Please read the abstract in the section 04back of this document / Dissertation (MA (Semitic Languages))--University of Pretoria, 2006. / Ancient Languages / unrestricted

In Afrikaans only Sowel Stefans Grové as N.P. van Wyk Louw is kontemporêre, Afrikaanssprekende kunstenaars wat binne ’n Westerse kultuur grootgeword het en in die Westerse kunstradisie opgelei is. N.P. van Wyk Louw se epiese gedig, Raka, het as inspirasie vir verskeie kunswerke gedien, waaronder skilderye van Alexis Preller en Cecil Skotnes. Twee vooraanstaande Suid- Afrikaanse komponiste is ook geïnspireer deur Van wyk Louw se werk: Graham Newcarter se ballet Raka het in 1967 verskyn en ’n gelyknamige simfoniese toondig in die vorm van ’n klavierkonsert verskyn in 1996 uit die pen van Stefans Grové. Terwyl verskeie ander komposisies van Stefans Grové as onderwerpe van uitgebreide navorsing gebruik is, is relatief min bekend oor die aard en samestelling van hierdie toondig en die raakpunte en verskille wat tussen die musiek en die oorspronklike gedig bestaan. Hierdie studie ondersoek die wyse waarop ’n erkende literêre werk deur ’n vooraanstaande Suid-Afrikaanse digter ’n nuwe gedaante aanneem binne die omvang en beperkings van ’n musikale vorm. Die studie fokus op hoe Stefans Grové verskillende musikale parameters soos ritme, melodie en struktuur in sy simfoniese toondig, gegrond op N.P. van Wyk Louw se epiese gedig Raka , aanwend. / Dissertation (MMus (Performing Art))--University of Pretoria, 2007. / Music / MMUs / unrestricted

La tesi contiene un commento continuo al poemetto tardo arcaico noto col titolo di Scutum Herculis e falsamente assegnato a Esiodo; vi sono affrontate in prevalenza questioni mitografiche, geografiche, antiquarie e iconografiche, ma talora anche aspetti linguistico-letterari, laddove siano utili all'inquadramento dell'orizzonte storico-culturale sotteso alla composizione dell'epillio. Nell'introduzione si dimostra come la sensibilità artistica dell'autore dell'ekphrasis possa essere ricondotta al periodo a cavallo tra il VII e il VI secolo a.C. / The dissertation contains a continuous commentary on the late archaic poem known as Scutum Herculis and wrongly attributed to Hesiod. It discusses especially mythographical, geographic, antiquarian and iconographic issues, but also some linguistic and literary aspects, which can contribute to the outline of the historical and cultural milieu, within which the poem was composed. In the introduction it is showed how the artistic taste of the author of the ekphrasis could date back to the period between the 7th and the 6th century B.C.

Tato diplomová práce práce se zabývá plánováním cesty všesměrového mobilního robotu pomocí algoritmu RRT (Rapidly-exploring Random Tree – Rychle rostoucí náhodný strom). Teoretická část popisuje základní algoritmy plánování cesty a prezentuje bližší pohled na RRT a jeho potenciál. Praktická část práce řeší návrh a tvorbu v zásadě multiplatformní C++ aplikace v prostředí Windows 7 za použití aplikačního frameworku Qt 4.8.0, která implementuje pokročilé RRT algoritmy s parametrizovatelným řešičem a speciálním dávkovým režimem. Tento mód slouží k testování efektivnosti nastavení řešiče pro dané úlohy a je založen na post-processingu a vizualizaci výstupu měřených úloh pomocí jazyka Python. Vypočtené cesty mohou být vylepšeny pomocí zkracovacích algoritmů a výsledná trajektorie odeslána do pohonů Maxon Compact Drive všesměrové mobilní platformy pomocí CANopen. Aplikace klade důraz na moderní grafické uživatelské rozhraní se spolehlivým a výkonným 2D grafickým engine.

