My work is aiming at establishing the bases of a semiotics of motion, in order to facilitate the programing of complex robotics systems. The objective is to build a symbolic model of the action, based on the analysis of the numerical functions that drive the motion (control and planning). The methodology comes from the well-known robotics concepts: motion-planning algorithms, control of redundant systems and task-function approach. The originality of the work is to consider the "task" as the unifying concept both to describe the motion and to control its execution. The document is organized in two parts. In the first part, the task-function control framework is extended to cover all the possible modalities of the robot. The objective is to absorb from the lowest-possible functional level the maximum of uncertainty factors. It is then not any more necessary to model these factors at the higher functional levels. This sensorimotor layer is then used as a basic action "vocabulary" that enables the system to be controlled with a higher-level interface. In the second part, this action vocabulary is used to provide a dedicated robotics programing language, to build motion-planning methods and to describe an observed movement. The proposed methods are generic and can be applied to a various systems, from robotics (redundant robots) to computer animation (virtual avatars). Nonetheless, the work is more specifically dedicated to humanoid robotics. Without forgetting other possible outlets, humanoid robotics provides a tangible applicative and experimental framework. It also leads toward the natural human motion, as presented in the end of the document.

This thesis presents the preliminary work in the development of a biomimetic actuation mechanism for prosthetic and wearable robotic hand applications. This work investigates the use of novel artificial muscle technology, namely, shape memory alloys. The mechanism developed is based on the combination of compliant tendon cables and one-way shape memory alloy wires that form a set of agonist–antagonist artificial muscle pairs for the required flexion/extension or abduction/adduction of the finger joints. For the purpose of this thesis, an anthropomorphic four degree of freedom artificial testbed was developed with the same kinematic properties as the human finger. Hence, the size, appearance and kinematic architecture of the index finger were efficiently and practically mimicked. The biomimetic actuation scheme was implemented on the anthropomorphic artificial finger and tested, in an ad-hoc fashion, with a simple microcontroller-based pulse width modulated proportional derivation (PWD-PD) feedback controller. The tests were done to experimentally validate the performance of the actuation mechanism as emulating the natural finger’s joints movement. This thesis details the work done for the finger design process as well as the mechanisms and material used to achieve the actuation and control objectives. The results of the experiments done with the actuation platform are also presented.

The detonation of a radiological dispersion device (RDD) may result in a situation where many individuals are exposed to contamination due to the inhalation of radioactive materials. Assessments of contamination may need to be performed by emergency response personnel in order to triage the potentially exposed public. The feasibility of using readily available standard 2x2-inch sodium-iodide detectors to determine the committed effective dose to a patient following the inhalation of a radionuclide has been investigated. The 2x2-NaI(Tl) detector was modeled using the Monte Carlo simulation code, MCNP-5, and was validated via a series of experimental benchmark measurements using a polymethyl methacrylate (PMMA) slab phantom. Such validation was essential in reproducing an accurate detector response. Upon verification of the detector model, six anthropomorphic phantoms, based on the MIRD-V phantoms, were modeled with nuclides distributed to simulate inhaled contamination. The nuclides assessed included Am-241, Co-60, Cs-137, I-131, and Ir-192. Detectors were placed at four positions on the phantoms: anterior right torso, posterior right torso, anterior neck, and lateral left thigh. The detected count-rate varied with respect to detector position, and the optimal detector location was determined on the body. The triage threshold for contamination was set at an action level of 250-mSv of intake. Time dependent biokinetic modeling was employed to determine the source distribution and activity in the body as a function of post-inhalation time. The detector response was determined as a function of count-rate per becquerel of activity at initial intake. This was converted to count-rate per 250-mSv intake for triage use by first responders operating the detector to facilitate triage decisions of contamination level. A set of procedure sheets for use by first responders was compiled for each of the phantoms and nuclides investigated.

