It is always very difficult for the piano teachers to select appropriate teaching materials from many published method series. Assigning them to meet the need of each individual student is also a challenge. From the Chinese editions of several piano teaching materials, the following three elementary piano method series with similar attributes were selected as the base of this research: David Carr Glover Piano Library, Bastien Piano Library, and Alfred's Basic Piano Library. Through systematic analysis and comparison, this research reaches certain conclusions about the similarities and differences between these method series. The outcome of this research may help piano teachers in selecting method books more objectively and in improving their teaching techniques. This research compares three selected piano method series from the following four aspects: the longitudinal connection of core courses, the latitudinal connection of core courses, the functional techniques of core courses, and the degree of applicability and compatibility of the supplementary courses. Items being analyzed for the first two aspects are basic knowledge of piano playing, reading approach (including pre- staff reading, staff recognition, recognition of intervals, scales and tonalities), rhythmic training, playing techniques, and interpretation or expression. The results of all analyses are arranged in tabulate form with necessary comments. The functional techniques of core courses are summarized in four categories: sight reading, transposition, harmonization with primary chords as the accompaniment, and playing primary chord progressions. The degree of applicability and compatibility of supplementary courses in the selected series is also determined through the consideration of same items listed above. The findings of this research are threefold which reveal the uniqueness of each piano method series: 1.The "Piano Solo" book of the David Carr Glover Piano Library works better with its core courses in the latitudinal connections than the "Piano Repertoire" book. 2. The Bastien Piano Library is the only one out of the three selected series offering the functional techniques of sight reading and emphasizing the transposition technique. 3. The Alfred's Basic Piano Library performs the best in the longitudinal and latitudinal connections within its core lessons. Its selected supplementary courses and "Piano Lessons" books have the highest degree of applicability and compatibility.

In this master thesis the gyroscopic stabilization of a two-wheeled amphibious concept vehicle is investigated. The key idea is to neutralize external torques applied on the vehicle by the counter torque produced from the two gyroscopes attached on the vehicle. Here the gyroscopes are used as actuators, not as sensors. When a torque is applied in order to rotate a gyroscope whose flywheel is spinning, then the gyroscope precesses and it generates a moment, orthogonal to both the torque and the spinning axis. This phenomenon is known as gyroscopic precession. As the vehicle leans from its upright position we expect to generate sufficient gyroscopic reaction moment to bring the vehicle back and get it stabilized.   We first derive the equations of motion based on Lagrangian mechanics. It is worth mentioning that we only consider the control dynamics of a static vehicle. This is the so called regulator problem where we try to counteract the effects of disturbances. The trajectory tracking (servo problem) and the water-travelling can be considered as an extension of the current project. We linearize the dynamics around an equilibrium and we study the stability of the linearized model. We then design an LQG controller, a Glover-McFarlane controller and a cascade PID controller. Regarding the implementation part, we only focus on the cascade PID controller. The results from both simulations and experiments with a small-scale prototype are presented and discussed. / <p>MARINTEKNIKDAGAR PÅ KTH 2015</p>

abstract: Proportional-Integral-Derivative (PID) controllers are a versatile category of controllers that are commonly used in the industry as control systems due to the ease of their implementation and low cost. One problem that continues to intrigue control designers is the matter of finding a good combination of the three parameters - P, I and D of these controllers so that system stability and optimum performance is achieved. Also, a certain amount of robustness to the process is expected from the PID controllers. In the past, many different methods for tuning PID parameters have been developed. Some notable techniques are the Ziegler-Nichols, Cohen-Coon, Astrom methods etc. For all these techniques, a simple limitation remained with the fact that for a particular system, there can be only one set of tuned parameters; i.e. there are no degrees of freedom involved to readjust the parameters for a given system to achieve, for instance, higher bandwidth. Another limitation in most cases is where a controller is designed in continuous time then converted into discrete-time for computer implementation. The drawback of this method is that some robustness due to phase and gain margin is lost in the process. In this work a method of tuning PID controllers using a loop-shaping approach has been developed where the bandwidth of the system can be chosen within an acceptable range. The loop-shaping is done against a Glover-McFarlane type &#8459;&#8734; controller which is widely accepted as a robust control design method. The numerical computations are carried out entirely in discrete-time so there is no loss of robustness due to conversion and approximations near Nyquist frequencies. Some extra degrees of freedom owing to choice of bandwidth and capability of choosing loop-shapes are also involved and are discussed in detail. Finally, comparisons of this method against existing techniques for tuning PID controllers both in continuous and in discrete-time are shown. The results tell us that our design performs well for loop-shapes that are achievable through a PID controller. / Dissertation/Thesis / M.S. Electrical Engineering 2011

