The reliance on GPS for Unmanned Aerial Vehicle (UAV) localization limits the areas of application to places with a stable GPS signal. The emergence of deep learning in computer vision has made deep learning methods for visual UAV navigation a promising candidate for autonomous GPS denied localization. These method locate using images taken by a mounted camera on the UAV. Most works in the field evaluate localization ability in urban environments dense with artificial structures. This thesis analyses the localization ability of one such method over agricultural fields and forests in comparison to urban areas to investigate whether such systems rely on artificial structure or if they can function in a general environment. The localization technique is based on the deep feature Lucas-Kanade algorithm and uses convolutional neural network extracted feature representations of images taken by the UAV and satellite images to place the UAV within the satellite image for a position estimate. A network interpretation method is also applied to the problem to investigate whether it can help explain what causes the potential differences in localization accuracy between the areas. The investigation finds that the localization method is applicable in both forests and agricultural fields and pinpoints other factors than the prevalence of artificial structure that are more important for accurate localization. Further, a potential improvement to the algorithm is proposed that is shown to notably improve localization accuracy in certain conditions. It is based on obtaining a second position estimate by reversing the optimization direction and choosing the better of the two based on a loss function. / Obemannade luftburna fordon (UAV) är generellt beroende av GPS för autonom lokalisering vilket begränsar deras användningsområden till platser med en stabil GPS signal. Framväxten av djupinlärning inom datorseende har gjort djupinlärningsbaserade metoder för visuell UAV navigation en lovande kandidat för UAV lokalisering oberoende av GPS. De flesta vetenskapliga artiklar inom området utvärderar lokaliseringsförmågan i urbana miljöer som är fyllda med artificiella strukturer såsom hus och vägar. I den här uppsatsen analyseras lokaliseringsförmågan av en sådan metod över jordbruksområden och skog i förhållande till urbana miljöer för att undersöka om sådana system är beroende av artificiell struktur för att lokalisera korrekt. Lokaliseringsmetoden är baserad på Lukas-Kanade-algoritmen på djupa repesentationer. Konvolverande neurala nätverk tränas för att extrahera representationer av UAV- och satellitbilder som är mer passande för att bestämma förhållandet mellan kamerapositionerna med Lukas-Kanade algoritmen. En nätverkstolkningsmetod appliceras även på problemet för att undersöka huruvida det kan användas för att förklara eventuella skillnader i lokaliseringsförmåga mellan områdena. Undersökningen finner att lokaliseringsmetoden fungerar väl i jordbruksområden och skog och fastställer andra faktorer som är viktigare för välfungerande lokalisering än förekomsten av artificiella strukturer. Ytterligare föreslås en potentiell förbättring till algoritmen som visas kunna förbättra lokaliseringsnoggrannheten markant i vissa förhållanden. Förbättringen är baserad på att utvinna en andra positionsuppskattning genom att omvända optimeringsriktningen och välja den bättre av de två baserat på en förlustfunktion.

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Le travail présenté dans cette thèse porte sur le rôle du cortex prémoteur dorsal (PMd) au sujet de la prise de décision (sélection d’une action parmis nombreux choix) et l'orientation visuelle des mouvements du bras. L’ouvrage décrit des expériences électrophysiologiques chez le singe éveillé (Macaca mulatta) permettant d’adresser une fraction importante des prédictions proposées par l'hypothèse des affordances concurrentes (Cisek, 2006; Cisek, 2007a). Cette hypothèse suggère que le choix de toute action est l’issue d'une concurrence entre les représentations internes des exigences et des atouts de chacune des options présentées (affordances; Gibson, 1979). Un intérêt particulier est donné au traitement de l'information spatiale et la valeur des options (expected value, EV) dans la prise de décisions. La première étude (article 1) explore la façon dont PMd reflète ces deux paramètres dans la période délai ainsi que de leur intéraction. La deuxième étude (article 2) explore le mécanisme de décision de façon plus détaillée et étend les résultats au cortex prémoteur ventral (PMv). Cette étude porte également sur la représentation spatiale et l’EV dans une perspective d'apprentissage. Dans un environnement nouveau les paramètres spatiaux des actions semblent être présents en tout temps dans PMd, malgré que la représentation