This thesis examines the situation for archivists within the context of e-government in three Swedish authorities. The discussions that are brought up concern the archivists role, professional development and the perspective of information in the context of e-government. Since the purpose with this thesis was mainly concerning the situation for the archivists, the method chosen was a qualitative research method, and it was used in combination with interviews with the archivists at the chosen authorities. The results show that the archivists within the examined authorities are seen as experts on information management and legislation surrounding it. Problems connected to e-government are that they face prejudice about their capability concerning new technology and digital information. This problem has been handled differently within the authorities, change of official titles has been one tactic. Their tasks and professional development have been slightly changed as they are working in a higher capacity ahead of the information being created. The change that can be seen in the context of e-government is that archivists are being more visible within their work places, which can be correlated to the e-government that encourage team work and collaborations to create an efficient and accessible authority. What this means for the archivists is that they can use these collaborations to further their own projects and tasks within the organisation in a better way. Contrary to the belief that archivists can only manage information on paper the participants in this research prove they have adopted well to the way of e-government partly through the Record Continuum Model. They are aware about the different perspectives necessary for handling the new ways of structuring and seeing information, which became clear with the development and structure of e-archives within two of the authorities and the preparation for being connected for the third. Finally, this thesis shows that archivists are beginning to be able to compete with other departments and professions on the same terms and that they are starting to find their own place within the area of IT and information management. This is a two years master's thesis in archival science.

Abstrakt   Den snabba tekniska utvecklingen har lett till ökad produktion av digitala handlingar/records och transaktioner. Inom e-arkivens domäner, har detta medfört ett ökat tryck på det tekniska området för att kunna garantera autenticitet av bevarad information över tid.          Tidsstämplingstekniker är ett sätt att säkerställa digital information för en särskild tidpunkt och kan användas för att garantera autenticitet av digital information över tid. Denna magisteruppsats undersöker funktionen tidsstämpling inom e-arkivens domäner genom en kvalitativ metod med fem semistrukturerade intervjuer av fem svenska organisationer. I undersökningen ingår också en fallstudie av det svenska innovationsföretaget Enigio Time AB för att ge en förståelse av tidsstämplingstekniker och av deras tjänst time:stamp. Den teoretiska utgångspunkten i denna magisteruppsats är records continuum model med dels dess syn på kontinuitet i handlingar/records och dels dess belysande av skapelseögonblicket av handlingar/records. Den internationella standarden OAIS (Open Archival Information System) används för att hantera digital information och är, i denna uppsats, använd för att analysera hanteringen i dokumenthanteringssystem inom de fem organisationerna.                       Resultaten visar att denna snabba tekniska utveckling har komplicerat dels hanteringen i att säkerställa att digitala handlingar/records inte kan bli manipulerade eller ändrade och dels för att fortsatt kunna garantera autenticitet i ett långtidsperspektiv.                       Undersökningen visar även att organisationerna kan garantera att det bevarade materialet inte kommer att ändras när det väl är inne i arkivet men dess autenticitet, innan de kommer innanför arkivens trösklar, kan aldrig bekräftas. I och med att den moderna tiden producerar och bevarar enorma mängder data så bör detta starta med skapelsen av ett digitalt record tillsammans med bättre strukturerad metadatascheman som är säkrade i tid. / Abstract   The rapid ongoing technical development has led to increased production of digital records and transactions. In the domain of electronic archives, this has put pressure on the technical area in order to guarantee authenticity of preserved information over time. Time stamping techniques are one way to secure digital information at a certain point in time and can be employed to guarantee authenticity of digital information over time. This study examines the function of time stamping within the domain of electronic archives and is conducted with a qualitative method using semi-structured interviews on five Swedish organisations. The study is complemented with a case-study of the Swedish innovation company Enigio Time AB in order to gain understanding in time stamping techniques and their service time:stamp.                       The theoretical framework in this study is the records continuum model with the view of the continuity in records and its illumination of the point of creation. The international standard OAIS (Open Archival Information System) is used by several electronic models to manage digital information and is, in this study, used to analyse the management in record keeping within the five organisations.                       The conclusion is that this rapid technological development has complicated the management of secure digital records from manipulation and guaranteeing the authenticity in a long term perspective.                       The study further shows that organisations may guarantee that records will not change once they are received into the archive but the authenticity of them, before they were delivered, can never be confirmed. Since the modern information era produces and preserves enormous amounts of data, this has to start with the creation of the digital record where better structured metadata schemes are secured in time.