Control and balancing of an inverted pendulum has gained a lot of attention over the past few decades due to its unstable properties. This has become a great challenge for control engineers to verify and test the control theory. To control and balance an inverted pendulum, proportional integrated derivative (PID) method or linear quadratic regulator (LQR) method can be used through which a lot of simulations can be done using the represented theories.Since urban population is increasing at a very alarming rate, there is a need to discover new ways of transportation to meet the future challenges and demands. Scania has come up with a new conceptual bus called NXT which aims to develop a modular vehicle that should configure and re-configure themselves between different transportation tasks. NXT vehicle has front and rear drive modules which can be represented as single axle, two-wheeled vehicles which in-turn can be viewed as an inverted pendulum with a huge Center of Gravity. Controlling and balancing of the pod or drive module precisely and accurately is an interesting challenge since it is an unstable inverted pendulum with huge center of gravity (COG). This behaviour of the system has created a research question whether the module is controllable or not.Therefore this thesis focuses on the possibility of controlling the pod which is a two-wheeled inverted pendulum vehicle with a COG offset. Also, the thesis focuses on the construction, mod-elling, testing and validation of a down-scaled model, what sensors are needed to balance the pod precisely, how the sensors must be integrated with the system and how the pod can be controlled remotely from a certain distance by a human. The developed pod houses the technologies like sensors, BLDC motor controllers, hoverboard, Arduino board and Bluetooth transmitters.The Master Thesis starts by presenting an introduction to the inverted pendulum theories, Scania NXT project, information about the research methods, thesis outline and structure . It continues by describing related literature about the inverted pendulums, segways, hoverboards, motor controllers and Arduino boards. Afterwards, the process of deriving a mathematical model, together with simulation in Matlab, Simulink and Simscape is described. Later, construction of the pod is made and lot of effort is put to run the pod. Since the pod needs to be controlled remotely by a human, a remote controlled systemis implemented via mobile phone using an app and finally the thesis is finished with a conclusion and ideas for future work. / Reglering och balancering av en inverterad pendel har väckt stor uppmärksamhet över de senaste decennierna på grund av dess instabila egenskaper. Det har skapat stora utmaningar för regleringenjörer eftersom området tillåter test och verifikation av diverese lösningar. För reglering och balansering av en inverterad pendel, så kan en regulator med proportionell, integral och derivat (PID) konstanter eller en linjär kvadratisk regulator (LQR) användas tillsammans med simuleringar för att bekräfta teorin.I och med att stadsbefolkningen ökar i mycket hög takt, så uppstår behovet av att uppfinna nya transportmedel för att lösa framtida utmaningar och krav. Scania har tagit fram en ny konceptbuss som heter NXT, med målet att utveckla ett modulfordon som kommer att konfigurera och rekonfigurera sig själva mellan olika transportuppgifter. NXT-fordonet har fram- och bakdriv-moduler som kan representeras som enaxlade tvåhjuliga fordon, vilka i sin tur kan betraktas som en inverterad pendel med en stor massa. Att reglera och balansera drivmodulen på ett noggrant sätt är en utmaning eftersom det är ett mycket instabilt system med enorm massa och en okänd tyngdpunkt. Systemets beteende har skapat en forskningsfråga om modulen är reglerbar eller inte.Denna uppsats fokuserar därmed på möjligheterna att kunna reglera drivmodulen samt vilka begränsningar det finns. Uppsatsen fokuserar också på konstruktion, modellering, testning och validering av en nedskalad modell, vilka sensorer som krävs för att balansera drivmodulem, samt hur sensorerna måste integreras med systemet för att kunna fjärstyra fordonet från ett visst avstånd. Utveckingen av en sådan nedskalad modell berör olika områden såsom sensorer, BLDC-motorstyrenheter, hoverboard balanserings scootrar, Arduino kretskort och Bluetooth-sändare/mottagare.Uppsasten börjar med en introduction om olika inverterade pendel teorier, Scania NXT project, forskningsmetoder, en översikt och övergripande struktur. Vidare fortsätter beskrivining av relaterade litteratur om inverterade pendel, Segway, hoverboard, borstlösa motor styrenheter och Arduino kretskort. Senare fortsätter processen för att härleda matematiska modeller som beskirver systemet, tillsammans med simuleringar i Matlab, Simulink och Simscape. Därefter beskrivs konstruktionen av en nedskalad modell av drivmodulen och beskrivning av nödvändiga processer för att få hårdvara och mjkukvara att fungera ihop. Då fordonen ska ha möjlighet att fjärrstyras, så implementerades en bluetooth enhet tillsammans med en programmerbar mobil applikation. Slutligen avlutas uppsatsen med resultat, slutsats och diskussioner och förslag till framtida arbeten.

