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In this thesis, an intelligent controller architecture for gait selection of a serpentine robot intended to be used in search and rescue tasks is designed, developed and simulated. The architecture is independent of the configuration of the robot and the robot is allowed to make different kind of movements, similar to grasping. Moreover, it is applicable to parallel processing in several aspects and it is an implementation of a controller network on robot segment network. In the architecture several behaviors are defined for each of the segments. Every behavior is realized in the form of Fuzzy Actor-Critic Learning agents based on fuzzy networks and reinforcement learning. Each segment controller determines the next suitable position in the sensory space acquired using ultrasound sensors, a genetic algorithm implementation then tries to find the change of the joint angles to achieve the desired movement in a given amount of time. This allows optimization on different criteria, during motion. Simulations are performed and presented to introduce the efficiency of the developed controller architecture. Moreover a simplified mathematical analysis is performed to gain insight of the controller dynamics.

In this study systems thinking approaches were applied to uncover the structure of the e-learning practitioner construct. Assumptions abducted from the systemic view of the e-learning practitioner construct hold that the e-learning practitioner system involves the e-learning practitioner and the e-learning practice as two subsystems that interact in the e-learning work environment. The characteristics of the subsystems are patterned to reflect their respective structures, which collaboratively construe the structure of the e-learning practitioner system. Different lenses were used to take ’snapshots’ and to illuminate the separate parts (the environment, the e-learning practitioner and the e-learning practice) of the system and to tell the e-learning practitioner’s story. Work behavioural styles expressed in terms of DISC language were used to describe a particular aspect of work personality structure. A personality-orientated job analysis, namely the Human Job Analysis, was used to identify and describe job characteristics and job structure. Person characteristics from the individual and characteristics from the job are the inputs into the e-learning practitioner system, and through a process of reciprocal interaction lead to certain outputs, for example person-job (P-J) fit, moderated by environmental influences, and constantly monitored by feedback systems. Environmental changes act as drivers in the system and practical interventions, such as the implementation of support programmes, job redesign and career development, may be applied as leverage points to change the output, for example to create a number of P-J fit scenarios. The characteristics of each subsystem and their relationships form the building blocks of the system structured in an e-learning P-J fit triad. Triad congruence is dependent on the characteristics of each leg of the triad, as well as influences and drivers from the environment. The different parts work together towards a specific goal according to a specific plan driven by organising principles to fulfil a common purpose, which gives meaning to the system. Different scenarios may alter the congruence of these three legs, which may then emerge in different configurations from their latent position. To gain a better understanding of this construct, a case study was applied focusing on the characteristics and work behavioural styles of e-learning practitioners in the e-learning work environment at the Tshwane University of Technology. A bricolage of data collection methods and instruments was applied to collect evidence for answering the research questions. Rich and varied sources of data, for example interviews, participant observation, documents and archival records, were tapped during the data collection phase. Data analysis included quantitative and qualitative analysis, and reasoning though both inductive and abductive logic. Synthesis of these research findings resulted in a classifying scheme as a form for expressing the latent structure of the five possible e-learning scenarios to answer the main research question: “What is the latent structure of the e-learning practitioner construct?” The study focused on the creation of knowledge about the ‘goodness of fit’ between the e-learning practitioner and the e-learning job in the e-learning environment by using the combined languages of systems thinking and the DISC profiling system. The uniqueness of this study pertains to the following: -- the interplay between the characteristics of e-learning practitioners, the e-learning practice and the e-learning environment; -- P-J fit scenarios in the e-learning environment, and -- a classification scheme for the e-learning practitioner construct displaying five categories, namely job structure, job theme, person attributes, roles and applications against the dimensions of an environmental structuredness continuum. Findings from this research may support initiatives to establish benchmarks for the e-learning practitioner job description. Practical applications may be useful to practitioners using electronic learning management systems and to planners of staff development and e-learning training programmes. / Thesis (PhD (Curriculum Studies))--University of Pretoria, 2007. / Curriculum Studies / unrestricted

Submitted by Bruna Rodrigues (bruna92rodrigues@yahoo.com.br) on 2016-10-04T14:03:27Z No. of bitstreams: 1 DissDPL.pdf: 3012901 bytes, checksum: 29c2df84e5e59e8e598fae154f0983d2 (MD5) / Approved for entry into archive by Marina Freitas (marinapf@ufscar.br) on 2016-10-14T14:18:34Z (GMT) No. of bitstreams: 1 DissDPL.pdf: 3012901 bytes, checksum: 29c2df84e5e59e8e598fae154f0983d2 (MD5) / Approved for entry into archive by Marina Freitas (marinapf@ufscar.br) on 2016-10-14T14:18:43Z (GMT) No. of bitstreams: 1 DissDPL.pdf: 3012901 bytes, checksum: 29c2df84e5e59e8e598fae154f0983d2 (MD5) / Made available in DSpace on 2016-10-14T14:18:52Z (GMT). No. of bitstreams: 1 DissDPL.pdf: 3012901 bytes, checksum: 29c2df84e5e59e8e598fae154f0983d2 (MD5) Previous issue date: 2016-03-04 / Não recebi financiamento / Kalman filters are rooted in the technical literature, as a way of predicting new states in nonlinear systems providing a recursive solution to the problem of linear optimal filtering. Therefore, 56 years after its discovery, many modifications have been proposed in order to obtain better accuracy and speed. Some of these changes are used in this work; these being the Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Kalman Filter Cubature (CKF). This work , divided into three distinct parts: Implementation / Comparative analysis of prediction of Kalman filters in complex systems (Series), qualitative analysis of the possible uses of the Kalman filter variants for neural network training and position and velocity determination a displaced object on a simulated plane with some trajectories Having these analyzes key role in fostering the studies cited in the scientific literature , proving the possibility of such algorithms and methods are used for positioning in unstructured environments / Filtros de Kalman estão consagrados na literatura técnica, como uma das formas de prever novos estados em sistemas não-lineares, fornecendo uma solução recursiva para o problema da filtragem ideal linear. Após 56 anos de sua descoberta, muitas modificações e melhorias foram propostas, procurando obter uma maior precisão e velocidade na predição de novos estados. Algumas dessas mudanças são utilizadas neste trabalho; sendo elas o Filtro de Kalman Estendido (EKF), Unscented Kalman Filter (UKF) e Filtro de Kalman de Cubagem Esférica Radial (CKF).O objetivo deste trabalho, divido em três partes distintas, porém complementares: Implementação/Análise comparativa da predição dos Filtros de Kalman em sistemas complexos (Series), Análise qualitativa das possíveis utilizações das variantes do Filtro de Kalman para treinamento de Redes Neurais e Determinação de posição e velocidade de um objeto deslocado sobre um plano simulado. Possuindo essas análises papel fundamental na fomentação dos estudos citados na literatura científica durante o trabalho, e comprovando a possibilidade desses algoritmos/ métodos serem utilizados em tarefas de posicionamento em ambientes não estruturados.