de l’EV apparaît uniquement lorsque les animaux commencent à prendre des décisions éclairées au sujet de la valeur des options disponibles. La troisième étude (article 3) explore la façon dont PMd est impliqué aux “changements d'esprit“ dans un procès de décision. Cette étude décrit comment la sélection d’une action est mise à jour à la suite d'une instruction de mouvement (GO signal). I II Les résultats principaux des études sont reproduits par un modèle computationnel (Cisek, 2006) suggérant que la prise de décision entre plusieurs actions alternatives peux se faire par voie d’un mécanisme de concurrence (biased competition) qui aurait lieu dans la même région qui spécifie les actions. / This thesis examines the role of the dorsal premotor cortex (PMd) in the process of decision making (action selection) and visual guidance of arm movements. The work describes electrophysiological experiments conducted in awake monkeys (Macaca mulatta) and tests a number of important predictions suggested by the affordance competition hypothesis (Cisek, 2006; Cisek, 2007a). This hypothesis suggests that decisions can be viewed as the result of a competition between internal representations of conflicting demands and opportunities for actions or affordances (Gibson, 1979). Specific interest is given to the interaction between spatial information and expected value (EV) in a proposed affordance competition mechanism for action selection. The first study presented (article 1) explores how EV is represented during the delay period in PMd. This study also describes how this area reflects the spatial metrics of the options and examines the interaction between value and spatial information. The second study (article 2) explores the mechanism of action selection in more detail and extends the results to ventral premotor cortex (PMv). This study also addresses the nature of value and spatial representations from a learning perspective. In a novel environment the spatial metrics of the actions seem to be invariably present in PMd, meanwhile EV representations appear only once the animals make behaviorally informed decisions about the value of the available options. The third study (article 3) explores how PMd is involved in “changes of mind” in which action selection is updated following a movement instruction (GO signal). III IV The major findings in all these studies are reproduced by a computational model (Cisek, 2006) suggesting that decisions between actions can be made through a biased competition process that takes place in the same region that specifies the actions.

This thesis confronts the possibility of an architecture which limits and reveals, freedom for a way to live, for the activities of man which are vital to a good life. An architecture which is investigated and projected through making. Architecture Separates and makes Distinct, while finding meaningful connection. The work of drawing here attempts to project an architecture which is vital to man, by providing a connection to the activities of Man, in which the spirit of their beginning is recaptured and renewed through a reimagining of the Institutions of Man. Where a sense of Wonder is imperative, and the sense of the eternal in architecture is cultivated. One where a renewal is possible and sense of the cosmos is more evident. On the Threshold of 'Where the desire to express meets the possible' (Kahn) using architectural form. Awareness What is the form? Beginning with the room / Master of Architecture

Spelbolag AB has a long history in the Swedish market. Their products are all based on randomness, with a predetermined probability of winning. Some of Spelbolag AB's products are stable in sales throughout the year, while others fluctuate with holidays. Spelbolag AB offers products whose sales are largely influenced by the prize value; higher prize amounts attract more gamblers, while lower prize amounts attract fewer gamblers. Spelbolag AB also has products that are purchased more or less based on the value of the prize, i.e. a higher prize pot increases the number of gamblers and vice versa. Through campaigns, the company wishes to enhance the interest in their products. To estimate the total revenue from the products, a statistical tool has been used. The predictions are made for different key performance indexes (KPIs) which are used as the foundation for some strategic decisions. A wish to improve the statistical tool used by the company has risen due to poor performance. This thesis aimed to create an updated statistical tool. This tool was based on a time series analysis of the weekly net game revenue (NGR). The goal of the time series analysis was to find a statistical model with high forecast accuracy. To find the optimal model for forecast accuracy, a grid search algorithm was