% av total volym av blandningen. De mekaniska egenskaperna som testades och utvärderades var bearbetbarheten, böjhållfasthet, draghållfasthet, fraktur energi, tryckhållfasthet och elasticitetsmodul. Beständigheten av UHPFRC testades aldrig men i vilken omfattning fibrerna påverkar beständigheten undersöktes i den litteraturstudie som skrevs inför testerna och tillverkningen av UHPFRC. Det konstaterades att en ökning i fiberinnehåll resulterade i en ökning av de mekaniska egenskaperna, förutom för bearbetbarheten och i vissa fall när ett fiberinnehåll av 2.5% användes. Ökningen av de mekaniska egenskaperna berodde på det ökande sprickmotståndet och bindningsstyrka mellan fibrerna och matrisen. Minskningen av de mekaniska egenskaperna, till exempel den karakteristiska drag- och tryckhållfastheten, när ett fiberinnehåll på 2.5% i cylindrar användes kan bero på ojämn fiberfördelning och större mängd luft i provkropparna vilket resulterar i lägre hållfasthet. Det konstaterades att ett fiberinnehåll på 2.0% var det mest gynnsamma. Det kunde inte konstateras i vilken omfattning fibrerna påverkar beständigheten men det kunde konstateras att nedbrytningen av fibrerna tar lång tid. I dimensioneringsdelen utformades tre slakarmerade balkbroöverbyggnader, i två fall var överbyggnaden med UHPFRC (olika tjocklekar) och i ett fall var den med konventionell betong. Fram till 2017 fanns det bara tekniska riktlinjer och rekommendationer för UHPFRC men 2017 publicerades de första godkända standarderna i världen. De franska nationella standarderna täcker material (NF P18-470, 2016) och dimensionering (NF P18-710, 2016) och användes vid dimensioneringen. Materialanvändningen med avseende på mängd armerad UHPFRC/betong och slakarmering och mängd CO2 utsläpp från produktionen av cement och stål (fibrer och slakarmering) som användes till broarna i mittenspannet och vid stöden undersöktes. Även dimensioneringsprocessen utvärderades. Det konstaterades att UHPFRC bron med optimerad tjocklek var 47% lättare än betongbron men mängden CO2 utsläpp var fortfarande högre (till exempel 23% högre från stödet). Det konstaterades att om det ska vara möjligt att fastställa att en UHPFRC bro är ett möjligt alternativ till en konventionell betongbro, med avseende på reduktion av CO2 utsläpp, måste CO2 utsläppen ses från ett bredare perspektiv än från bara produktion av cement och stål, till exempel mindre transporter och längre livslängd.

Nos ultimos anos o uso de tecnicas de aprendizado computacional tornou se uma das tarefas comumente realizadas, pois tem inumeras aplicacoes de reconhecimento de padroes, tais como: reco- nhecimento de voz, classificacao de texto, reconhecimento facial, diagnostico por imagens medicas, entre outras. Dessa forma, um grande numero de tecnicas que lidam com este tipo de problema tem sido desenvolvido ate o momento. Neste trabalho apresentamos uma alternativa para melhorar a taxa acerto de classificacao do classificador binario SLS, que apresentou resultados comparaveis com as SVMs. Nesse metodo, o Gradiente Descendente e utilizado para otimizar a posicao final dos conjuntos de segmentos de reta que representarao cada classe. Embora convirja rapidamente a um valor otimo, muitas vezes e possivel o algoritmo parar em uma regiao de otimos locais, que nao representa o minimo global. Dado esse problema, foram utilizados diferentes algoritmos evolutivos em combinacao com o Gradiente Descendente a fim de melhorar a acuracia do classificador SLS. Adicionalmente a aplicacao de algoritmos evolutivos na fase de treinamento do classificador SLS, foram exploradas duas propostas: (i) explorar o uso de diferente numero de segmentos de reta para representar a distribuicao de dados de cada classe. Dado que no algoritmo original do metodo SLS o numero de segmentos de reta e igual para cada classe, o qual pode significar alguma perda de acuracia ou sobreposicao dos segmentos de reta; (ii) estimar a melhor combinacao de segmentos de reta a serem usados para cada classe. O uso de diferentes quantidades de segmentos de reta por classe pode ser de ajuda na obtencao de melhores porcentagens de acerto, mas determinar uma quantidade otima que permita representar cada classe, e um trabalho dificil. Assim, usamos o algoritmo X-Means, que e um algoritmo de agrupamento, para estimar o numero de segmentos de reta. As propostas exibiram bons resultados que possibilitam a aplicacao do classificador SLS, com um algoritmo de treinamento hibrido, em problemas reais. / During the past years, the use of machine learning techniques have become into one of the most frequently performed tasks, due to the large amount of pattern recognition applications such as: voice recognition, text classification, face recognition, medical image diagnosis, among others. Thus, a great number of techniques dealing with this kind of problem have been developed until now. In this work, we propose an alternative training algorithm to improve the accuracy of the SLS binary Classifier, which produces good results that can be compared to Support Vector Machines. In that classifier, the Gradient Descent method has been used to optimize the final positions of two sets of straight line segments that represent each class. Although, this method quickly converges to an optimum, it is possible that the algorithm stops at a local optimum region, which does not guarantee a global minimum. Given that problem, we combine evolutive optimization algorithms with the gradient descent method to improve the accuracy of the SLS Classifier. In addition to our proposal of using evolutive algorithms, we also developed two proposals: (i) we explore the use of different number of straight line segments to represent the data distribution. Since the original SLS classifier algorithm uses the same number of segments for each class, which could lead to a loss of accuracy or straight line segments overlapping. So, using different number of segments could be the way to improve the accuracy; (ii) estimate the best combination of straight line segments to represent each class. Finding an optimal combination, can be a very difficult problem, so we propose the X-Means algorithm to determine the number of segments. The proposed methodology showed good results which can be used to solve some other real problems with the SLS classifier using the proposed hybrid training algorithm.