Contrairement aux robots conventionnels, les robots continuums ne possèdent ni de liaisons discrètes, ni de corps rigides. Leur courbure est continue, similaire à celle des trompes ou des tentacules animales. Le développement de ce type de robots pour les applications médicales soulève plusieurs problèmes : optimisation de la conception, modélisation cinématique, choix des capteurs et commande en temps réel. Les techniques actuelles pour la modélisation des robots continuums ne tiennent pas compte les incertitudes inhérentes au système. La prise en compte de ces incertitudes est d'une importance cruciale pour la certification de tels robots utilisés pour les gestes chirurgicaux. Dans cette thèse, nous considérons un micro robot continuum à 3 actionneurs. Ce robot a été développé au laboratoire LISSI pour le traitement des anévrismes de l'aorte abdominale par chirurgie mini-invasive. Dans ce type de chirurgie, il est important de disposer d'un modèle cinématique garanti du robot continuum prenant en compte différents types d'incertitudes. Pour traiter ce problème, nous utilisons les techniques d'analyse par intervalles. Ces techniques permettent de résoudre des problèmes d'optimisation globale sous contraintes tout en prenant en compte des incertitudes aussi bien aléatoires que systématiques. La contribution de cette thèse porte sur la proposition d'un modèle cinématique d'un robot continuum prenant en compte des incertitudes liées à différents facteurs comme les erreurs d'arrondis, les erreurs paramétriques et les erreurs dues aux hypothèses de modélisation. Tout d'abord, nous développons les modèles géométriques direct et inverse du robot continuum sous forme de solutions de formes fermées. Ces solutions sont utilisées pour caractériser les différentes propriétés du robot comme la manipulabilité. Pour calculer la cinématique inverse garantie et optimale, nous appliquons une version améliorée de l'algorithme par séparation et évaluation (Branch and Bound). En considérant l'orientation du robot, la cinématique inverse est ramenée à la formulation et à la résolution par intervalles d'un problème d'optimisation sous contraintes. Les approches proposées sont validées par des simulations. Les résultats de cette thèse constituent un cadre général pour la modélisation garantie de la classe des robots continuums dont la forme est décrite par des actionneurs en flexion continue / Unlike conventional robots, continuum robots do not contain any rigid link or any rotational joint but present a continuous bending in the structure through smooth motion. Development of this class of robot for their medical application presents a common set of problems : optimization of design, kinematic modeling, sensing choice, and their control in real time. Existing techniques for the modeling of continuum robots do not take system uncertainties into account. A proper handling of these uncertainties becomes of crucial importance for the certification of such robots used as medical devices. For our research, we consider a continuum robot that has been developed for the treatment of aortic aneurysm by Minimal Invasive Surgery (MIS), in LISSI Lab. In the context of MIS, it is very important to develop a guaranteed kinematic model of robot taking into account the different types of un-certainties. To handle this problem, we use the techniques of interval analysis. These techniques are capable of performing the global optimization and solving CSPs while taking into account the different uncertainties ; no matter, whether these uncertainties are random or systematic. Contribution of this thesis is proposal of a continuum robot's kinematic model that can take system uncertainties due to different factors such as rounding errors, parametric errors, and errors due to modeling assumptions. Initially, we develop the forward and inverse kinematics of the continuum robot in closed-form formulas. These derived formulas are used for the characterization of different properties of the robot such as manipulability. To find optimized guaranteed kinematics, we retained and applied an enhanced version of branch and bound algorithm. The inverse kinematics was formulated and resolved as a constrained optimization problem for robot's orientation. The proposed approaches are validated through simulations. The results of this thesis give rise to a general framework that is valid to handle the system uncertainties for the entire class of continuum robot that are shaped by continuously bending actuators

Comment la diversification biologique peut-elle avoir lieu malgré les échanges génétiques? Comment les barrières reproductives entre espèces évoluent-elles et fonctionnent-elles? Les changements adaptatifs de certains traits favorisent-ils la diversification et la spéciation? Ces questions ouvertes en biologie évolutive constituent la base de ce projet. Pour y répondre, nous nous sommes intéressés aux papillons du genre néo-tropical Heliconius qui constituent une partie importante des communautés diversifiées de papillons néotropicaux. Les papillons de ce groupe sont immangeables pour les prédateurs, arborent des colorations d’avertissement qui signalent leur toxicité, et miment d’autres papillons toxiques dans leurs communautés locales. Ce genre a connu une radiation adaptative des motifs colorés soumis à la sélection naturelle favorisant le