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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
91

Inter-relação entre o processo arbitral e o processo judicial / Interrelation between arbitral and judicial processes.

Cais, Maria Eugênia Previtalli 04 June 2013 (has links)
A presente dissertação tem como escopo a análise das situações em que a eleição da arbitragem como meio adequado de solução de conflitos possibilitará - ou, em algumas hipóteses, tomará imprescindível - a atuação do Poder Judiciário, via processo judicial. Uma das premissas básicas de que parte o estudo em tela reside no fato de que a arbitragem, enquanto mecanismo extrajudicial de solução de conflitos livremente escolhido pelas partes, não estará sujeita à intervenção indiscriminada do Poder Estatal. Essa relação entre juízes togados e árbitros suscita o debate de diversas questões de ordem prática, algumas patológicas e ainda pouco exploradas pela doutrina, as quais serão aqui enfrentadas. Nos ocuparemos, deixando sempre clara a independência de um e de outro, da inter-relação entre o processo arbitral e o processo judicial, partindo do estudo das seguintes fases: pré, durante e pós arbitragem. A importância desta dissertação decorre da constatação de que a arbitragem vem sendo cada vez mais adotada como método adequado de solução de contendas e de que a inter- relação entre os processos arbitral e judicial ora estudada, por vezes, dá azo a situações práticas até então não solucionadas. Nesse panorama, parece-nos que o estudo das hipóteses em que o Poder Judiciário será provocado a atuar justamente em virtude da eleição do processo arbitral pelas partes, seja antes, na constância ou até mesmo depois de encerrada a arbitragem, não só será bastante útil e atual, como de extrema relevância prática para a moderna ciência processual civil brasileira. Por fim, cumpre destacar que este trabalho combina o estudo da teoria ao exame de casos concretos, a fim de verificar como o Poder Judiciário vem decidindo em matéria de arbitragem, o que lhe confere inquestionável importância técnica. / The scope of this dissertation involves analysis of situations in which opting for arbitration as an appropriate means of conflict solution will render possible - or, in some cases, essential- involvement of the Judicial Branch via legal proceedings. One of the basic assumptions underpinning this study is the fact that arbitration, while being an extrajudicial conflict resolution mechanism freely chosen by parties, will not be subject to indiscriminate intervention by the State. Such relationship between judges and arbitrators provokes debate of several practical issues; some pathological and still relatively unexplored by doctrine, to be examined herein. We will deal with the interrelation between arbitral and judicial processes - while clearly acknowledging their independence from each other - based on study of the following phases: pre, during and post arbitration. The importance of this dissertation arises from the evident fact that such proceedings are increasingly adopted as a suitable method of resolving differences and that the interrelation between arbitral and legal processes studied herein may, at times, give rise to theretofore unresolved practical situations. In such scenario, it is clear to us that the study of situations in which the Judiciary is called upon to act in virtue of election by parties for arbitration, whether before, during or even after such proceedings are concluded, will not only prove useful and topical, but will also be of utmost practical relevance to the science of modern Brazilian civil procedural law. Finally, it is worthy of note that this paper combines theoretical study with examination of real finalized cases in order to see how the Judiciary deliberates in respect of arbitration, thereby conferring unquestionable technical importance upon it as a study.
92

L'Albanie dans la politique étrangère de la France (1919-juin 1940) / Albania in the French foreign policy (1919-1940, june)