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No. of bitstreams: 2 Dissertação - Anderson Souza Rocha - 2015.pdf: 7517938 bytes, checksum: 82b541aff42a5ea10a296bdc2f6c4074 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Previous issue date: 2015-11-27 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / The proposed research is based on the study of reinforcement columms in reinforced concrete, with the use of anchor bolts and fill with self-compacting concrete, by jacketing. In addition to the experimental studies, numerical simulation was performed using a computer program based on the finite element method, took into account the breaking loads, displacements and deformations which allows a careful study of reinforced columms. The experimental part of this work was based on the test five columms of reinforced concrete, submitted to straight flexion-compression, in order to assess the bond interface between the concrete substrate and reinforcement of concrete and confirm the efficiency of this technique commonly used for reinforcement. Two columms were used as reference, one with the original abutment dimensions (Reference Columm, cross section: 120 x 250 mm) and the other monolithic concreted with the section of enhanced piece (Monolithic Columm, cross section: 155 x 250 mm). The others received a layer of 35 mm thick concrete in the compressed self-compacting face. The preparation of the interface between the two materials, it will be carried with the scarification boreholes along this surface, which anchors were inserted responsible for reinforcement of concrete bond with the substrate. It can be concluded on the work developed that not only the quantity but especially the location of the connectors used for the connection between the two materials, are essential for a good result of resistance and failure mode. Despite the studs do not present break, there was the peeling of the reinforcement layer. The results obtained indicate the possibility of using this method in the structural reinforcement columms rehabilitation, as it showed an increase in bearing capacity of about four times compared to the column of reference. The results of numerical simulation were very satisfactory, because the behavior of the columms in relation to tensile strength, displacements and deformations, approached the experimental results, with minor differences. / A pesquisa proposta se baseia no estudo do reforço de pilares em concreto armado, com emprego de chumbadores e preenchimento com concreto auto adensável, por encamisamento. Além do estudos experimentais, foi feita uma simulação numérica, utilizando um programa computacional baseado no Método dos Elementos Finitos, levou-se em consideração as cargas de ruptura, deslocamentos e deformações o que possibilita um estudo criterioso dos pilares reforçados. A etapa experimental deste trabalho foi embasada no ensaio de cinco pilares de concreto armado, submetidos à flexo-compressão reta, com intuito de avaliar a interface de ligação entre o concreto do substrato e concreto do reforço e confirmar a eficiência desta técnica usualmente utilizada para reforço. Dois pilares foram usados como referência, sendo um com as dimensões originais do pilar (Pilar de Referência, seção transversal: 120 x 250 mm) e o outro monolítico concretado com a seção de uma peça reforçada (Pilar Monolítico, seção transversal: 155 x 250 mm). Os demais receberam uma camada de 35 mm de espessura de concreto auto-adensável na face comprimida. O preparo da interface entre os dois materiais, proceder-se-á com a escarificação e realização de furos ao longo desta superfície, onde foram inseridos chumbadores responsáveis pela ligação do concreto do reforço com o substrato. Pode-se concluir em trabalhos desenvolvidos que não só a quantidade, mas principalmente, a localização dos conectores utilizados na ligação entre os dois materiais, são imprescindíveis para um bom resultado de resistência e modo de ruptura. Apesar dos chumbadores não apresentarem ruptura, houve o desplacamento da camada do reforço. Os resultados obtidos confirmam a possibilidade da utilização deste método de reforço na reabilitação estrutural de pilares, pois apresentou um aumento da capacidade portante em aproximadamente quatro vezes em relação ao pilar de referência. Os resultados da simulação numérica foram muito satisfatórios, pois o comportamento dos pilares, em relação a carga de ruptura, deslocamentos e deformações, aproximaram dos resultados experimentais, com pequenas diferenças.

<p>In statistical inference of the distribution-free straight-line regression problem, two common transformations, rank transformation and sign transformation, are used to construct the test statistics. When shall we need to use the transformations and which transformation is more efficient are two common questions met by researchers. In this thesis, we will discuss the comparison of the efficiencies of the statistics before and after the rank transformation or the sign transformation in both theoretical and practical ways. Simulation is also used to compare the efficiencies of the statistics under different distributions. Some recommendations about when to use transformations and which one to choose are put forward associated with the conclusion drawn from the research work we have done.</p>

In statistical inference of the distribution-free straight-line regression problem, two common transformations, rank transformation and sign transformation, are used to construct the test statistics. When shall we need to use the transformations and which transformation is more efficient are two common questions met by researchers. In this thesis, we will discuss the comparison of the efficiencies of the statistics before and after the rank transformation or the sign transformation in both theoretical and practical ways. Simulation is also used to compare the efficiencies of the statistics under different distributions. Some recommendations about when to use transformations and which one to choose are put forward associated with the conclusion drawn from the research work we have done.