Denna studie genomfördes med syftet att undersöka yrkessjöfartens grundstötningar och kollisioner inom svenska hamnområden. Studien genomfördes som en kvantitativt inriktad systematisk litteraturstudie. I denna studies metod delades inträffade olyckor in i tre kategorier: fartyg med lots, fartyg med lotsdispens och fartyg utan lotsplikt. Rapporter om olyckor som inträffat mellan 2003 och 2013 inom svenska hamnområden utgjorde studiens underlag av data. Resultaten visar att fartyg utan lotsplikt är involverade i fler grundstötningar och kollisioner inom svenska hamnområden än fartyg med lotsplikt. Resultaten visar även att fartyg utan lotsplikt kolliderar med andra fartyg i högre utsträckning än vad fartyg med lotsplikt gör och att fartyg som navigerar med lotsdispens är något mer riskbenägna under sämre vind- och siktförhållanden. / The following study was conducted with the intent of reviewing groundings and collisions within Swedish port facilities involving commercially operated vessels. The method used was a quantitative systematic literature review. The study compared accidents involving vessels with pilot onboard and vessels which were exempted pilotage. Reports of accidents occurring between 2003 and 2013 were the study’s basis of data. The results show that the vast majority of accidents involved vessels exempted from pilotage due to ships’ particulars. The most common type of accidents involving the aforementioned vessels were collisions with other vessels, which stands in clear contrast to the other two vessel categories which both mostly tended to collide with fixed objects. In summary, this study clearly demonstrates that vessels whose particulars make them exempted from pilotage are at greatly increased risk of being involved in groundings and collision within port facilities.Keywords:Pilotage, Pilot,

Symbolic grounding is a bridge between task level planning and actual robot sensing and actuation. Uncertainties raised by unstructured environments make a bottleneck for integrating traditional artificial intelligence with service robotics. In this research, a fuzzy optimisation based symbolic grounding approach is presented. This approach can handle uncertainties and helps service robots to determine the most comfortable base region for grasping objects in a fetch and carry task. Novel techniques are applied to establish fuzzy objective function, to model fuzzy constraints and to perform fuzzy optimisation. The approach does not have the short comings of others’ work and the computation time is dramatically reduced in compare with other methods. The advantages of the proposed fuzzy optimisation based approach are evidenced by experiments that were undertaken in Care-O-bot 3 (COB 3) and Robot Operating System (ROS) platforms.

Estudos sobre proteção contra os surtos chamados de transitórios rápidos, principalmente os que afetam os sistemas elétricos de potência, exigem que o comportamento dos sistemas de aterramento quando submetidos a esses eventos seja meticulosamente estimado. Isto se deve ao fato de o chamado comportamento dinâmico associado aos sistemas de aterramento, muitas vezes, produzir resultados diferentes do chamado comportamento estático. Em face disso é consenso que, para a realização de tais estudos, é necessário obter um modelo acurado seja do sistema de aterramento como um todo ou dos elementos que o compõe para conseguir uma boa representação nas simulações digitais. Durante as últimas duas décadas muitas tentativas vêem sendo feitas nessa direção. Essas tentativas são baseadas ora em modelos computacionais, os quais são resolvidos numericamente, ora sobre expressões analíticas para as distribuições de tensão e corrente sob simplificações ou condições iniciais especiais. Diversas soluções lidam com as equações de propagação, considerando os parâmetros dos componentes do sistema de aterramento dependentes da freqüência. Outro grupo de métodos baseia-se nos princípios do eletromagnetismo. Neste contexto, este trabalho propõe uma modelagem, usando um bipolo elétrico equivalente, para representar um sistema de aterramento em simulações digitais, por meio de programas baseados no SPICE - simulation program with integrated circuits emphasis. Diferente de modelos anteriores, que usaram o bipolo elétrico para simular apenas o comportamento dinâmico de determinadas partes de um sistema de aterramento, nesta modelagem utiliza-se apenas um bipolo elétrico para simular tanto o comportamento dinâmico quanto o estático. Essa modelagem foi desenvolvida ao longo de um estudo teórico-experimental realizado sobre o tema. / Fast transients protection studies, mainly with regard to electric power systems, require accurate estimation of grounding systems behavior under such phenomena. Therefore, the called dynamic behavior of grounding systems leads those studies, most of cases, to different results from the other called static behavior. For this reason, either the whole grounding system or each one of its components need to be accurately modeled to offer a good representation in digital simulations. Researchers have been made many attempts to this direction, during the last two decades. These attempts are based sometimes on computer models, which are solved numerically, sometimes on analytical expressions for voltage and current distributions under simplifications or special initial conditions. Several solutions deal with the propagation equations, considering the parameters frequency dependence of the grounding system elements. Another class of solution methods is based on the electromagnetism principles. Inserted in this context, the present work proposes a model to represent grounding systems as a whole in digital simulations carried out by computer programs based on SPICE - simulation program with integrated circuits emphasis. This task was performed by using only one experiment-based two-port electric circuit model. Unlike previous works, that explored the two-port electric circuit model to simulate only the dynamic behavior of grounding systems, this work shows the possibility to incorporate both dynamic and static behavior to the two-port electric circuit model. This procedure relies on a methodology developed from a theoretic-experimental study.