Popescu, Ştefan 30 September 2013 (has links)
Entre 1919-1939/40, la France était prise dans un jeu délicat à l'égard de l'Albanie : elle reconnaissait la primauté des intérêts politiques et économiques italiens en Albanie mais, en même temps, la France était consciente que tout cela risquait de mettre en péril l'indépendance albanaise. L'intérêt de la France en Albanie était le maintien de l'indépendance de ce pays afin qu'il ne devient une arrière base de l'Italie contre la Yougoslavie. II y avait aussi un autre intérêt français, une volonté de «présence» en Albanie qui était générée par le statut de la France de grande puissance. C'est en vertu de cet aspect que la France entend être « présente » en Albanie par deux institutions visibles, un lycée et une mission archéologique, qui compensent assez bien le développement limité des relations politiques et économiques. De ce fait, malgré la proximité géographique et l'intensité des échanges politiques et économiques, l'Italie n'arrive pas s'imposer en Albanie comme puissance culturelle dominante. Dans l'entre-deux-guerres, la France et l'Albanie se redécouvrent réciproquement. C'est dans cet intervalle qu'on assiste à l'établissement des premières relations institutionnelles bilatérales et c'est à cette époque qu'on signe les premiers documents juridiques bilatéraux. C'est entre les deux guerres que se constitue une communauté d'albanais en France et que les premiers groupes organisés de touristes français arrivent en Albanie, que se nouent les premières relations économiques bilatérales. / Between 1919-1939/40, France was caught in a tricky game towards Albania: it recognized the primacy of the Italian political and economic interests in Albania but, at the same time, France was aware that ail this might endanger the Albanian independence. The interest of France in Albania was the maintenance of the independence of this country to prevent it becoming a rear base of the Italy against Yugoslavia. There was also another French interest, a willingness of "présence" in Albania, generated by the France's great power status. It was under this aspect that France intends to be "présente" in Albania by two visible institutions, a high school and an archaeological mission, that offset for pretty much the limited development of political and economic relations. Thus, despite the geographical proximity and the intensity of the political and economic exchanges, Italy can't win in Albania as a dominant cultural power. .In the interwar period, France and Albania rediscover each other. It is in this interval that we are witnessing the establishment of the first bilateral institutional relations and it was at this lime that we sign the first bilateral treaties. lt is between the two wars that born a community of Albanians in France and the first organized groups of French tourists arrive in Albania, that bind the first bilateral economic relations.
93

Avaliação durante operação de sistemas prediais de água não potável. / Evaluation during operation of non-potable water building systems.

Castilho, Carolina Paula de 21 January 2016 (has links)
A preocupação mundial com o cenário de escassez do recurso natural \"água\" é sintetizada no slogan adotado pela WateReuse Research Foundation em campanha pelo reuso de água: \"Water... it\'s too valuable to be used just once\". Progressivamente tem-se melhorado os processos de gestão da água, com controle de desperdício, procedimentos e utilização de fontes alternativas de abastecimento, não apenas na escala dos sistemas públicos, mas nos sistemas prediais. No Brasil, seguindo esta tendência global, existem iniciativas independentes de sistemas prediais de água não potável sendo instalados em edifícios residenciais e comerciais. Estas iniciativas, no entanto, contam hoje com pequeno respaldo técnico normativo, diretrizes ou legislação que orientem gestores, executores e profissionais sobre as práticas adequadas de implantação, gestão e monitoramento deste tipo de sistema, colocando em risco a segurança dos usuários e o sucesso da tecnologia. Considerando-se que para produzir um edifício de qualidade é fundamental atender às necessidades dos usuários, adequando as soluções ao uso que será feito do produto, a Avaliação Durante Operação (ADO) do edifício apresenta-se como uma ferramenta adequada para a análise da situação atual do sistema. Inserindo-se neste contexto, esta pesquisa tem o objetivo de propor uma ferramenta que auxilie a avaliação de desempenho de sistemas prediais de água não potável durante sua operação em edifícios residenciais, no que se refere à operação e manutenção. Para tanto, foi realizado levantamento bibliográfico sobre sistemas prediais de água não potável, tratamentos de água disponíveis e avaliação de desempenho. Seguindo a metodologia de ADO, foram realizados estudos de casos em edifícios residenciais para levantamento de dados atuais de desempenho. Ao término da análise dos casos selecionados, foi possível validar a ferramenta proposta e constatar que a falta de capacitação técnica, normas técnicas e legislações específicas que orientem projetistas, executores, gestores e usuários e padronizem os sistemas prediais de água não potável contribui para o cenário encontrado nos estudos, caracterizado por sistemas que operam com desempenho inferior ao adequado para atender às necessidades e garantir a segurança de seus usuários. / The global concern with the scenario of increasing natural resource scarcity is synthesized in the slogan adopted by WateReuse Research Foundation for a reuse campaign: \"Water... it\'s too valuable to be used just once.\" Progressively, the water management processes have been improved, by controlling waste, procedures and use of alternative sources of water supply, not only at the city level but also individually. In Brazil, following this global trend, there are independent initiatives of non-potable water systems being installed in residential and commercial buildings. These initiatives, however, have today little technical normative support, guidelines or legislation to orientate managers, performers and professionals on the appropriate practices for deployment, management and monitoring of this type of system, endangering the safety of users and the success of technology. Considering that to produce a quality building it is critical to meet the user\'s needs, suiting the solutions according to the product use, the evaluation during operation (EDO) presents itself as adequate tool for analyzing the current situation and proposing improvements on the system performance. In this context, this study aims to propose a tool that assists the performance evaluation of non-potable water systems during its operation in residential buildings, regarding the design, implementation, operation and maintenance. In order to do that, it was performed bibliographical survey on nonpotable water systems, available water treatments and performance evaluation. Following the EDO methodology, case studies were conducted in a sample of residential buildings for current performance data collection. Upon completion of the analysis of selected cases, the proposed tool was validated and it was found that the lack of technical training, technical standards and specific legislation to guide designers, performers, managers and users, and to standardize the non-potable water systems contributes to the scenario found in the case studies, characterized by systems operating with performance unsuited to meet the needs and ensure the safety of its users.
94

