Die motorischen Fähigkeiten humanoider Roboter werden häufig von antriebsbedingten Nichtlinearitäten und Reibungseffekten negativ beeinflusst. Zur deren Kompensation werden üblicherweise modellbasierte Regelkreise genutzt, die i.d.R. von einer hochfrequenten Signalverarbeitung und mehreren Sensorqualitäten abhängen. Entgegen solch modellbasierten Techniken werden in der vorliegenden Arbeit modellfreie Steuerungsmethoden auf Basis parallel gekoppelter Antriebe entwickelt. Zur Entwicklung und Untersuchung dieser Steuerungsmethoden wird nach der von Pfeifer in seinem Werk “How the body shapes the way we think” beschriebenen synthetischen Methodik vorgegangen. Entgegen modellbasierten Untersuchungen auf Basis von Simulationen stehen bei der synthetischen Methodik empirische Untersuchungen am realen System im Vordergrund. Als Ausgangspunkt dienen konventionelle elektromechanische Antriebe mit deren bekannten leistungseinschränkenden Nichtlinearitäten und Reibungseffekten. Durch die parallele Kopplung mehrerer Antriebe an einem einzelnen Gelenk wird das Spektrum der Steuerungsmöglichkeiten deutlich erweitert. Es zeigt sich, dass (1) durch eine konstante antagonistische Vorspannung das Arbeitsverhalten von konventionellen Proportionalreglern optimiert werden kann, (2) durch dynamische asymmetrische Änderung der Vorspannung Nichtlinearitäten bei niedrigen Geschwindigkeiten ausgeglichen werden können und (3) getriebebedingte Reibungseffekte mit einer phasenverschobenen Pulsmodulation der Steuersignale kompensiert werden können. Weiterhin wird gezeigt, wie die erarbeiteten Steuerungsmethoden auf beliebig viele parallel gekoppelte Antriebe übertragen werden können. Für den praktischen Einsatz der Steuerungsmethoden werden diese in einer hybriden Steuerung zusammengeführt. Diese wird durch eine weitere Funktion, den Energiesparmodus beim Halten statischer Positionen, ergänzt und am humanoiden Roboter Myon implementiert und experimentell evaluiert. / Motor functions of humanoid robots are often negatively influenced by nonlinearities and friction effects of the actuators. The popular means of compensation are control circuits based on modelling, which rely on powerful HF Signal processing and various sensor qualities. In contrast, this thesis develops non-modelling control methods based on parallel coupled actuators. Development and exploration of these control methods follow Pfeifer’s synthetic methodology as described in his work “How the body shapes the way we think”. In contrast to the analysis based on emulation as used in modelling, the synthetic methodology focuses rather on empirical tests within the real system. The present work explores control methods for parallel coupled actuators for use in robot points. It starts from conventional electromechanical actuators with their known power limiting nonlinearities and frictional effects. Linking several parallel coupled actuators to a single joint significantly expands the spectrum of control capabilities. Using two parallel coupled actuators as an example, it is examined to which extent undesirable properties of single actuators can be compensated. The results show that (1) the Performance of conventional proportional controllers can be optimized by a constant antagonistic bias voltage, (2) nonlinearities at low velocities can be balanced out by a dynamic asymmetrical adjustment of the bias, and that (3) gear related frictional effects can be compensated by a phase shifted pulse modulation of the control signals. In addition, it is shown how the developed control methods can be applied to a random number of parallel coupled actuators. For practical use, the various control methods are combined in a hybrid control, which is supplemented by an energy saving mode when maintaining static positions. The hybrid control is being implemented into the humanoid robot Myon and evaluated by experiment.

Sexual antagonistic selection is when an allele is favorable to one sex but harmful tothe other sex. Sexual antagonism is very common in nature and occurs among manyspecies. Although sexual antagonism plays an important part in evolution, today weknow very little about the mechanisms that contribute to this phenomenon and veryfew antagonistic locus have been identified. A study examining Drosophilamelanogaster was conducted to find out which locus was associated with sexualantagonism. Several candidates were identified. One of these candidates was the geneCG3598. This study aims to test and confirm whether there is a sexual antagonisticeffect in the locus of the gene CG3598 as a former study predicted. The hypothesis isthat the two alleles of CG3598 will show a sexual antagonistic effect on fitness. To dothis, two experiments were performed, one for D. melanogaster males and one forfemales. The tests were to measure the difference in reproduction of D. melanogasterbetween the two different allele variants that were previously created using theCRISPR/Cas9 technique in a new wild-type background. The two different variantsfor both males and females mated with wild type variants in separate vials and thenwe counted which allele had managed to reproduce the most. The results showed thatthere was a significant difference between the two alleles for males but not forfemales. This means that one allele was better for male reproduction then the other.However, from this test you cannot conclude what made them better. For thefemales, there was a big difference between the test groups, which was not expectedand suggests that something may have gone wrong during the tests. The conclusion isthat there is a difference in fitness in the two alleles of CG3598 for males, however, itis not possible to confirm the hypothesis of a sexual antagonistic effect. / Sexuell antagonistisk selektion är när en allel är gynnsam för ena könet men skadligför det andra könet. Sexuell antagonism är mycket vanligt i naturen och förekommerbland många arter. Även fast sexuell antagonism spelar en viktig del inom evolutionvet vi idag mycket lite om mekanismerna som bidrar till detta fenomen och väldigt fåantagonistiska lokus har identifierats. En tidigare studie undersökte Drosophilamelanogaster för att tar reda på vilken lokus som var associerad med sexuellantagonism. Dem kom fram till ett flertal kandidater, en av dessa kandidater vargenen CG3598. Denna studie går ut på att testa och bekräfta om det finns en sexuellantagonistisks effekt vid lokusen av genen CG3598 som tidigare studie förutspått.Hypotesen är att dem två allelerna av CG3598 kommer visa en sexuell antagonistiskeffekt på fitness. För att göra detta utfördes två experiment, ett för D. melanogasterhanar och ett för honor. Testerna gick ut på att mäta skillnaden i reproduktion hos D.melanogaster mellan de två olika allel varianter som var tidigare skapade medCRISPR/Cas9 tekniken i en ny vildtyp bakgrund. Jag lät dem två olika varianternabåde för hanar och honor para sig med vild typs varianter i separata provrör för attsedan räkna vilken allel som lyckats reproducera sig mest. Resultatet visade att detfanns en signifikant skillnad mellan dem två allelerna för hanar men inte hos honor.Detta betyder att ena allelen var bättre för hanars reproduktion en den andra. Dockkan man inte från detta test av göra vad det är som gör att dem är bättre. För honornavar det stor skillnad mellan testgrupperna vilket inte var förväntat och tyder på attnågot kan gått fel under testerna. Slutsatsen är att det finns en skillnad fitness hos dettvå allelerna av CG3598 för hanar, dock går det inte att bekräfta hypotesen för ensexuell antagonistisk effekt.