used. The performance measure mean squared prediction error (MSPE) was used as a decision base in the grid search along with the mean absolute percentage error (MAPE). Akaike information criterion (AIC) was also estimated as a goodness-of-fit measure. The thesis work resulted in two different SARIMAX models that were analyzed and tested, both including the same exogenous variables. The recommended SARIMAX(1, 0, 2)(1, 1, 1)52 model obtained an MAPE of 4.49%. / Spelbolag AB har en lång historia på den svenska marknaden. Deras produkter är alla slumpmässiga i dess utfall, med en förbestämd chans att vinna. Vissa av Spelbolag ABs produkter har stabil försäljning, medan andra flukturerar med högtider. Spelbolag AB har även produkter vars försäljning påverkas av vinstsumman; fler personer spelar när vinstsumman är hägre och tvärtom. Genom kampanjer önskar företaget öka intresset för sina produkter, och på så vis öka försäljningen. För att prediktera och kunna förutse de totala intäkterna från produkternas försäljning har ett statistisk verktyg använts. Dessa prediktioner har gjorts för olika KPIer, vilka används för att fatta strategiska beslut. Detta verktyg har på den senaste tiden resulterat i dåliga prediktioner, varpå en önskan om att förnya verktyget har uppkommit. Syftet med denna uppsats har därmed varit att uppdatera det statistiska verktyget. Verktyget har baserats på en tidsserieanalys av veckovist netto spelinkomst (NSI). Målet med tidsserieanalysen var att hitta en statistisk modell med hög träffsäkerhet i prediktionerna. För att hitta en optimal modell för just prediktionsnoggrannhet användes algoritmen rutnätssökning. Beslutsunderlaget i denna rutnätssökning var medelkvadratisk predikteringsfel (MSPE) samt medelabsolut procentuellt fel (MAPE). Dessutom estimerades akaike informationskriteriet (AIC) som ett mått på modellanpassning. Uppsatsen resulterade i två olika SARIMAX modeller som båda analyserades och testades, och dessa modeller inkluderade samma exogena variabler. Den rekommenderade SARIMAX(1, 0, 2)(1, 1, 1)52 modellen erhöll ett MAPE av 4.49%.

Thin and slender structures are widely occurring both in nature and in human creations. Clever geometries of thin structures can produce strong constructions while using a minimal amount of material. Computer modeling and analysis of thin and slender structures has its own set of problems stemming from assumptions made when deriving the equations modeling their behavior from the theory of continuum mechanics. In this thesis we consider two kinds of thin elastic structures; threads and plates. Real-time simulation of threads are of interest in various types of virtual simulations such as surgery simulation for instance. In the first paper of this thesis we develop a thread model for use in interactive applications. By viewing the thread as a continuum rather than a truly one dimensional object existing in three dimensional space we derive a thread model that naturally handles both bending, torsion and inertial effects. We apply a corotational framework to simulate large deformation in real-time. On the fly adaptive resolution is used to minimize corotational artifacts. Plates are flat elastic structures only allowing deflection in the normal direction. In the second paper in this thesis we propose a family of finite elements for approximating solutions to the Kirchhoff-Love plate equation using a continuous piecewise linear deflection field. We reconstruct a discontinuous piecewise quadratic deflection field which is applied in a discontinuous Galerkin method. Given a criterion on the reconstruction operator we prove a priori estimates in energy and L2 norms. Numerical results for the method using three possible reconstructions are presented.

Text in Afrikaans / Alhoewel die Grondwet van die Republiek van Suid-Afrika die bestaande reg op regsverteenwoordiging uitgebrei het tot sy logiese eindpunt, is daar geen vaste inhoud aan hierdie reg gegee nie en sal die howe die omvang daarvan moet ontwikkel. Hierdie reg kan weens die heersende sosiale en ekonomiese omstandighede nie 'n absolute reg wees nie. Indien 'n beskuldigde nie 'n regsverteenwoordiger kan bekostig nie, sal een op staatsonkoste aan horn verskaf word, maar slegs indien <lit andersins tot wesentlike onreg sal lei. In so 'n geval het die beskuldigde nie die reg op 'n regsverteenwoordiger van sy keuse nie. Effektiewe regsverteenwoordiging word ook nie gewaarborg nie. Daar word derhalwe steeds nie aan die sine qua non van 'n volledige strafregplegingstelsel soos <lit oor tyd in die Verenigde State van Amerika ontwikkel het, <lit is die verskaffing van kostelose regsverteenwoordiging aan elke behoeftige persoon beskuldig van 'n emstige misdaad, voldoen nie / Although the Constitution of the Republic of South Africa has extended