A qualitative study of midwifery practices during the second stage of labour

Hamilton, Catherine Joan January 2018 (has links)
This qualitative study explores midwifery practice during the second stage of labour focusing specifically on whether midwives adopt a directed or physiological approach to maternal pushing. It was undertaken against the backdrop of research findings suggesting that there is no proven benefit to directing a woman's pushing efforts but anecdotal evidence suggests that this remains a routine and accepted part of midwifery practice in the United Kingdom (UK). Semi- structured interviews were undertaken with ten midwives who had recent experience of caring for women during the second stage of labour, ten women who had recently given birth and four obstetricians. A form of thematic analysis was undertaken. Findings were viewed through a lens of critical social theory (CST) and drew on feminist principles to provide a deeper understanding of the emergent themes. Findings indicated that a directed approach to second stage pushing was the norm in this UK Maternity Unit and was deeply embedded within the cultural context of what it meant to be a midwife that involved ' doing' rather than 'being'. Reasons explaining why midwives continue to use directed pushing were grouped into themes; ' time passing and watching the clock' 'different worlds' , 'different women', 'midwives take charge', 'growth of confidence and changing practice' and 'conflict'. When viewed from a CST perspective midwives undertaking directed pushing is seen as an example of institutionalised oppressive behaviour symbolising the way in which knowledge and rationality are disregarded in favour of a risk averse practice that is paradoxically the opposite of what evidence recommends. Midwives are identified as being oppressed by the dominant biomedical model to the extent that they do not view directed pushing as an intervention. In order to promote a more physiological approach with its' associated benefits, a return to a social model of midwifery with a focus on salutogenesis rather than pathogenesis is called for. Recommendations for midwifery education, practice and research are provided in order to support the transformational shift in midwifery culture that is needed if such a change is to become a reality.
95

海峽兩岸政府採購招標階段爭議類型及行政救濟機制之比較研究 / The Compared Research to Cross-Strait Government Procurement Dispute Types and Administrative Relief Institution during Tendering Stage