Hierdie proefskrif bied ʼn nie-empiriese ondersoek en ʼn konseptuele analise van die verhouding tussen ruimte en identiteit in Eben Venter (1954-) se oeuvre binne die konteks van ballingskapliteratuur die postkoloniale diskoers. Die manifestasie van die ruimte- identiteitdialektiek, soos wat dit uitgebeeld word in Venter se skryfkuns, word beskryf aan die hand van postkoloniale teorieë en insigte wat verband hou met aspekte soos ruimte, plek, ballingskap, diaspora, ruimtelike verplasing, seksuele migrasie, intra-nasionale migrasie, internasionale migrasie, empiriese en kulturele landskappe, identiteit as sosio-kulturele konstruksie en Suid-Afrikaanse outobiografieë. Vir die doel van hierdie ondersoek is die volgende vertellings geselekteer: Ek stamel ek sterwe (1996), Twaalf (2000), Horrelpoot(2006) en Brouhaha (2010). In ʼn tydsgewrig van grootskaalse migrasie, globale onsekerheid, transnasionale kapitalisme en radikale dekolonisering in die vorm van geweldsmisdaad, gewelddadige betogings by universiteite, plaasmoorde, grondhervorming, haatspraak, arbeidsonrus, xenofobie en die aftakeling van minderheidsregte, sny Venter in sy verhale en outobiografie ʼn verskeidenheid van kwessies aan. Dit sluit in: die naweë van apartheid, die Afrikaner-diaspora, grondeienaarskap, die ideologiese toeëiening van grond, rassisme, homofobie, queer-migrasie, die haalbaarheid van ʼn inklusiewe Afrika-identiteit en die veranderde rol, plek en identiteit van Afrikaners sedert 1994. Die outobiografiese inslag van Venter se skryfkuns is opvallend en word bespreek deur te verwys na die verhouding tussen fiksionele en reële ruimtes en na outobiografie as hibridiese genre en kreatiewe projek. Hierdie studie bied ook ʼn krities-analitiese besinning van Venter se bemoeienis met skryftemas soos selfopgelegde ballingskap, die vervreemding tussen plek en self, globale plekloosheid en “exile as a discontinous state of being” (Said 2000: 177). Een van die belangrikste insigte wat Venter in sy skryfkuns demonstreer, is dat ruimte, soos identiteit, nie ʼn essensialistiese konsep is nie, maar ’n onvoltooide en vloeibare konstruksie wat voortdurend verander na gelang van sosio-politieke ingrepe, internasionale migrasiepatrone en die individu se subjektiewe gewaarwording van plekke, / This dissertation presents a non-empirical and a conceptual analysis of the relationship between space and identity in the works of prose of Eben Venter (1954) within the context of the postcolonial discourse and exile literature. The manifestation of the space-identity dialectic, as portrayed in Venter’s writing, is described on the basis of postcolonial theories and insights related to terms and concepts like space, place, exile, diaspora, spatial displacement, sexual migration, intra-national migration, international migration, empirical and cultural landscapes and identity as a social-cultural construction. For the purpose of this study the following narratives were selected: Ek stamel ek sterwe (1996), Twaalf (2000), Horrelpoot en Brouhaha (2010). At a juncture of mass migration, global uncertainty, transnational capitalism and radical decolonization in the form of violent crime, violent protests at universities, hate speech, farm murders, land reform, labour unrest, xenophobia and the dismantling of minority rights, Venter addresses an assortment of social issues. This include: the aftermath of apartheid, the Afrikaner-diaspora, landownership, the ideological appropriation of land, racism, homophobia, queer-migration, the viability of an inclusive African-identity and the altered role, place and identity of Afrikaners since 1994. The autobiographical element is evident in Venter’s writing and is discussed by referring to the relationship between fictional and real spaces and to autobiography as a hybrid genre and creative project. This study also presents a critical-analytical reflection of Venter’s involvement with writing topics such as self-imposed exile, estrangement between place and self, global displacement/non-belongingness and “exile as a discontinuous state of being” (Said: 2000: 177). One of the key insights Venter demonstrates in his writing, is that space, like identity, is not an essentialist concept, but an incomplete and diffuse construction that is constantly changing depending on socio-political interventions, international migration patterns and the individual's subjective perception of places. / Afrikaans and Theory of Literature / D. Litt. et Phil. (Afrikaans)

SLOVENE NATIONAL THEATRE IN LJUBLJANA Author Report Of The Diploma Work Author: Bc. Petr Hýl Supervisor: doc. ing. arch. Zdeněk Makovský