the existing right to legal representation to its logical conclusion, no definitive substance has been given to this right and the courts will have to develop the purview thereof. This right cannot be an absolute right because of ruling social and economic circumstances. Should an accused not be able to afford a legal representative, one will be supplied to him at state expense, but only if substantial injustice would otherwise result. In such an event the accused is not entitled to a legal representative of his choice. Effective legal representation is also not guaranteed. There is therefore still not compliance with the sine qua non of a comprehensive criminal justice system as has developed over time in the United States of America, that is the provision of free legal representation to every indigent person accused of a serious crime / Criminal & Procedural Law / LL.M. (Straf en Prosesreg)

Ziel dieser Arbeit war es, ein enantiomerenspezifisches Analysenverfahren für die Bestimmung von Hexabromcyclododecan (HBCD) in Biota-Proben zu entwickeln und die bei erhöhten Temperaturen auftretende Isomerisierung der HBCD-Stereoisomere zu untersuchen. Als erstes wurden die sechs HBCD-Enantiomere isoliert, mittels Einkristallstrukturanalyse, NMR- und IR-Spektroskopie charakterisiert und erstmals die spezifischen Drehwinkel der reinen Enantiomere mit den absoluten Konfigurationen und der Elutionsreihenfolge auf einer chiralen beta-PM-Cyclodextrin-Phase korreliert. Die Untersuchungen der HBCD-Enantiomere in Biota-Proben wurden mit einem HPLC-Tandem-MS-System unter Verwendung einer Kombination aus einer C18- und einer chiralen beta-PM-Cyclodextrin-Phase durchgeführt. Das entwickelte Analysenverfahren wurde validiert und ein Messunsicherheitsbudget erstellt. Die mittlere Wiederfindung für die internen Standards lag im Bereich von 96 - 104 % und die Nachweisgrenzen lagen zwischen 6 und 21 pg/g. Mit Hilfe dieses Analysenverfahrens wurden sowohl maritime als auch Süßwasser Biota-Proben von verschiedenen Probenahmepunkten in Europa untersucht. Die ermittelten Enantiomeren-Verhältnisse, die in allen Fällen vom (±)-alpha-HBCD dominiert wurden, zeigten signifikante Abweichungen von den razemischen Zusammensetzungen. Auffällig hierbei war, dass eine bevorzugte Anreicherung der zuerst eluierenden HBCD-Enantiomere ((-)-alpha-, (-)-beta- und (+)-gamma-HBCD) stattfand. Im Ergebnis der Untersuchungen zur thermisch induzierten intramolekularen Isomerisierung der HBCD-Stereoisomere konnten die verschiedenen Isomerisierungsreaktionen eindeutig aufgeklärt und die jeweiligen Geschwindigkeitskonstanten bei einer Temperatur von 160 °C ermittelt werden. Ergänzend wurde die Isomerisierung mit Hilfe der statistischen Thermodynamik unter Verwendung eines neuen Ansatzes für die klassische Hybrid Monte-Carlo-Simulation untersucht. / The major objectives of this thesis were the development of an analytical procedure for the enantio-specific determination of hexabromocyclododecane (HBCD) in biota samples and the investigation of the interconversion of the individual HBCD isomers at elevated temperatures. The six HBCD enantiomers were isolated, characterised by X-ray diffractometry, NMR- and IR-spectroscopy and the sense of rotation was correlated for the first time with the absolute configurations of the HBCD enantiomers as well as their order of elution on a chiral beta-PM-cyclodextrine-phase. Trace quantification of the individual HBCD enantiomers was achieved by means of high performance liquid chromatography coupled to tandem mass spectrometry equipped with a combination of a C18- and a chiral analytical column. Validation data and an uncertainty budget were determined. The mean recoveries of the different enantiomeric internal standards ranged from 96 to 104 % and the limits of detection are in the range of 6 to 21 pg/g. The analytical procedure was successfully applied to marine and freshwater biota samples from different European sites. The enantiomeric pattern of the six HBCD enantiomers, with (±)-alpha-HBCD as the dominant diastereomer, was determined for all biota samples and showed in most cases a significant deviation from the technical racemate. In these cases a preferential enrichment of the first eluted enantiomers ((-)-alpha-, (-)-beta- and (+)-gamma-HBCD) could be observed. The unambiguous elucidation of the individual isomerisation reactions as well as the quantification of all respective rate constants for the interconversion of the HBCD stereoisomers at 160 °C was done. A mechanistic explanation for the differences of the rate constants which govern the composition of HBCD diastereomers at equilibrium was given. Additionally, the interconversion was investigated by means of statistical thermodynamics using a new approach to classical hybrid Monte-Carlo simulations.