Thesis (M.P.H.)--University of Michigan, 1947.

Thesis (Ph.D.)--Pardee Rand Graduate School, 2009. / Title from PDF t.p. Includes bibliographical references.

Thesis (M.A.) - University of KwaZulu-Natal, Pietermaritzburg, 2009. / Full text also available online. Scroll down for electronic link.

Diss. (sammanfattning) Umeå : Umeå universitet, 2010.

Thesis (M.A.)--Miami University, Dept. of Geography, 2005. / Title from first page of PDF document. Document formatted into pages; contains [1], v, 53 p. : ill. Includes bibliographical references (p. 50-53).

Thesis (M.A.)--Miami University, Dept. of Psychology, 2004. / Title from first page of PDF document. Includes bibliographical references (p. 37-46).

Thesis (M.S.)--Ohio University, August, 2004. / Title from PDF t.p. Includes bibliographical references (p. 110-111)

Thesis (M.S.)--Montana State University--Bozeman, 2004. / Typescript. Chairperson, Graduate Committee: Todd J. Kaiser. Includes bibliographical references (leaves 169-171).

Conselho Nacional de Desenvolvimento Científico e Tecnológico / This paper aims to evaluate the rainwater quality in city of Santa Maria RS, identify the most suitable usages for it and to study the technical feasibility of its collection, through a reservoir dimension for exploitation. Two areas of study were chosen with different characteristics referring to their occupation. One of these areas is located next to RST 287 and the other is in Universidade Federal de Santa Maria campus. The rainwater was collected directly from atmosphere and from roofs, in order to analyze the changes in its quality after the passage for collection area. Each sample was divided in five compartments for collecting and storing separately the first five millimeters of rain. The characteristics of rainwater quality were evaluated through the following parameters: pH, electrical conductivity, turbidity, BOD5, COD, total solids, suspended solids, dissolved solids and Escherichia coli. In some events it was also analyzed: color, alkalinity, hardness, chlorides, iron, manganese, phosphate, ammonium, nitrate and sulfate. For storage reservoir dimension it was used a method proposed by Mierzwa et al (2007) and the results were compared to methods proposed by NBR 15527/07. It was observed that the rainwater quality has changed after its passage for collection area. In raw state, the rainwater could be used to non-potable purposes as recreation of primary contact, irrigation of vegetables, parks, gardens, sport and leisure fields, after the discard of two millimeters initial. If the rainwater was treated, it obtain quality compatible with other uses as toilet flushing. In relation to storing reservoir, it was evident that the most profits for an efficient attendance to a demand occur by a volum of 5.000 liters, for a daily demand of 529 liters. / Este trabalho teve como objetivos avaliar a qualidade da água da chuva na cidade de Santa Maria RS, identificar os usos mais apropriados para a mesma e estudar a viabilidade técnica de sua captação, através do dimensionamento de um reservatório para aproveitamento. Foram escolhidas duas áreas de estudo com características distintas quanto à ocupação. Uma das áreas está localizada próxima à RST 287 e a outra no Campus da UFSM. A água da chuva foi coletada diretamente da atmosfera e de telhados, a fim de analisar as alterações em sua qualidade após a passagem pela área de captação. Cada amostrador foi dividido em cinco compartimentos, para coletar e armazenar separadamente os cinco primeiros milímetros de chuva. As características de qualidade da água da chuva foram avaliadas através dos parâmetros: pH, condutividade elétrica, turbidez, DBO5, DQO, sólidos totais, sólidos suspensos, sólidos dissolvidos e Escherichia coli. Em alguns eventos foram analisados também: cor, alcalinidade, dureza, cloretos, ferro, manganês, fosfato, amônia, nitrato e sulfato. Para o dimensionamento do reservatório de armazenamento foi utilizado o método proposto por Mierzwa et al (2007) e comparados os resultados com métodos propostos pela NBR 15527/07. Observou-se que a qualidade da água da chuva é alterada após sua passagem pela área de captação. No estado bruto as águas pluviais podem ser utilizadas para fins não-potáveis, como recreação de contato primário, irrigação de hortaliças, de plantas frutíferas, de parques, jardins, campos de esporte e lazer, após o descarte de 2 mm iniciais. Se for tratada a água de chuva adquire qualidade compatível com outros usos, como descargas de bacias sanitárias. Quanto ao reservatório de armazenamento constatou-se que os maiores ganhos na eficiência ao atendimento à demanda ocorrem até o volume de 5.000 litros, para uma demanda diária de 529 litros.

Improving robotic manipulation is critical for robots to be actively useful in realworld factories and homes. While some success has been shown in simulation and controlled environments, robots are slow, clumsy, and not general or robust enough when interacting with their environment. By contrast, humans effortlessly manipulate objects. One possible reason for this discrepancy is that, starting from birth, humans have years of experience to collect data and develop good internal models of what happens when they manipulate objects. If robots could also learn models from a large amount of real data, perhaps they, too, could become more capable manipulators. In this thesis, we propose to improve robotic manipulation by solving two problems. First, we look at how robots can collect a large amount of manipulation data without human intervention. Second, we study how to build statistical models of robotic manipulation from the collected data. These data-driven models can then be used for planning more robust manipulation actions. To solve the first problem of enabling large data collection, we perform several different robotic manipulation experiments and use these as case studies. We study bin-picking, post-grasp manipulation, pushing, tray tilting, planar grasping, and regrasping. These case studies allow us to gain insights on how robots can collect a large amount of accurate data with minimal human intervention. To solve the second problem of statistically modeling manipulation actions, we propose models for different parts of various manipulation actions. First, we look at how to model post-grasp manipulation actions by modeling the probability distribution of where an object ends up in a robot’s hand, and how this affects its success rate at various tasks such as placing or insertion. Second, we model how robots can change the pose of an object in their hand with regrasp actions. Third, we improve on the place and pick regrasp action by modeling each separately with more data. These learned data-driven models can then be used for planning more robust and accurate manipulation actions.