Relational theology became a major voice in the theological conversations of the twentieth century and now in the twenty-first century it is poised to become the major influence in doctrine of God discussions. Relational theology argues for a model of God that emphasizes a dynamic interaction between God and the cosmos. Reformulating the divine nature contra Classical theism, Relational theology instead includes images of God as sympathetic, mutable, limited in power and knowledge, creative, and as a risk-taker. The assertion is that such images or metaphors for the divine are necessary rightly to understand and discuss God's relationality with the world. This thesis argues that given the relational nature of God the metaphor of faith should be added to the list of God's attributes. The thesis begins by discussing issues of methodology then reviewing Relational theology in the forms of process and open theism as contrasted with Classical theism. This is followed by explorations of various depictions of faith as found in the Old Testament and New Testament. Faith is also examined theologically and philosophically as including the elements of belief, trust, hope, and risk. It is then argued that faith has a decidedly relational nature in that faith most properly takes place between persons. The crux of the thesis is the development of a theology of divine faith. Because humans are free, God is limited, and creation has a purpose, the argument is made that God relates to the world through faith. A case for God's faith is developed exegetically and logically through explorations of the concepts of divine belief, trust, hope, risk, and doubt, concluding that faith is a necessary inclusion for Relational theology. Finally, two primary Church doctrines, creation and christology, are explored through a theology of divine faith. God demonstrates divine faith in bestowing an evolving creation with both freedom and a purpose. God has faith in the creation to produce persons who can freely share faith and love with God. The fully kenotic coming of Jesus Christ demonstrates the Father's faith in the Son, the second person of the triune God. The coming and death of Christ also reveals God's faith that the cross will be efficacious in reconciling those who have abused their God-given freedoms. / Sysytematic Theology and Theological Ethics / D. Th. (Systematic Theology)