Submitted by Cristiane Chim (cristiane.chim@ucpel.edu.br) on 2017-06-21T12:20:41Z No. of bitstreams: 1 FERNANDA RUSCH ZAHN.pdf: 1208071 bytes, checksum: 8318549ef9b4ac1bda174e92d52ed737 (MD5) / Made available in DSpace on 2017-06-21T12:20:41Z (GMT). No. of bitstreams: 1 FERNANDA RUSCH ZAHN.pdf: 1208071 bytes, checksum: 8318549ef9b4ac1bda174e92d52ed737 (MD5) Previous issue date: 2016-12-23 / This study deals with children‟s acquisition of narrative structure, focusing on their preliteracy period and on orality, in the light of Cognitive Linguistics. It specifically aims at understanding and explaining the behavior of the cognitive process called Grounding (figureground alignment), which is fundamental to the comprehension and organization of information. Therefore, narratives produced by six 4-year-old children who are native speakers of Brazilian Portuguese, were analyzed. Three of them go to a city public school and three go to a private school in Pelotas, RS, Brazil. Parents‟ answers to a biographical questionnaire were also included in the data analysis and discussion. The corpus collection started with every child listening to the story “Little Red Riding Hood” which was told by the researcher. Then, the child should (re)tell this story without using any resource. Interactions were recorded and transcribed. This process was carried out individually and equally in both institutions. The subjects‟ productions were analyzed qualitatively: Labov and Waletzky‟s (1967) and Labov‟s (1972) proposal was applied to the analysis of the narrative structure; Perroni‟s (1992) ideas were used for analyzing the acquisition and the development of the child‟s narrative discourse; and studies by Hopper (1979), Talmy (1975) and Langacker (2008) provided the basis for the analysis of issues related to Grounding (figure-ground alignment). Besides describing every subject‟s results, comparisons were made among the types of schools, their gender and their families‟ reading habits. Results show that, in the age group under investigation, the same structural elements were found in the subjects‟ narrative productions: orientation, complicated action, resolution and coda. Concerning which narrative elements were produced, there was no difference among the subjects, regardless of their families‟ reading habits, their gender and types of schools. Differences were observed regarding the content of every element since subjects who go to the public school had better performance that the ones who go to the private school. Concerning Grounding, all subjects gave more information on figure than on ground. Ground sequences appeared gradually in the subjects‟ data. There was a difference between both schools regarding Grounding since the children who attend the private school recovered fewer ground sequences than the children who go to a public school. The study also showed that those subjects who had developed reading habits with their families performed better than those whose families had no reading habits. It is worth emphasizing that girls not only had more skills in terms of the content of the narrative, but also recovered more information on ground, than boys. / O presente trabalho aborda, sob a perspectiva da Linguística Cognitiva, a aquisição da estrutura narrativa pela criança, com foco no período da pré-alfabetização e na oralidade. Mais especificamente, procura compreender e explicar o comportamento do processo cognitivo designado Grounding (alinhamento figura/fundo), fundamental tanto para a compreensão quanto para a organização de informações. Para tanto, foram analisadas narrativas referentes à produção de seis crianças, falantes do português brasileiro, na faixa etária de quatro anos. Deste total, três pertencem à rede pública municipal e as outras três à rede privada de ensino, residentes na cidade de Pelotas/RS, Brasil. Também foi utilizado na análise e discussão dos dados um questionário biográfico respondido pelos pais. A coleta do corpus deu-se da seguinte maneira: primeiramente, a criança escutou a história “Chapeuzinho Vermelho” contada pela pesquisadora. Em seguida, a criança tinha que (re)contar essa história sem a utilização de qualquer recurso. As interações foram gravadas e transcritas. Esse processo foi realizado individualmente e da mesma forma em ambas as instituições. As produções dos sujeitos foram analisadas qualitativamente: para a análise da estrutura narrativa foi adotada a proposta elaborada por Labov e Waletzky (1967) e Labov (1972); para a análise sobre a aquisição e o desenvolvimento do discurso narrativo pela criança considerou-se os aspectos apontados por Perroni (1992); e, para a análise dos aspectos relacionados ao Grounding (alinhamento figura/fundo) baseou-se no estudo de Hopper (1979); Talmy (1975) e Langacker (2008). Além da descrição dos resultados de cada sujeito, foram estabelecidas comparações considerando escola de origem, gênero e hábitos de leitura da família. Os resultados apontam que na faixa etária escolhida foram encontrados os mesmos elementos estruturais nas produções narrativas dos seis sujeitos: orientação, ação complicadora, resolução e coda. No que se refere a quais elementos da narrativa foram produzidos, não houve diferenças entre os sujeitos, independentemente dos hábitos de leitura da família, do gênero e da escola de origem. Verificou-se diferença no que diz respeito ao teor/conteúdo de cada um destes elementos, já que os sujeitos da escola pública apresentam melhor desempenho do que os da escola privada. Com relação à presença do Grounding, constatou-se que todos os sujeitos apresentaram mais informações de figura do que de fundo. As sequências de fundo vão surgindo gradativamente nos dados dos sujeitos. Houve diferença entre as escolas quanto a presença do Grounding, pois os sujeitos da escola privada recuperaram menos sequências de fundo do que os sujeitos da escola pública. Também verificou-se que aqueles sujeitos que tem hábitos de leitura cultivados na família apresentam melhor desempenho do que aqueles que não os tem. Em especial, verificou-se que os sujeitos do sexo feminino demonstraram mais habilidade no que diz respeito ao teor/conteúdo da narrativa do que os sujeitos do sexo masculino assim como, também foram os que recuperaram mais informações de fundo.