胡主均, Hu,Chu Chun Unknown Date (has links)
依據世界貿易組織(WTO)估計,各國政府部門採購規模約占有其國家國內生產毛額 GDP的10﹪-15﹪,目前兩岸政府採購規模於陸續實施「政府採購法」之後,我國政府採購總額迄至2005年單一年度已達到5595億元,中國政府採購規模增加趨勢更為驚人,依初期試辦之政府採購暫行管理辦法規定等試點辦理之政府採購規模於1998年僅達31億元人民幣,至2003年其「政府採購法」實施後政府採購範圍和規模迅速擴大,迄至2005年中國政府採購規模已高達2927.6億元,但占其全國GDP的比重仍僅有1.6%。對於我國廠商而言,中國此一快速成長中之經濟體,其政府採購市場相對較無語言和文化之障礙,如能熟悉中國的政府採購機制,其政府採購市場可謂是台灣廠商可及性最高的大餅。從而將海峽兩岸政府採購招標階段之各種爭議類型與特有之行政救濟處理機制放在同一個制度平台上作比較,對於台灣廠商在參與國內政府採購或前進中國政府採購市場都將有更實際的幫助。 我國政府採購法係於1998年5月27日公布並於1999年5月27日正式實施,實施七年多以來,已發生之政府採購招標階段爭議截至2005年12月底止,僅行政院公共工程委員會受理之採購申訴案件累計總收案件數已達3,111件,中國政府採購法則於2003年1月1日始正式施行,因實施時間較短,目前尚無爭議案件具體統計數據,惟相關政府採購爭議案件見諸於出版之專業書籍者已有43件指標性之案例,各人民法院亦逐漸出現政府採購相關判決。本研究範圍主要將針對海峽兩岸政府採購程序中,與參與採購廠商關聯最深之「招標階段」爭議處理機制部分,就現行兩岸政府採購及招標投標等政策法規進行深入之比較研究,並對於上述兩岸政府採購法實施後,所陸續發生之招標階段爭議較具代表性之案例,依其相近類型進行比較分析,以期全面性的瞭解兩岸政府採購招標階段爭議類型及專設之行政救濟處理機制的利弊得失。 在探討過程中,由於兩岸的政府採購機制立法依據來源即有所差異,台灣地區政府採購機制規定主要來自於世界貿易組織WTO的「政府採購協定(GPA)」,中國政府採購法則以聯合國「貿易法委員會貨物、工程和服務採購示範法」為基礎,但也納入「政府採購協定(GPA)」若干立法精神。兩岸政府採購機制之立法依據雖有若干相似之處,但因應各自區域內原有法律體系和經濟環境狀況,仍發展出不同類型的招標機制,本研究對於兩岸政府採購立法過程參照之前述相關國際規範,亦將予以比較分析,以祈自立法來源找出兩岸政府採購立法精神及機制設計之基本差異。 / According to estimate of the World Trade Organization (WTO), the government procurement scale of each country takes up about 10%-15% of its GDP. After the government procurement law was initiated on both sides of the strait, Taiwan’s total government procurement amounted to NT$ 559.5 billion in year 2005 alone; in contrast, China had a more amazing rapid growth in procurement scale. In 1998 when Temporary Regulations on Government Procurement was initiated, the procurement scale reached only 3.1 billion RMB. Since the “Government Procurement Law” took effect in 2003, government procurement scope and scale have expanded rapidly. In 2005, China's government procurement scale amounted up to 292.76 billion RMB, yet taking up only 1.6% of its GDP. As a fast growing economy, China’s government procurement market demonstrates fewer language and cultural barriers to manufactures in Taiwan. Familiarization with China’s government procurement mechanism will help provide most access to its government procurement market for Taiwanese manufacturers. Moreover, comparing research into cross-strait government procurement dispute types and unique administrative relief institution during tendering stage on the same level will be of practical help for Taiwanese manufacturers in taking part in domestic government procurement or moving on to China’s government procurement market. Taiwan’s Government Procurement Act was promulgated on May 27, 1998 and put into effect on the same date of the following year. Over the past seven executing years, regarding government procurement dispute during tendering stage, the Public Construction Commission of Executive Yuan alone had received a total of 3111 procurement complaint cases up till the end of December in 2005. On the other hand, China’s Government Procurement Law came into force from January 1, 2003. Due to its shorter enforcement period, specific statistics of dispute cases are still unavailable. However, there have already been 43 index cases published in specialized books, and government-procurement-related sentences gradually arise in people’s courts of law. This study aims to make a deep and thorough research into cross-strait government policies and regulations on procurement and tender system with respect to dispute-solving mechanism during tendering stage most connected to procurement-involving manufacturers, and an analysis of representative cases of dispute during tendering stage according to their similar types after enforcement of cross-strait government procurement laws. This is done for the purpose of completely understanding cross-strait government procurement dispute types during tendering stage and advantages and disadvantages of unique administrative relief institution. In the course of discussion, we found differences in legislative basis for procurement policies of governments on both sides of the strait. Taiwan’s government procurement policy originates from “Agreement on Government Procurement” (GPA) of the WTO, while China's Government Procurement Law is based on “Model Law on Procurement of Goods, Construction and Services” of the United Nations Commission of International Trade Law, yet also involves some essential spirit of GPA. Despite some similarities of legislative basis between the government procurement policies on both sides, different types of tendering mechanisms have developed in accordance with original legal systems and economic conditions in their respective regions. This study will also compare and analyze the legislative process of government procurement on both sides by referring to the aforementioned international regulations, with an aim to, from legislative origin, locate the fundamental differences of legislative spirit and policy design of government procurement on both sides.
96

Dėl nėštumo patologijos stacionare besigydančių moterų baimių, susijusių su gimdymu, ir savigarbos ypatumai / The Aspects of Self-Esteem During Pregnancy and Fear of Delivery Among Pregnant Women Hospitalized due to Pathology of Pregnancy