mimétisme de divers signaux locaux, mais ces motifs sont également connus comme signaux intraspécifiques favorisant les appariements homogames. Mes travaux ont permis d’approfondir les connaissances actuelles sur la fonction écologique et la base génétique de la couleur des ailes chez ces papillons, et d’explorer l'importance de la couleur des ailes par rapport aux signaux chimiques au cours des premières étapes de diversification. Dans cette optique, j’ai caractérisé la divergence adaptive entre les taxons à différents stades du continuum de spéciation, par une approche intégrative combinant des données génomiques, phénotypiques, comportementales, chimiques et écologiques. Plus précisément, j’ai étudié le sous-clade de Heliconius appelé sylvaniformes, contenant des espèces de papillons aux motifs tigrés, qui participent à des relations de mimétisme avec de nombreuses autres espèces fortement apparentées ou non. Mes travaux incluent la description comparative de l'architecture génétique des motifs colorés adaptatifs parallèlement chez les espèces H. hecale et H. ismenius, en utilisant des croisements, du génotypage génomique à haut débit, et de la morphométrie des motifs colorés. J’ai également exploré l'importance de la sélection naturelle et sexuelle sur les locus contrôlant ces motifs colorés aux stades précoces de divergence dans ce genre. En particulier, j’ai analysé la structure et le maintien de la zone d’hybridation entre deux races parapatriques de H. hecale montrant des colorations différentes, en combinant la génétique et la génomique des populations, ainsi que l’analyse phénotypique de clines et des tests comportementaux sur le choix de partenaire chez les mâles. Enfin, j’ai effectué des analyses génomiques de la divergence et du flux de gènes en me basant sur des données de re-séquençage de génomes complets afin de rechercher des traces d'introgression entre des espèces co-mimétiques et étroitement apparentées. Ceci a été également couplé à des expériences de préférence et de comportement sexuel, ainsi qu’à des analyses chimiques montrant d'importantes différences dans des composés qui pourraient intervenir dans la reconnaissance spécifique et le maintien des limites entre espèces. Dans l'ensemble, mes travaux montrent que bien que la sélection agissant sur les motifs colorés des ailes ait été centrale dans la diversification du genre Heliconius, l'accumulation d'autres barrières au flux de gènes peut jouer un rôle important dans l’aboutissement du processus de spéciation. / How does biological diversification occur in the face of genetic exchange? How do reproductive barriers evolve and function? What is the role of adaptive traits in promoting diversification and speciation? These open questions in evolutionary biology are at the core of this project. In order to tackle them, we have focused on butterflies in the neo-tropical genus which are an important component of the diverse butterfly communities in the Neo-tropics. Butterflies in the genus Heliconius are unpalatable to predators, use warning colours to advertise their defences, and mimic other defended butterflies in their local communities. The genus has undergone an adaptive radiation in wing colour patterns as a result of natural selection for mimicry, and is also well known for assortative mating based on wing pattern. I have extended the current knowledge about the ecological function and the genetic basis of wing color patterns in these butterflies and explored the importance of wing coloration relative to chemical signaling in the early stages of diversification. To this aim, I have characterised the adaptive divergence between lineages at different stages of the speciation continuum, by integrating genomic, phenotypic, behavioural, chemical and ecological data. More precisely, I have studied the so-called silvaniform sub-clade of Heliconius, known for harbouring species with tiger patterns that participate in mimicry with large groups of other closely and distantly-related species. My work includes the comparative description of the genetic architecture of wing pattern adaptation in two species, H. hecale and H. ismenius, using crosses, genome-wide next-generation genotyping, and advanced morphometrics of colour patterns. I have also explored the importance of natural and sexual selection on wing-patterning loci at early stages of divergence in the genus. In particular, I have analysed the structure and maintenance of a hybrid zone between two distinctly coloured parapatric races of H. hecale by using a combination of population genetics and genomics, coupled to a phenotypic analysis of the clines and to behavioural assays on male-based mate choice. Finally, I have carried out genome-wide analyses of divergence and gene flow with whole genome sequencing data to look for evidence of introgression between coexisting, hybridising co-mimetic species. This was again coupled to experiments on mating preferences and behavior, and yielded evidence for important differences in putative pheromone signals which may mediate species recognition and the maintenance of species boundaries. Overall, my results show that although selection on wing pattern divergence have been central to the diversification of the genus Heliconius, the accumulation of other barriers to gene flow may be important for the speciation process to be completed.