Orientadores: Helder Anibal Hermini, Paulo R. G. Kurka / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica / Made available in DSpace on 2018-08-10T05:53:08Z (GMT). No. of bitstreams: 1 Mendes_EduardoFelippeAguiar_M.pdf: 4299696 bytes, checksum: d73355f383b74bd0e49b3bc2473e5b6b (MD5) Previous issue date: 2007 / Resumo: Este trabalho visou o estudo de manipuladores à semelhança do membro superior humano. Após o estudo do membro superior humano e dos robôs antropomórficos disponíveis tanto na industria quanto no meio acadêmico, utilizaram-se teorias de modelagem geométrica, cinemática direta e cinemática inversa para realizar o modelo de um manipulador robótico antropomórfico. A partir desse modelo desenvolveu-se um software em LabVIEW de Cinemática Direta e Cinemática Inversa de operação em tempo real. Com a intenção de verificar os acionadores mais apropriados disponíveis atualmente, um estudo de músculos artificiais se seguiu, onde se observou a maior viabilidade do músculo artificial de SMA ativado eletricamente. Um protótipo de junta acionada por músculos artificiais foi desenvolvido e controlado via computador. Como resultado deste trabalho conclui-se que há ainda muito para ser desenvolvido na área de manipuladores antropomórficos, principalmente no que diz respeito aos músculos artificiais / Abstract: This work sought the study of manipulators to the similarity of the human superior member. After the study of human superior member, and of anthropomorphics robotics available in the industries and in the academic middle, it was used theories of geometric modelling, direct kinematics modelling and inverse kinematics modelling to make the model of a anthropomorphic robotic manipulator. With that model it grew a software in LabVIEW of real time Direct Kinematics and Inverse Kinematics. With the intention of verifying the available most appropriate actuators, a study of artificial muscles was proceeded, where the largest viability of the artificial muscle of SMA activated electrically was observed. A joint prototype actuated by artificial muscles was developed and controlled through computer. As a result of this work it is ended that there is still a lot to be developed in the area of anthropomorphic manipulators, mainly in what it concerns the artificial muscles / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / Establish limits to the exposure of the population to various ionizing radiation sources is crucial to prevent occupationally exposed individuals and the public, to their deleterious effects. In computational ambit, it is necessary that different exposure scenarios are simulated in order to obtain the dose coefficients (CCs), which relate physical dosimetric quantities - as absorbed dose, Fluency or Kerma Air - with limiting quantities - as equivalent and / or effective dose. Under certain exposure conditions, the individual's posture is not always the same, and the scenario shall be described as realistic as possible. In this work, the AM (Adult Male) and AF (Adult Female) anthropomorphic reference phantom of ICRP publication n° 110 had their postures modified from supine posture (standing) to sitting posture. The change of posture was performed through of a subroutine written in the Visual Monte Carlo code (VMC) to rotate the thigh region of the phantom and position it between the region of the leg and torso. The ScionImage software was used to reconstruct and smooth the knee and hip contours in a sitting posture phantom, and for 3D visualization of phantom was used VolView software. After this step the MCNPX radiation transport code was used for the calculation of fluence-to-dose conversion coefficients (CCs) to six irradiation geometries: AP, PA, LLAT, RLAT, ROT and ISO, recommended by ICRP. The results were compared between the phantoms in standing and sitting postures, for both sexes, in order to assess differences in scattering and absorption of radiation in different postures. The results show significant differences of up to 100% in the equivalent dose conversion coefficients of organs in the pelvic region, 79 % in organs with distribution in the whole body (such as skin, muscle, lymph nodes, bone marrow and trabecular bone) and a difference of 27% to effective dose conversion coefficients. Moreover in order to conduct a comparative study between two types of simulators, was estimated CCs equivalent and effective dose of adult male hybrid simulators, UFHADM, and female, UFHADF, in a sitting posture, and compared to the AM and AF simulators, also in the sitting posture, where it was observed significant difference in energies below 0.05 MeV. This study demonstrated the feasibility of using anthropomorphic phantoms in the sitting posture to represent more realistic postures and can be used in studies in medical and occupational dosimetry. This study demonstrated the feasibility of using anthropomorphic simulators reference in the seated position to represent more realistic positions can thus be used in studies in medical and occupational dosimetry as well as the importance of developing as realistic simulators as possible to dose estimation as faithful as possible in different irradiation scenarios. / Estabelecer limites à exposição da população a diversas fontes de radiação ionizante é de fundamental importância para prevenir indivíduos, ocupacionalmente expostos e do público, dos seus efeitos deletérios. Em âmbito computacional, é necessário que diferentes cenários de exposição sejam simulados, visando à obtenção dos coeficientes de dose (CCs), que associam grandezas dosimétricas físicas – como dose absorvida, fluência ou kerma no ar – com grandezas limitantes – como equivalente e/ou dose efetiva. Em certas condições de exposição a posição do indivíduo nem sempre é a mesma, e o cenário deve ser descrito da forma mais realística possível. Neste trabalho, os simuladores antropomórficos de referência da publicação nº 110 da ICRP, AM (Adult Male) e AF (Adult Female), tiveram suas posturas modificadas da postura supinada (em pé) para a postura sentada. A mudança de postura foi realizada por meio de uma subrotina escrita no software Visual Monte Carlo (VMC) para rotacionar a região da coxa dos simuladores e posicioná-la entre a região da perna e do tronco. O software ScionImage foi utilizado para reconstruir e suavizar os contornos no joelho e quadril dos simuladores na postura sentada, e com ferramenta auxiliar para visualização 3D dos simuladores foi utilizado o software VolView. Após essa etapa foi utilizado o código de transporte de radiação MCNPX para o cálculo dos coeficientes de conversão (CCs) de dose equivalente e efetiva por fluência de partículas, calculados para seis geometrias de irradiação AP, PA, LLAT, RLAT, ROT e ISO, recomendadas pela ICRP. Os resultados foram comparados entre os simuladores em pé e sentado, para ambos os gêneros, com o objetivo de avaliar as diferenças de espalhamento e absorção da radiação para as diferentes posturas. Os resultados dos CCs mostram diferenças significativas, de até 100 % para dose equivalente dos órgãos situados a região pélvica e 79 % em órgãos com distribuição em todo o corpo como, por exemplo, pele, músculo, nódulos linfáticos medula óssea e trabécula óssea, e uma diferença de 14 % para dose efetiva. Ademais, a fim de realizar um estudo comparativo entre dois tipos de simuladores, foi estimado os CCs de dose equivalente e efetiva dos simuladores híbridos adulto masculino, UFHADM, e feminino, UFHADF, na postura sentada, e comparado com os simuladores AM e AF, também na postura sentada, onde foi observado diferença significativa em energias abaixo de 0,05 MeV. Este estudo demonstrou a viabilidade do uso dos simuladores antropomórficos de referência na postura sentada para representar posturas mais realísticas podendo assim, ser utilizado em estudos na dosimetria médica e ocupacional, bem como a importância de desenvolver simuladores tão realista quanto possíveis para estimativa de dose tão fiéis quanto possíveis em diversos cenários de irradiação.