Pest control of cultivated plant species has been usually performed by insecticides, which is undesirable because of economical and environmental concerns, since successive applications affect natural enemies and increase the possibility of development of resistant population toward insecticides. These problems can be minimized with alternative control methods as the use of resistant varieties, use of substances that induce resistance and biological control. Those studies involving the interaction of plant, pest and natural enemies are of fundamental importance. Thus, this study aimed: a) to study the effect of volatile organic compounds in tritrophic interactions between pepper Capsicum spp., the aphid Aphis gossypii and its parasitoid Aphidius colemani; b) to study the role of cis-jasmone in the tritrophic interaction between the pepper, the aphid A. gossypii and the parasitoid A. colemani and its role in activating the defense mechanism of the plant. Pepper varieties were evaluated for resistance to the aphid A. gossypii and their volatiles were collected before and after infestation. Volatiles compounds were tentatively identified by gas chromatography/mass spectrometry. Olfactometry bioassays were performed with volatile regarding the behavior of A. gossypii and A. colemani. The main conclusions obtained in this work were: a) there is genetic variability among genotypes of Capsicumin relation to the release of volatile compounds and in the susceptibility toward A. gossypii; b) genotype Cambuci can be used in breeding programs aiming Capsicum cultivars more resistant to A. gossypii; c) there were significant differences between the effects of volatiles from the two cultivars on behavior of A. gossypii and A. colemani; d) the volatiles emitted by Cambuci cultivar after infestation produced repellent effect on A. gossypii and were attractive to A. colemani; e) the cis-jasmone applied to pepper plants provided emission of volatiles that had repellent action on the A. gossypii and attractive one to A. colemani; f) the genetic variability between genotypes, after infestation indicates that volatile organic compounds present as variables can be used for selection and development of bell pepper cultivars resistant to the aphid A. gossypii. / O controle de pragas das espécies vegetais cultivadas tem sido normalmente realizado por meio de inseticidas, o que é indesejável tanto por motivos econômicos quanto ambientais, já que as aplicações sucessivas afetam os inimigos naturais e aumentam a possibilidade de desenvolvimento de populações da praga resistentes aos inseticidas. Esses problemas podem ser minimizados com métodos alternativos de controle como o emprego de variedades resistentes, o uso de substâncias indutoras e o controle biológico. Para isso, estudos envolvendo a interação planta, praga e inimigo natural são de fundamental importância. Dessa forma, este trabalho teve como objetivos: a) Estudar a ação dos compostos orgânicos voláteis na interação tritrófica entre o pimentão Capsicum spp., o pulgão Aphis gossypiie seu parasitóide Aphidiuscolemani; b) Estudar a ação da cis-jasmona na interação tritrófica entre o pimentão, o pulgão A. gossypii e o parasitóide A. colemani e seu papel na ativação do mecanismo de defesa do vegetal. Variedades de pimentão foram avaliadas em relação à resistência ao pulgão A. gossypii e os seus compostos voláteis foram coletados antes e após a infestação. Os compostos voláteis foram tentativamente identificados por cromatografia gasosa/espectrometria de massas. Bioensaios de olfatometria foram realizados com os compostos voláteis em relação ao comportamento de A. gossypii e A. colemani. As principais conclusões obtidas neste trabalho foram: a) Existe variabilidade genética entre os genótipos de Capsicum em relação à emissão de compostos voláteis e em relação à susceptibilidade ao A. gossypii; b) O genótipo Cambuci poderá ser utilizado em programas de melhoramento genético visando cultivares de Capsicum mais resistentes ao A. gossypii; c) Houve diferenças significativas entre os efeitos dos compostos voláteis das duas cultivares sobre os comportamentos de A. gossypii e de A. colemani; d) Os compostos voláteis emitidos pela cultivar Cambuci após a infestação proporcionaram efeito repelente a A. gossypii e atrativo a A. colemani; f) A cis-jasmona aplicada sobre plantas de pimentão induziu a emissão e/ou produção de compostos voláteis que teve ação de repelência a A. gossypii e ação atraente para A. colemani; i) A variabilidade genética entre os genótipos, após a infestação, indica que os compostos orgânicos voláteis apresentam-se como variáveis que podem ser utilizadas para seleção e desenvolvimento de cultivares de pimentão resistente ao pulgão A. gossypii.

The desire to enhance and make ourselves better is not a new one and it has continued to intrigue throughout the ages. Individuals have continued to seek ways to improve and enhance their well-being for example through nutrition, physical exercise, education and so on. Crucial to this improvement of their well-being is improving their ability to remember. Hence, people interested in improving their well-being, are often interested in memory as well. The rationale being that memory is crucial to our well-being. The desire to improve one’s memory then is almost certainly as old as the desire to improve one’s well-being. Traditionally, people have used different means in an attempt to enhance their memories: for example in learning through storytelling, studying, and apprenticeship. In remembering through practices like mnemonics, repetition, singing, and drumming. In retaining, storing and consolidating memories through nutrition and stimulants like coffee to help keep awake; and by external aids like notepads and computers. In forgetting through rituals and rites. Recent scientific advances in biotechnology, nanotechnology, molecular biology, neuroscience, and information technologies, present a wide variety of technologies to enhance many different aspects of human functioning. Thus, some commentators have identified human enhancement as central and one of the most fascinating subject in bioethics in the last two decades. Within, this period, most of the commentators have addressed the Ethical, Social, Legal and Policy (ESLP) issues in human enhancements as a whole as opposed to specific enhancements. However, this is problematic and recently various commentators have found this to be deficient and called for a contextualized case-by-case analysis to human enhancements for example genetic enhancement, moral enhancement, and in my case memory enhancement (ME). The rationale being that the reasons for accepting/rejecting a particular enhancement vary depending on the enhancement itself. Given this enormous variation, moral and legal generalizations about all enhancement processes and technologies are unwise and they should instead be evaluated individually. Taking this as a point of departure, this research will focus specifically on making a case for ME and in doing so assessing the ESLP implications arising from ME. My analysis will draw on the already existing literature for and against enhancement, especially in part two of this thesis; but it will be novel in providing a much more in-depth analysis of ME. From this perspective, I will contribute to the ME debate through two reviews that address the question how we enhance the memory, and through four original papers discussed in part three of this thesis, where I examine and evaluate critically specific ESLP issues that arise with the use of ME. In the conclusion, I will amalgamate all my contribution to the ME debate and suggest the future direction for the ME debate.