The arbitration proceeding is characterized for being an efficient, impartial, and above all a transparent mechanism, wherefore various private and public entities have aimed to it in order to solve their patrimonial controversies. Nevertheless, there is a sector within the doctrine that maintains that, on the assumption that the matter to arbitrate comes from legal relationships marked by corruption, the arbitration court should declare the unarbitrability of the matter, since it would violate the public order.The present paper will broach the impact of the entitled «Clean Hands Doctrine» on certain Law branches, its origins on the worldwide legal systems, the relation of it with other legal entities on which it is based on, and we will discuss international legal precedents on the matter, as well as the possible application of this doctrine to arbitration proceedings on a local context and in public procurements matter. / El arbitraje se caracteriza por ser un mecanismo imparcial, eficaz y sobre todo, transparente, motivo por el cual entidades privadas y estatales se abocan al mismo con la finalidad de resolver sus controversias patrimoniales. No obstante, existe un sector de la doctrina que sostiene que, cuando la materia a arbitrar provenga de relaciones jurídicas revestidas de corrupción, el tribunal arbitral debería declarar la inarbitrabilidad de la materia, pues se estaría vulnerando el orden público.El presente trabajo abordará la incidencia de la denominada «Clean Hands Doctrine» en determinadas ramas del Derecho, sus orígenes en los sistemas jurídicos del mundo, su relación con otras figuras jurídicas en las cuales se sustenta, y comentaremos tanto la jurisprudencia internacional al respecto, como la posible aplicación de esta doctrina al arbitraje en el contexto nacional, en materia de contrataciones con el Estado.

In its theoretical part, this thesis treats possibilities of using no-touch technology Leap Motion in elementary school lessons for operating interactive applications focused on physics education. The thesis investigates the ways in which it is possible to operate already published applications which are not programmed specifically for a no-touch technology and which are, however, intended for work with an interactive whiteboard or for a standard computer work. Their advantages and disadvantages are discussed as well. The thesis deals, among other things, with the availability of relevant applications and offers a summary of information about Leap Motion technology and of opportunities for replacing interactive whiteboards. The thesis also includes a description of the technology and of the potential for developing your own applications. The aim of the practical part is to create a new didactic application which will be tested in lessons. This part also includes a poll which will find out what is the interest in Leap Motion technology among teachers.

Thesis deals with ?the issue of awareness of nosocomial infections from undergraduate students of Bachelor and Master degree from Health education field at the University of South Bohemia in the Czech Budejovice.? This is very timely topic as nosocomial infections are a global economic and clinical problem not only for the present time but also for the future. Thesis is divided into two parts. Details of nosocomial infections, epidemic processes, agents of these infections, hand hygiene, prevention, health education, healthy lifestyle, immunity and support options for immune system are described in the theoretical part. The practical part describes the research problem, formulates hypothesis and shows statistical methods for research. The aim of this thesis was to find out the awareness of nosocomial infections from students of Bachelor and Master degree of VKZ at JU in the Czech Budejovice. Further I tried to compare this knowledge with respect to the age, education and field in which they act. I am trying to find out the possible way of prevention, personal protection against nosocomial infections moreover subjective perception of information related to this problem from respondents. I used the basic way of collecting data for achievement the given aim such as questionnaire in the aim group. There were used basic statistical methods suitable for analysis of categorical data. These results are illustrated in pie chart and bar chart for better interpretation. Test of the main hypothesis and working hypotheses are statistically made by 2 ? test. There was used Fisher factorial test in case there would be break prerequisite for correct usage of the previous test. The results of these tests are interpreted on the base of , with 95 % of reliability. I set this hypothesis in my thesis: ? Better knowledge will have students whose high school education was connected with the problems of health care. ? The result shows better knowledge for these students than for students from other high school however this difference was not statistically important. From all tests was found out that all students know the right definition of nosocomial infection however they have significantly less information related to the prevention against nosocomial infection. This thesis should give us food for thought about this problem and should change the attention to the health and the health of others and the possibility of further education.

Sannolikhet och statistik är ett ämne lärare har svårt att undervisa i. Dels för att ämnet är relativt nytt, dels för att lärare saknar fördjupade kunskaper inom området. Syftet med den här litteraturstudien är att bidra med kunskap om undervisningsaktiviteter i sannolikhet och statistik i grundskolan, år f-6, för lärare. Databaserna ERIC, WoS och DiVA användes för att samla in vetenskapligt underlag till denna systematiska litteraturstudie. Resultatet visar att aktiviteter med konkret material är användbart i alla delar i sannolikhet och statistik samt att det ger bättre resultat för elevers kunskapsinhämtande om aktiviteterna följs upp av diskussioner. I resultatet framkommer även konkreta förslag på hur aktiviteter med konkret material kan användas i en undervisningssituation. Konsekvenser för undervisning samt förslag till vidare forskning avslutar den här studien. / Probability and statistics is a subject that teachers find difficult to teach. Partly because this area is relatively new in the mathematics course, partly because of the lack of deepened knowledge amongst teachers in this subject area. The purpose of this study is to contribute with knowledge about teaching activities in the probability and statistics course in the early years of elementary school, years K–6, for teachers. The databases used to collect scientific foundation to this systematic literature study is ERIC, WoS and DiVA. The result showed that activities with manipulatives are useful in all subareas in probability and statistics and that students’ knowledge acquirement improves if the activities are followed up by discussions. However, the result also brought out tangible suggestions of how activities with concrete materials can be used in a teaching situation. To round up this study is a discussion of consequences for teaching as well as suggestions for further research.