Conception, modélisation et contrôle des actionneurs intrinsèquement conformes avec une considération particulière sur la configuration anthropomorphe agoniste-antagoniste "La recherche vise à la conception, la modélisation et le contrôle des actionneurs intrinsèquement conformes pour les systèmes anthropomorphes.La première partie du travail se concentre sur l'étude de divers Existants et rechercher la possibilité d'autres actionneurs autres que les moteurs électriques conventionnels.Une attention particulière est accordée aux actionneurs souples à base de polymères élctroactifs qui ont un bon potentiel dans les futures applications robotiques. Parallèlement, on a synthétisé un modèle de la dynamique de l'actionneur et du contrôleur basé sur le modèle (MPC et contrôle optimal) pour un bras anthropomorphe 7 Dofs actionné par une paire antagoniste-agoniste de Muscles Artificiels Pneumatiques (PAM) à chaque articulation. Ce modèle et contrôleur est alors intégré dans l'environnement logiciel développé par l'équipe. En utilisant le bras manipulateur anthropomorphe basé sur PAM et le simulateur numérique, des tests sont effectués afin d'évaluer le potentiel de cet actionneur et de comparer avec les capacités du corps humain. / Design, modeling and control of inherently compliant actuators with a special consideration on agonist- antagonist anthropomorphic configuration" The research aims at the design, modeling and control of inherently compliant actuators for anthropomorphic systems. The first part of the work focuses on the study of various existing designs and look for the possibility of alternative actuators other than the conventional electric motors. Special attention is given to elctroactive polymer based soft actuators which have good potential in future robotic applications. In parallel, a model of the actuator dynamics and the model-based controller (MPC and optimal control) have been synthesized for an anthropomorphic 7 Dofs arm actuated by antagonist-agonist pair of Pneumatic Artificial Muscles (PAMs) at each joint. Such model and controller is then integrated within the software environment developed by the team. Using the PAMs based anthropomorphic manipulator arm and the numerical simulator, tests are done in order to evaluate the potential of this actuator and compare with the human body capabilities.

The present work is a new attempt to interpret on the episode in Genesis 18:1-15 by the method of narrative criticism. The general tendency on the narrative had focused on the exemplary act of Abraham’s hospitality interpreting it as his righteousness by the perspective of NT (Heb 13:2) or by the test motive of Greek Myth (the birth of Orion). The retributive theology was considered too much in interpreting the Fellowship narrative (Gn 18:1-15).These interpretations conflict with the narrator’s own theological views: (1) righteousness by faith (Gn 15:6), (2) God’s mercifulness to save Lot (Gn 19:29), and (3) God’s being gracious to make Sarah conceive (Gn 21:1). This study attempts to find out the author’s own interpretative view indicated in the whole Abraham narrative (Gn 11:27-25:11) as well as in the Fellowship Narrative itself (Gn 18:1-15).The present work is an attempt to interpret on the narrative by the method of narrative criticism. This study pays attention to the narrator’s various literary skills: “linking structure with preceding episode” (Gn 18:1a); “Sandwiched structure” of the larger context (Gn 18:1-21:7); Unique Plot Sequence; and Repeated Clue word and phrase (“laugh,” “Sarah,” ”this time next year”). These literary skills are understood to indicate the faithfulness of the Lord who tries to fulfill what he promised. The conclusion of this study overturns the traditional interpretations on the Fellowship Narrative. This work attests that Abraham showed his righteousness not by doing hospitality but by obeying God’s new command of circumcision out of willing heart as he used to obey the Lord’s commands having faith in the promise of the Lord (ch.5.3.2.2). The motive of God’s visit is to have the covenantal fellowship with obedient Abraham (ch. 2.1.6; 2.1.6.1). Abraham’s first moment recognition of deity is attested by interpreting of the technical pair verb, “And he lifted up his eyes and he saw and Lo!” (Gn 18:2a), which depicts prophetic experience of Abraham (ch.3.3). Abraham’s manner for the visitors is relevant to the higher ones (ch.3.3.2.1). The futile human endeavor without having faith is considered as the reason of being delayed of fulfillment of God’s promise (Gn 16). The fulfillment of the promised son was not attained by any human effort, but only by God’s merciful intervention in the Abraham narrative (ch. 4.4.4 and 4.4.5). / Thesis (PhD)--University of Pretoria, 2010. / Old Testament Studies / unrestricted

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In this biographical study of the Finno-Swedish author Nanny Hammarström (1870 - 1953), a forgotten authorship is presented. Hammarström's work is placed in a literary and cultural context with the help of a comprehensive review of how the authorship is described in overview works on literature, reviews, and articles. The study concludes with an analysis of the reception regarding some of Hammarström's works with anthropomorphic (zoomanic) subjects as protagonists. / I denna biografiska studie över den finlandssvenska författaren Nanny Hammarström (1870 – 1953) presenteras ett bortglömt författarskap. Hammarströms böcker placeras i litterär och kulturell kontext med en omfattande genomgång av hur författarskapet behandlas i litterära översiktsverk, recensioner och tidningsartiklar. Studien avslutas med en analys av receptionen gällande några av Hammarströms verk med antropomorfa (zoomana) subjekt som protagonister. / <p>Slutgiltigt godkännandedatum: 2023-06-01</p>