The presented master's thesis deals with the Epic of Zimrī-Lîm, a text from the ancient city of Mari from the beginning of the 18th century BC. The text of the epic is included in transliteration (based on the edition by Michaël Guichard from 2014) and in English translation. The epic has also been published online as the first entry of NERE (Near Eastern Royal Epics) project on ORACC (Open Richly Annotated Cuneiform Corpus). In addition to the text itself, the thesis includes a broader historical-cultural commentary. There, selected elements of the ancient text are portraited as well-set within the lived cultural-political environment of the ancient Near East, with particular attention to the time of Zimrī-Lîm. Most of the space is devoted to the religious aspect of the work, especially the role of the deities. Last but not least, the composition is discussed within the context of other royal epics of the ancient Near East. Key Words Zimrī-Lîm, Mari, TellHariri, epic, royal epics, Akkadian literature, narrative, royal ideology, religion, ancient Syria, ancient Mesopotamia, ancient Near East, Middle Bronze Age

In her doctoral thesis the author would like to present the play Yoshitsune and the Thousand Cherry trees (Yoshitsune senbonzakura) as a unique piece of Japanese drama which has a great complexity and an outstanding place within the corpus of Japanese literature. Even if the play can be compared to Chushingura mono in its importance, Yoshitsune senbonzakura has not been widely translated to western languages. There are two exceptions, however: the English translation (Jones, Jr. 1993) and the German translation (Klopfenstein 1982). While comparing the two translations and using the most full original texts available (as preserved in Takeda Izumo and Namiki Sosuke Joruri Collection and Yuda Yoshio's Bunraku Joruri Collection), the author's goal is to present the play to Czech readers and its interpretation to Czech scholars. As for the flow and structure of the interpretation of Yoshitsune senbonzakura the author begins with the historical background of the legend of Minamoto Yoshitsune, capturing the life of Yoshitsune from the time of Heiji rebellion (1159) when he was born to his death in 1189. Next the author concentrates on the legend itself as it evolved within the course of Japanese literature. With a shift from the court literature of Heian period towards the battlefield stories and...

In her doctoral thesis the author would like to present the play Yoshitsune and the Thousand Cherry trees (Yoshitsune senbonzakura) as a unique piece of Japanese drama which has a great complexity and an outstanding place within the corpus of Japanese literature. Even if the play can be compared to Chushingura mono in its importance, Yoshitsune senbonzakura has not been widely translated to western languages. There are two exceptions, however: the English translation (Jones, Jr. 1993) and the German translation (Klopfenstein 1982). While comparing the two translations and using the most full original texts available (as preserved in Takeda Izumo and Namiki Sosuke Joruri Collection and Yuda Yoshio's Bunraku Joruri Collection), the author's goal is to present the play to Czech readers and its interpretation to Czech scholars. As for the flow and structure of the interpretation of Yoshitsune senbonzakura the author begins with an analysis of the historical background of the legend of Minamoto Yoshitsune, capturing the life of Yoshitsune from the time of Heiji rebellion (1159) when he was born to his death in 1189. Next the author concentrates on the legend itself as it evolved within the course of Japanese literature. With a shift from the court literature of Heian period towards the battlefield...