Jakaitė, Greta 21 December 2010 (has links)
Tyrimo tikslas – įvertinti ir palyginti dėl nėštumo patologijos stacionare besigydančių ir sveikų nėščiųjų gimdymo baimę, jos sąsajas su savigarba, savęs vertinimu nėštumo metu, nėštumo bei sociodemografiniais rodikliais. Tyrime dalyvavo Kauno medicinos universitetinių klinikų Moterų konsultacijos ir Kauno apskrities ligoninės filialo Krikščioniškų gimdymo namų 122 sveikos nėščiosios ir 146 nėščios moterys, kurios tyrimo metu dėl nėštumo patologijos besigydžiusios Kauno medicinos universitetinių klinikų Akušerijos ir ginekologijos klinikų: Nėštumo ir ekstragenitalinių ligų, Priešlaikinio gimdymo ir nėščiųjų infekcijų, Nėštumo patologijos sektoriuose. Tiriamųjų amžiaus vidurkis 28,58 +/- SD 5,08 metai. Nėščių moterų gimdymo baimei įvertinti buvo naudojamas B. Areskog (1982) sukurtas ir T. Saisto (2001) modifikuotas Gimdymo baimės klausimynas (angl. Fear of Childbirth Questionnaire), kurį sudaro 10 teiginių. Tiriamųjų savigarbai tirti buvo naudota M. Rosenberg savigarbos skalė (angl. Rosenberg Self-Esteem Scale – RSE) ir nėščių moterų savęs vertinimui nėštumo metu buvo naudojamas Savęs vertinimo nėštumo metu klausimynas (angl. The Prenatal Self-Evaluation Questionnaire) sudarytas iš 7 skalių, sukurtas R. Lederman (2005/2006). Tyrimas atskleidė, kad turinčios aukštesnę savigarbą sveikos ir besigydžiusios stacionare dėl nėštumo patologijos nėščios moterys geriau save vertina nėštumo metu. Sveikų ir dėl nėštumo patologijos einamojo nėštumo metu nėščiųjų savigarbos ir savęs... [toliau žr. visą tekstą] / The Aim of the MA Thesis (Research) is to evaluate and compare the fear of delivery among healthy pregnant women and women hospitalized due to pathology of pregnancy, to analyze how much fear of delivery influences self-esteem and self-esteem during pregnancy, pregnancy itself and socio-demographic indexes. The participants of the research are 122 healthy pregnant women who gave birth in Hospital of Kaunas University of Medicine and Kaunas Christian Maternity Hospital (Department of Kaunas County Hospital) and 146 pregnant women who were hospitalized and treated in Hospital of Kaunas University of Medicine, Department of Obstetrics and Gynecology due to pathology of pregnancy. The age of the participants of the research is 28,58 +/-SD 5,08 years. Fear of Childbirth Questionnaire (created by B. Areskog (1982) and modified by T. Saisto (2001)) is used in order to evaluate the fear of delivery among pregnant women. The questionnaire includes 10 statements. Rosenberg Self-Esteem Scale – RSE by M. Rosenberg is applied to assess self-esteem of pregnant women. The Prenatal Self Evaluation Questionnaire of 7 scales by R. Lederman (2005/2006) is applied for pregnant women in order to evaluate their self-esteem during pregnancy. The research revealed that both healthy pregnant women and pregnant women who were hospitalized and treated due to pathology of pregnancy but having higher self-esteem in general possess better self-esteem during pregnancy. Healthy pregnant women and... [to full text]
97

The importance of linking periods of the annual cycle for understanding life-history tradeoffs in a migratory songbird

Mitchell, Greg 23 September 2011 (has links)
In migratory vertebrates, the optimal timing of successive life history stages is relatively inflexible. As a result, life history trade-offs that occur during breeding may influence individual success in subsequent stages because there is little time to mitigate negative costs that are incurred, or because the onset of subsequent stages is delayed. In migratory songbirds, understanding how breeding events carry over to influence individual success has been challenging because individuals are difficult to track once breeding is complete. I studied an island breeding population of migratory Savannah sparrows (Passerculus sandwichensis) and tracked individuals from breeding up until the onset of autumn migration. In Chapter 1, I investigated the effects of early life events on body condition during the pre-migratory period and first year apparent survival. I found that juveniles fledging from larger broods were in poorer condition at fledging, had lower fat stores prior to migration, and had lower first year apparent survival. In Chapter 2, I examined the effects of life history trade-offs made by adults during breeding on pre-migratory body condition and annual apparent survival. I did not find evidence for a trade-off between reproductive effort or date of breeding completion with annual apparent survival or body condition during the pre-migratory period, but instead found that adults with the highest reproductive effort and later dates of breeding completion were more likely to survive until the following year. In Chapter 3, I examined the effect of timing of breeding completion and fledging on the date of fall migration. I found that both variables had strong positive effects on date of departure. Together, my results suggest that successful migration in juveniles is influenced by early life events, but that any potential costs incurred by adults during the breeding season likely has little influence on survival during migration.
98