Researchers are still far from thoroughly understanding and building accurate computational models of the mechanisms in human mind that give rise to cognitive processes such as emergence of concepts and language acquisition. As a new attempt to give an insight into this issue, in this thesis, we are concerned about developing a computational model that leads to the emergence of concepts. Specically, we investigate how a robot can acquire verb and object concepts through learning affordances, a notion first proposed by J. J. Gibson in 1986. Using the affordance formalization framework of Sahin et al. in 2007, a humanoid robot acquires concepts through interactions in an embodied environment. For the acquisition of verb concepts, we take an alternative approach to the literature, which generally links verbs to specific behaviors of the robot, by linking them to specific effects that different behaviors may generate. We show how our robot can learn effect prototypes, represented in terms of feature changes in the perception vector of the robot, through demonstrations made by a human supervisor. As for the object concepts, we use the affordance relations of objects to create object concepts based on their functional relevance. Additionally, we show that the extracted eect prototypes corresponding to verb concepts can also be utilized to discover stable and variable properties of objects which can be associated to stable and variable affordances. Moreover, we show that the acquired concepts provide a suitable basis for communication with humans or other agents, for example to understand and imitate others&#039 / behaviors or for goal specication tasks. These capabilities are demonstrated in simple interaction games on the iCub humanoid robot platform.

One view to cognition is that the symbol manipulating brain interprets the symbols of language based on the sensori-motor experiences of the agent. Such symbols, for example, what we refer to as nouns and verbs, are generalizations that the agent discovers through interactions with the environment. Given that an important subset of nouns correspond to objects (and object concepts), in this thesis, how function and appearance-based object concepts can be created through affordances has been studied. For this, a computational system, which is able to create object concepts through simple interactions with the objects in the environment, is proposed. Namely, the robot applies a set of built-in behaviors (such as pushing, lifting, grasping) on a set of objects to learn their aordances, through which objects affording similar functions are grouped into object concepts. Moreover, the thesis demonstrates that the discovered object concepts are beneficial for learning new tasks by analyzing the learning performance of learning a new task with and without object concepts.