In this dissertation, an innovative approach combining continuum mechanics and atomistic simulations is exposed to develop a nanomechanics theory for modeling and predicting the macroscopic behavior of nanomaterials. This nanomechanics theory exhibits the simplicity of the continuum formulation while taking into account the discrete atomic structure and interaction near surfaces/interfaces. There are four primary objectives to this dissertation. First, theory of interfaces is revisited to better understand its behavior and effects on the overall behavior of nanostructures. Second, atomistic tools are provided in order to efficiently determine the properties of free surfaces and interfaces. Interface properties are reported in this work, with comparison to both theoretical and experimental characterizations of interfaces. Specifically, we report surface elastic properties of groups 10 11 transition metals as well as properties for low-CSL grain boundaries in copper. Third, we propose a continuum framework that casts the atomic level information into continuum quantities that can be used to analyze, model and simulate macroscopic behavior of nanostructured materials. In particular, we study the effects of surface free energy on the effective modulus of nano-particles, nanowires and nano-films as well as nanostructured crystalline materials and propose a general framework valid for any shape of nanostructural elements / nano-inclusions (integral forms) that characterizes the size-dependency of the elastic properties. This approach bridges the gap between discrete systems (atomic level interactions) and continuum mechanics. Finally this continuum outline is used to understand the effects of surfaces on the overall behavior of nano-size structural elements (particles, films, fibers, etc.) and nanostructured materials. More specifically we will discuss the impact of surface relaxation, surface elasticity and non-linearity of the underlying bulk on the properties nanostructured materials.

Un spectromètre utilisant la technique CRDS a été développé entre 2.00 et 2.35 µm afin de réaliser la spectroscopie en absorption de molécules d’intérêt atmosphérique et planétologique avec une très grande sensibilité et à haute résolution spectrale. Cette région du spectre correspond à une fenêtre de transparence de la vapeur d’eau et du dioxyde de carbone. Ces fenêtres sont des zones de très faible absorption utilisées pour le sondage des atmosphères terrestre et vénusienne dans lesquelles la vapeur d’eau et le dioxyde de carbone représentent respectivement les absorbants gazeux principaux dans l’infrarouge.La technique CRDS consiste à injecter des photons dans une cavité optique de haute finesse et à mesurer la durée de vie des photons dans cette cavité. Celle-ci est mesurée en interrompant l’injection des photons dans la cavité optique lors du passage en résonance du laser avec l’un des modes longitudinaux. Cette durée de vie dépend de la réflectivité des miroirs et des pertes intra-cavité comme celles induites par un gaz qui absorbe. Mesurer ces pertes en fonction de la longueur d’onde permet d’obtenir le spectre d’absorption du gaz en question. L’extrême réflectivité des miroirs permet d’atteindre dans une cavité d’un peu plus d’1 m de longueur une sensibilité équivalente à celle qui serait obtenue classiquement avec une cellule d’absorption longue de plusieurs milliers de kilomètres.Trois diodes laser DFB émettant autour de 2.35, 2.26 et 2.21 µm ont été utilisées avec ce spectromètre. Grâce à une rétro-action optique provenant d’une cavité externe, certaines de ces diodes ont pu être affinées, ce qui a permis de mieux injecter la cavité haute finesse et ainsi de réduire le niveau de bruit du spectromètre. Parallèlement grâce à une collaboration avec l’Institut d’Electronique (IES, UMR 5214) à Montpellier et la société Innoptics nous avons pu tester le prototype d’un VECSEL (Vertical-External-Cavity Surface-Emitting-Laser). Ce laser a permis de couvrir une gamme spectrale de 80 cm-1, entre 4300 et 4380 cm-1, équivalente à quatre diodes laser DFB. La sensibilité obtenue en routine avec ce spectromètre, correspondant au coefficient minimum détectable, est typiquement de 1×10-10 cm-1. Le chapitre introductif (Chapitre 1) fait le point sur les différentes techniques permettant d’acquérir des spectres en absorption dans la gamme spectrale étudiée et sur les sensibilités atteintes. A notre connaissance l’instrument développé ici est le plus sensible dans cette région du spectre. Le fonctionnement de ce spectromètre CRDS est détaillé dans le chapitre 2.Pour démontrer les performances obtenues avec notre instrument celui-ci a été utilisé pour enregistrer des transitions