Promotion of a legal firm during recessionary times / Johannes Douglas Richards

Richards, Johannes Douglas January 2010 (has links)
Nearly 80 years earlier, Henry Ford advised during the 1930 depression that: "A man who stops advertising to save money is like a man who stops a clock to save time". The purposes of this case study was to determine whether legal firms have taken cognisance of these wise words and have refrained from cutting back on expenses, and more particularly its promotional budget expenses during a down turning economy. It was discovered that, like nearly 80 years ago, costs today is still an important issue when considering and exploreing promotional opportunities. Small legal organisations have in general indicated that cost effectiveness is an important factor to take into consideration when deciding which type of promotion to explore. A further prerequisite was that the promotion should be target market orientated and effective. Interestingly enough, more than 60% of the sample organisations have failed to analyse their target market before commencing with any type of promotion. This immediately raised the question whether costs have not been wasted on wrong promotional efforts, rather than costs being an issue when considering promotion? It was concluded that small legal organisations have failed to properly analyse their target market and hence was unaware of their client?s needs. Various types of promotion were undertaken by the organisation, but in many instances were ineffective and costly. Should organisations have properly analysed their target markets they would have been in a better position to select an effective and less costly type of promotion. Limited recommendations were made in an attempt to assist small legal organisations to firstly analyse their target market which will result in more cost effective marketing and will enable them to address the needs of their target market directly. / Thesis (M.B.A.)--North-West University, Potchefstroom Campus, 2011.
99

Promotion of a legal firm during recessionary times / Johannes Douglas Richards

Richards, Johannes Douglas January 2010 (has links)
Nearly 80 years earlier, Henry Ford advised during the 1930 depression that: "A man who stops advertising to save money is like a man who stops a clock to save time". The purposes of this case study was to determine whether legal firms have taken cognisance of these wise words and have refrained from cutting back on expenses, and more particularly its promotional budget expenses during a down turning economy. It was discovered that, like nearly 80 years ago, costs today is still an important issue when considering and exploreing promotional opportunities. Small legal organisations have in general indicated that cost effectiveness is an important factor to take into consideration when deciding which type of promotion to explore. A further prerequisite was that the promotion should be target market orientated and effective. Interestingly enough, more than 60% of the sample organisations have failed to analyse their target market before commencing with any type of promotion. This immediately raised the question whether costs have not been wasted on wrong promotional efforts, rather than costs being an issue when considering promotion? It was concluded that small legal organisations have failed to properly analyse their target market and hence was unaware of their client?s needs. Various types of promotion were undertaken by the organisation, but in many instances were ineffective and costly. Should organisations have properly analysed their target markets they would have been in a better position to select an effective and less costly type of promotion. Limited recommendations were made in an attempt to assist small legal organisations to firstly analyse their target market which will result in more cost effective marketing and will enable them to address the needs of their target market directly. / Thesis (M.B.A.)--North-West University, Potchefstroom Campus, 2011.
100

3-d Grasping During Serpentine Motion With A Snake-like Robot

Atakan, Baris 01 December 2005 (has links) (PDF)
In this thesis, we introduce our lasso-type grasping scheme. This 3-D lasso-type grasping scheme, different from the previously performed grasping schemes which are either planar or fixed base, is the novelty of our approach where the snake robot grasps an object with any of its body links which are at close proximity to the object while undergoing its serpentine motion with the remaining links and dragging the grasped object. Since our snake robot has the pitch motion for every link, we can ensure that the links do not run into each other as they wrap around the object. A lasso-type power grasp is then possible for our 15-link snake robot as seen in the simulation results of this thesis. Furthermore we develop the kinematic and control models for lasso-type grasping and for dragging the grasped object to a desired state. This control model includes an adaptively changing feedback gain which prevents excessively large inputs to corrupt the serpentine locomotion control. According to our lasso-type grasping model, while the snake robot can grasp the object beginning with the any body link at close proximity of the object, the contact points can be controlled to generate the curvilinear grasping curve by using our lasso-type grasping procedure. For dragging the grasped object, we define a scheme which can determine the appropriate desired state to drag the grasped object to a desired position. The stability of the grasped object is important to resist the disturbance forces as well as the force closure grasping is important to counteract the disturbance force. To analyze the stability of the lasso-type grasping, we introduce a stability model of lasso-type grasping based on contact stiffness matrices that faces the snake to regrasp when gone unstable.

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