This thesis focuses on the physics of static sea-level changes following variations in the distribution of grounded ice and the influence of these changes on the stability and dynamics of marine ice sheets. Gravitational, deformational and rotational effects associated with changes in grounded ice mass lead to markedly non-uniform spatial patterns of sea-level change. I outline a revised theory for computing post-glacial sea-level predictions and discuss the dominant physical effects that contribute to the patterns of sea-level change associated with surface loading on different timescales. I show, in particular, that a large sea-level fall (rise) occurs in the vicinity of a retreating (advancing) ice sheet on both short and long timescales. I also present an application of the sea-level theory in which I predict the sea-level changes associated with a new model of North American ice sheet evolution and consider the implications of the results for efforts to establish the sources of Meltwater Pulse 1A. These results demonstrate that viscous deformational effects can influence the amplitude of sea-level changes observed at far-field sea-level sites, even when the time window being considered is relatively short (≤ 500 years). / Earth and Planetary Sciences

Αντικείμενο αυτής της εργασίας είναι η εξομοίωση της μεταβατικής συμπεριφοράς του πλέγματος γείωσης υποσταθμού υποβάθμισης τάσης 150/20kV. Σκοπός της είναι η επιλογή του κατάλληλου μοντέλου που θα προσομοιώσει το πλέγμα λαμβάνοντας υπόψη το φαινόμενο ιονισμού του εδάφους, και μέσω του προγράμματος εξομοίωσης ATP-EMTP, γίνεται η εξομοίωση, απ’ όπου λαμβάνονται τα αποτελέσματα υπό μορφή γραφημάτων και μελετάται η μεταβατική συμπεριφορά του συστήματος γείωσης στις περιπτώσεις πλήγματος κεραυνού. Επίσης παρουσιάζονται και οι αναπτυσσόμενες βηματικές τάσεις. / The subject of this study is to simulate the transient behavior of the grounding grid of a voltage drop substation 150/20 kV. It’s aim is the selection of an appropriate model to simulate the grid, taking into account the effect of soil ionization, and simulation takes place using the simulation program ATP-EMTP, whence results are obtained in graphical form, and the transient behavior of the grounding system is studied in the case of a lightning strike.The developed step voltages are also presented.

The Antarctic grounding zone has a disproportionately large effect on glacier dynamics and ice sheet stability relative to its size but remains poorly characterised across much of the continent. Accurate ice velocity and thickness information is needed in the grounding zone to determine glacier outflow and establish to what extent changing ocean and atmospheric conditions are affecting the mass balance of individual glacier catchments. This thesis describes new satellite remote sensing techniques for measuring ice velocity and ice thickness, validated using ground measurements collected on the Beardmore, Skelton and Darwin Glaciers and applied to other Transantarctic Mountain outlet glaciers to determine ice discharge. Outlet glaciers in the Transantarctic Mountains provide an important link between the East and West Antarctic Ice Sheets but remain inadequately studied. While long-term velocities in this region are shown here to be stable, instantaneous velocities are sensitive to stresses induced by ocean tides, with fluctuations of up to 50% of the mean observed in GPS measurements. The potential error induced in averaged satellite velocity measurements due to these effects is shown to be resolvable above background noise in the grounding zone but to decrease rapidly upstream. Using a new inverse finite-element modelling approach based on regularization of the elastic-plate bending equations, tidal flexure information from differential InSAR is used to calculate ice stiffness and infer thickness in the grounding zone. This technique is shown to be successful at reproducing the thickness distribution for the Beardmore Glacier, eliminating current issues in the calculation of thickness from freeboard close to the grounding line where ice is not in hydrostatic equilibrium. Modelled thickness agrees to within 10% of ground penetrating radar measurements. Calibrated freeboard measurements and tide-free velocities in the grounding zones of glaciers in the western Ross Sea are used to calculate grounding zone basal melt rates, with values between 1.4 and 11.8 m/a⁻¹ in this region. While strongly dependent on grounding line ice thickness and velocity, melt rates show no latitudinal trend between glaciers, although detailed error analysis highlights the need for much improved estimates of firn density distribution in regions of variable accumulation such as the Transantarctic Mountains.