quadrupolaires donc de très faible intensité. Ainsi la transition S(3) de la bande 1–0 de HD a été enregistrée pour la première fois et son intensité mesurée (S=2.5×10-27 cm/molecule). La sensibilité obtenue en routine a encore pu être améliorée en réalisant une moyenne d’une centaine de spectres sur une gamme spectrale réduite pour atteindre 1×10-11 cm-1. Grâce à cela nous avons pu mesurer la position et l’intensité de la raie quadrupolaire électrique O(14) de la bande 2–0 de N2 qui est très fortement interdite avec une intensité de 1.5×10-30 cm/molecule. Ces mesures font l’objet du chapitre 3 de cette thèse.Les deux derniers chapitres sont dédiés à la caractérisation de l’absorption du CO2, au centre de la fenêtre de transparence, et à celle de la vapeur d’eau. Dans les deux cas, les transitions permises du monomère et la contribution du continuum ont été étudiées. Ce dernier correspond à une absorption variant lentement avec la longueur d’onde. Les sections efficaces du « self-continuum » de la vapeur d’eau ont notamment été mesurées en plusieurs points de la fenêtre de transparence avec une incertitude beaucoup plus faible que les mesures existantes. Elles représentent un jeu de données décisif pour tester les modèles décrivant ce continuum. / A cavity ring down spectrometer has been developed in the 2.00-2.35 µm spectral range to achieve highly sensitive absorption spectroscopy of molecules of atmospheric and planetologic interest and at high spectral resolution. This spectral region corresponds to a transparency window for water vapor and carbon dioxide. Atmospheric windows, where absorption is weak, are used to sound the Earth’s and Venus’ atmospheres where water vapor and carbon dioxide represent the main gaseous absorbers in the infrared, respectively.The CRDS technique consists of injecting photons inside a high finesse optical cavity and measuring the photon’s life time of this cavity. This life-time depends on the mirror reflectivity and on the intra-cavity losses due to the absorbing gas in the cavity. Measuring these losses versus the wavelength allow obtaining the absorption spectrum of the gas. The extreme reflectivity of the mirrors allows reaching, for a 1-meter long cavity, a sensitivity equivalent to the one obtained classically with absorption cells of several thousands of kilometers.Three DFB laser diodes emitting around 2.35, 2.26, 2.21 µm were used with this spectrometer giving access to the 4249-4257, 4422-4442 and 4516-4534 cm-1 interval, respectively. Thanks to optical feedback from an external cavity, two of these diodes were spectrally narrowed leading to a better injection of the high finesse cavity thus reducing the noise level of the spectrometer. In parallel, we tested a VECSEL (Vertical-external-Cavity, Surface Emitting laser) through a collaboration with the Institu d’Electronique (IES, UMR 5214) in Montpellier and the Innoptics firm. This laser source is able to cover a 80 cm-1 spectral range centered at 4340 cm-1, equivalent to four DFB laser diodes. In routine the achieved sensitivity with this spectrometer, corresponding to the minimum detectable coefficient is typically of 1×10-10 cm-1. The introductive chapter (Chapter 1) makes the point on the different techniques allowing absorption spectra recordings in the studied spectral region and on their sensitivity. The experimental set-up, the characteristics and performances by the CRD spectrometer developed in this work are detailed in Chapter 2. To our knowledge this instrument is the most sensitive in the considered spectral region.In Chapter 3, detection of quadrupolar electric transitions of HD and N2 illustrate the level of sensitivity reached: (i) the S(3) transition in the 1-0 band of HD has been recorded for the first time and its intensity measured (S=2.5×10-27 cm/molecule), (ii) the position and intensity of the highly forbidden O(14) quadrupolar electric transition of the 2-0 band of N2 have also been newly determined.The two last chapters are devoted to the characterization of the CO2 absorption, in the centre of the transparency window, and of the water vapor absorption. In both cases, we not only studied the allowed transitions of the monomer, but also the continuum absorption. This latter correspond to a weak background absorption varying slowly with the wave length. The self-continuum cross-sections of the water vapor continuum were measured in many spectral points through the transparency window with a much better accuracy compared to existing measurements. These CRDS data constitute a valuable data set to validate the reference model (MT_CKD) for the continuum which is implemented in most of the atmospheric radiative transfer codes.

Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2015-10-21T13:01:38Z No. of bitstreams: 2 Dissertação - Dóbia Pereira dos Santos Nascimento - 2015.pdf: 4065904 bytes, checksum: 363501c0a49fefedb577d4d14eb4f8b1 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2015-10-21T13:04:51Z (GMT) No. of bitstreams: 2 Dissertação - Dóbia Pereira dos Santos Nascimento - 2015.pdf: 4065904 bytes, checksum: 363501c0a49fefedb577d4d14eb4f8b1 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Made available in DSpace on 2015-10-21T13:04:51Z (GMT). No. of bitstreams: 2 Dissertação - Dóbia Pereira dos Santos Nascimento - 2015.pdf: 4065904 bytes, checksum: 363501c0a49fefedb577d4d14eb4f8b1 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Previous issue date: 2015-03-20 / This present study aimed to perceive the importance of orality and writing for continuance of events of popular Catholicism in a rural regional called Tambiocó. Hence, we took as object of study the written lyrics of a chaplet, which is, traditionally, prayed in that region. To prove the existence of a variety of manifestations of popular Catholicism in that place, we have interviewed the elder and newer prayers and singers, which made reports of the religious manifestations of the community. Then, we did a qualitative research centered on the interrelation between culture and language (verbal and non-verbal), based on theories of Anthropological Linguistics and in the studies about popular religion in Brazil, especially the Catholicism. We took as base the concept of the continuum between orality and writing, as defended by Marcuschi (2010), to understand the maintenance of the sung chaplet in the Tambiocó community. / Este estudo teve como objetivo perceber a importância da oralidade e da escrita para a manutenção de eventos do catolicismo popular na região rural denominada Tambiocó. Para tanto, tomamos por objeto de estudo a letra escrita de um terço que é, tradicionalmente, cantado na região. A fim de comprovarmos a existência de diversas manifestações do catolicismo popular naquele lugar, entrevistamos os rezadores/cantadores mais velho e mais novo, que fizeram relatos sobre as manifestações religosas da região. Realizamos, então, uma pesquisa qualitativa centrada na inter-relação entre cultura e linguagem (nas modalidades verbal e não-verbal), embasada nas teorias da Linguísitica Antropológica e nos estudos sobre religião popular no Brasil, especialmente o catolicismo. Tomamos por base, ainda, o conceito de continuum entre oralidade e escrita, defendido por Marcuschi (2010), para compreendermos a manutenção do terço cantado na comunidade Tambiocó.

Philosophiae Doctor - PhD / South Africa has placed emphasis on evidence-based decision-making for justifying service delivery improvement decisions. Evidence-based decision-making entails decisions made by referring to verifiable facts and figures available from a variety of sources of evidence such as organizational records. Records are created or received during the conduct of business and contain evidence of organizational activities. Their use as sources of evidence is continuous. Most records management scholars hypothesize that the use of records as sources of evidence for decision-making contributes to improved service delivery. In the same breath, some scholars lament their minimal use as sources of evidence for decision-making in the South African public sector due to poor records management. This descriptive, positivist quantitative study used a cross-sectional survey to determine the extent to which records as sources of evidence were used for evidence-based decision-making by senior managers in Western Cape governmental bodies,

Continuum robots are biologically inspired robots that capture the extraordinary abilities of biological structures such as elephant trunks, octopus tentacles, and mamma-lian tongues. They are given the term continuum robots due to their ability to bend conti-nuously rather than at specific joints such as with traditional rigid link robots. They are used in applications such as search and rescue operations, nuclear reactor repairs, colo-noscopies, minimal invasive surgeries, and steerable needles. In this thesis, a model that predicts the shape of a continuum robot is presented and verified. A verification system to verify the validity and accuracy of the model is presented which allows easy and accu-rate measurement of a continuum robot tip position. The model was verified against a flexible rod, the core component of a continuum robot, resulting in an accuracy of 0.61%. Finally, this thesis introduces a novel robot design, consisting of a single rod for the backbone which can be manipulated by applying external forces and torques.