Αντικείμενο της παρούσας διπλωματικής εργασίας είναι η μελέτη Υποσταθμού ΜΤ – ΧΤ. Αναλύονται τα μέσα που χρησιμοποιούνται για την υλοποίηση ενός ιδιωτικού Υ/Σ ΜΤ, ενώ μελετάται εκτενέστερα η διαδικασία επιλογής των μέσων εκείνων που είναι αναγκαία για την ηλεκτροδότηση ενός Μηχανουργείου, το οποίο αποτελείται από φορτία κίνησης και φωτισμού. Η εργασία χωρίζεται από δύο μέρη. Στο πρώτο μέρος, που είναι η εισαγωγή, παρατίθενται τα απαραίτητα θεωρητικά στοιχεία για την μελέτη και την σχεδίαση ενός Υ/Σ. Συγκεκριμένα, αναλύονται τα μέσα ζεύξης – απόζευξης και προστασίας ΜΤ καθώς και ο εξοπλισμός για το δίκτυο ΜΤ. Παρουσιάζονται οι τύποι παροχής των ιδιωτικών Υ/Σ, τα κατάλληλα είδη γείωσης για προστασία των ατόμων που εργάζονται σε αυτούς ή βρίσκονται κοντά, από επικίνδυνες τάσεις επαφής και βηματικές τάσεις, όπως επίσης και η απαραίτητη προστασία του Υ/Σ έναντι υπερτάσεων. Στην συνέχεια, επισημαίνονται τα χαρακτηριστικά στοιχεία, καθώς και οι τρόποι επιλογής και προστασίας των Μ/Σ ισχύος, οι οποίοι έχουν τον ρόλο του μετασχηματισμού της τάσης από ΜΤ σε ΧΤ. Γίνεται μια αναφορά στα καλώδια ΜΤ και ΧΤ και αναλύονται τα μέσα ζεύξης – απόζευξης και προστασίας ΧΤ. Επιπλέον περιγράφονται οι ηλεκτρικοί πίνακες μέσα στους οποίους τοποθετούνται τα μέσα ζεύξης και προστασίας. Επισημαίνεται η αναγκαιότητα της αντιστάθμισης αέργου ισχύος και γίνεται μια αναφορά στα συστήματα πυροπροστασίας και στην επιβεβλημένη συντήρηση του Υ/Σ. Τέλος παρουσιάζονται τα απαραίτητα εκείνα στοιχεία για τον υπολογισμό των ηλεκτρικών εγκαταστάσεων ισχυρών ρευμάτων των βιομηχανικών χώρων, οι οποίοι αποτελούνται από εγκαταστάσεις κίνησης και φωτισμού. Στο δεύτερο μέρος, πραγματοποιείται μια μελέτη εγκατάστασης κίνησης και φωτισμού ενός Μηχανουργείου καθώς επίσης και η μελέτη επιλογής των μέσων υλοποίησης του ιδιωτικού Υ/Σ ΜΤ – ΧΤ παροχής τύπου Α1 που θα το τροφοδοτήσει. Ακολουθούν τρία σχέδια, της χωροθέτησης των μηχανών παραγωγής έργου του Μηχανουργείου, της κάτοψης του κτιρίου του Υ/Σ ΜΤ και το μονογραμμικό του διάγραμμα στο οποίο φαίνονται όλα τα απαραίτητα στοιχεία για την κατασκευή των ηλεκτρικών πινάκων και την σχεδίαση της ηλεκτρολογικής εγκατάστασης. / Intention of the present diplomatic essay is the study of a Middle/Low Voltage’s Substation. The means used for the implementation of a private Middle Voltage’s Substation are being analyzed, whereas there is a further study of the procedure used to choose the specific means that are necessary for the power supply of a machine shop, which is consisted of movement and lighting loads. This essay is divided into two parts. In the first part, which is the introduction, all the essential theoretical information for calculating and designing a Substation is given. More specific, there is an analysis of the means of connection-disconnection and Middle Voltage protection structures, as well as the equipment for The M/V network. There is a presentation of the types of supplying private Substations and the proper grounding methods which protect people who work at them or stand close to them from dangerous types of voltages. Also the necessary protection of the Substation from overvoltage is mentioned. The technical characteristics, and the ways to select and to protect the Transformers, whose role is to transform the Middle Voltage to Low Voltage are presented next. There is a reference to the M/L Voltage cables and to the means of connection-disconnection and Low Voltage protection structures. Furthermore there is a description of the electrical boards, in which the means of connection and protection are placed. The necessity for counterbalancing the reactive power is highlighted and also the fire protection systems and the obligatory maintenance of the Substation are referred. Concluding the first part there is a presentation of the information needed to estimate electrical installations of industrial buildings, which are composed of motion and lighting installations. In the second part, there is an installation study for motion and lighting of a machine shop as well as a case study of the different structures available for setting up a private Substation M/L Voltage type A1 that will provide electrical power. Then there are three drawings. The first is about placing the different types of product machines of the machine shop, the ground plan of the M/V Substation’s building and the monoline diagram, in which all the essential information for constructing the electrical board and designing the electrical installation are showed.