The behavior of jointed rock mass is very complex and is influenced by many factors such as location of joints, joint frequency, joint orientation and joint strength. A thorough review of literature on different aspects of jointed rock mass indicate that the discontinuities or planes of weakness present in rock mass significantly influence its behavior. Numerous experimental tests were conducted to study the behavior of natural as well as artificial joints in rocks. Laboratory tests are time consuming and give results applicable to specific joint fabric and confining pressure. Numerical methods are the best alternative to laboratory tests to study the behavior of jointed rock mass. With the advent of computers numerical methods of analysis have become very popular, as they are highly flexible and can represent all complex geometries and material behavior. The accuracy of a numerical model depends upon the how well constitutive relations for the jointed rock mass are defined in the analysis. Empirical relationships for describing the mechanical behavior of discontinuities obtained from scaling the laboratory data is crucial unresolved problem, which will affect the quality of results obtained. One more important aspect in the numerical model is strength criteria used for jointed rock mass. The applicability of existing strength criteria to a particular jointed rock has to be carefully examined before they are used. Equivalent continuum approach simplifies the modeling of jointed rock mass as the joints are not modeled separately. Instead in equivalent continuum approach the jointed rock mass is represented by an equivalent continuum whose properties are defined by a combination of intact rock properties and joint properties. The accuracy of this kind of modeling depends upon the relationships used to define the jointed rock mass properties as a function of intact rock properties and joint properties. In the present study, an effort has been made (i) to establish empirical relations to define the properties of jointed rock mass as a function of intact rock properties and joint factor (ii) to develop a numerical model based on equivalent continuum approach using the empirical relations derived above, for easy and efficient modeling of jointed rock mass (iii) comparison of existing strength criteria for jointed rock masses using the equivalent continuum model developed above (iv) Modeling of joints explicitly and comparing these results with the equivalent continuum model results. Empirical relationships expressing the uniaxial compressive strength and elastic modulus of jointed rock as a function of corresponding intact rock properties and joint factor have been derived based on the statistical analysis of large amount of experimental data of uniaxial and triaxial tests collected from the literature. The effect of joints in the jointed rock is taken in to account by the joint factor. A comparative study of the empirical relationships arrived by the above analysis has been made to choose the best relation for the numerical analysis. Empirical relationships thus arrived for jointed rock mass are used in the equivalent continuum approach to represent the jointed rock properties as a combination of intact rock properties and joint factor. Equivalent continuum model developed is thoroughly tested, validated and applied for single, multiple and block jointed rocks. The equivalent continuum model developed has been applied for analysis of the power cavern for Shiobara power station. Different strength criteria available for jointed rock namely Mohr-Coulomb, Hoek and Drown, Yudhbir et al. and Rarnamurthy are incorporated in the equivalent continuum model to evaluate their applicability for jointed rock masses. Ramarnurthy's strength criterion gives the best values of failure stress for almost all the test cases and hence used in the equivalent continuum model. Alternatively, the joints in jointed rock mass are represented explicitly using interface element in the nonlinear finite element analysis. The explicit finite element model has been tested and validated using the experimental stress strain curves and failure stress values. Comparison of results obtained using equivalent continuum analysis and explicit modeling of joints has been given in the form of stress strain curves and failure stress plots for jointed rock masses along with the experimental results. Some of the major conclusions from the present study are as follows. Statistical relationships arrived to express the properties of the jointed rock as a function of intact rock and joint factor give a fair estimate of jointed rock in the absence of experimental data. Equivalent continuum model developed using statistical relations arrived above simplifies the numerical modeling of jointed rock to a large extent and also gives a fair estimate of jointed rock behavior with minimum input data. From the equivalent continuum analysis of Shiobara power cavern, it can be concluded that this approach is very advantageous for modeling highly discontinuous systems provided the joint factor is estimated properly so that it represents the real fabric of the joints present in the system. Comparison of different strength criteria shows that Ramamurthy's strength criterion is the best for jointed rocks. When the rock mass has one or two major joints it is advantageous to model it explicitly so that the behavior of the joint can be studied in detail. Explicit representation of the joints in the finite element analysis gives a lair estimate of the zones most susceptible to failure in a jointed rock. From comparison of experimental values, equivalent continuum model results and the explicit joint model results, it can be concluded that results obtained using equivalent continuum model are nearest to the experimental results in almost all the cases.