Handwashing frequency may result in harmful effects on the skin, promoting the increase of the prevalence of nosocomial important microorganisms. This study purpose was to assess the quantitative and qualitative changes of the total microbiota (both permanent and transient) from hands of nursing professionals and university laboratory technicians and students due to the irritant action provoked by frequent washing and/or wearing gloves. Sixty health professionals were enrolled from whom collections were performed by the sterile polyethylene bag, before and after washing hands with 3 mL of nonantimicrobial soap for 30 seconds. In the group formed by students and laboratory technicians (n=30), these collections were performed before and after consecutive washings with water and soap. Damaged hands health professionals hands contamination was higher when compared with healthy hands. Hygiene proved to be efficient in both students and laboratory technicians without complaints of irritation after successive washings, a fact not seen among health care workers. Nurses with damaged hands presented higher frequency of S. aureus, Gram negative bacteria and yeast than the healthy ones (P>0.05), as well as the sum of these microorganisms (P=0.07) and presence of S. haemolyticus (P=0.02). The frequency of S. aureus and antimicrobial resistant Gram negative bacteria was higher among nurses damaged hands. The irritation caused on the skin by the frequent washing and/or wearing of gloves may cause changes of hands microbiota and should be considered when choosing hygiene products. / A freqüência da lavagem de mãos pode resultar em efeitos prejudiciais na pele promovendo aumento da prevalência de microrganismos de importância hospitalar. Os objetivos deste trabalho foram avaliar quantitativa e qualitativamente as alterações na microbiota total (residente e transitória) das mãos de profissionais de enfermagem e estudantes universitários e técnicos de laboratório associadas à ação irritante provocada pela freqüente lavagem e/ou uso de luvas. Foram incluídos 60 profissionais de saúde, nos quais foram realizadas coletas, pelo método do saco estéril de polietileno, antes e após a lavagem com 3 mL de sabão não medicamentoso, por 30 segundos. No grupo constituído por estudantes e técnicos de laboratório (n=30), estas coletas foram realizadas antes e após lavagens consecutivas com água e sabão. A contaminação das mãos de profissionais de saúde com danos na pele foi maior em relação às sadias. A higiene se mostrou eficiente nos estudantes e técnicos de laboratório sem queixas de irritação após lavagens sucessivas, fato não observado entre profissionais de saúde. Enfermeiras com mãos com danos apresentaram maior freqüência de S. aureus, bacilos Gram-negativos e fungos leveduriformes do que as sadias (P>0,05), assim como quanto à soma destes microrganismos (P=0,07) e a presença de S. haemolyticus (P=0,02). A freqüência de S. aureus e bacilos Gram-negativos resistentes aos antibióticos foi maior nas mãos lesadas de enfermeiras. A irritação causada na pele devido à lavagem freqüente e/ou uso de luvas pode provocar alterações da microbiota das mãos e deve ser considerada pelas instituições quando da escolha de produtos de higiene. / Mestre em Imunologia e Parasitologia Aplicadas

Les robots ont amélioré les industries, en particulier les systèmes d'assemblage basé sur des conveyors et ils ont le potentiel pour apporter plus de bénéfices: transports; exploration de zones dangereuses, mer profonde et même d'autres planètes; santé et dans la vie courante.Une barrière majeure pour leur évasion des environnements industriels avec des enceintes vers des environnements partagés avec les humains, c'est leur capacité réduite dans les tâches d’interaction physique, inclue la manipulation d'objets.Tandis que la dextérité de la manipulation n'est pas affectée par la cécité dans les humains, elle décroit énormément pour les robots: ils sont limités à des environnements statiques, mais le monde réel est très changeant. Dans cette thèse, nous proposons une approche différente qui considère le contrôle du contact pendant les interaction physiques entre un robot et l'environnement.Néanmoins, les approches actuelles pour l'interaction physique sont pauvres par rapport au numéro de tâches qu'elles peuvent exécuter. Pour permettre aux robots d'exécuter plus de tâches, nous dérivons des caractéristiques tactiles représentant les déformations de la surface molle d'un capteur tactile et nous incorporons ces caractéristiques dans le contrôleur d'un robot à travers des matrices de mapping tactile basées sur les informations tactiles et sur les tâches à développer.Dans notre première contribution, nous montrons comment les algorithmes de traitement d'images peuvent être utilisés pour découvrir la structure tridimensionnelle subjacente du repère de contact entre un objet et une matrice de capteurs de pression avec une surface molle attachée à l’effecteur d'un bras robotique qui interagit avec cet objet. Ces algorithmes obtiennent comme sorties les soi-disant caractéristiques tactiles. Dans notre deuxième contribution, nous avons conçu un contrôleur qui combine ces caractéristiques tactiles avec un contrôleur position-couple du bras robotique.Il permet à l'effecteur du bras déplacer le repère du contact d'une manière désirée à travers la régulation d'une erreur dans ces caractéristiques. Finalement, dans notre dernière contribution,avec l'addition d'une couche de description des tâches, nous avons étendu ce contrôleur pour adresser quatre problèmes communs dans la robotique: exploration, manipulation, reconnaissance et co-manipulation d'objets.Tout au long de cette thèse, nous avons mis l'accent sur le développement d'algorithmes qui marchent pas simplement avec des robots simulés mais aussi avec de robots réels. De cette manière, toutes ces contributions ont été évaluées avec des expériences faites avec au moins un robot réel. En général, ce travail a comme objectif de fournir à la communauté robotique un cadre unifié qui permet aux bras robotique d'être plus dextres et autonomes. Des travaux préliminaires ont été proposés pour étendre ce cadre au développement de tâches qui impliquent un contrôle multi-contact avec des mains robotiques multi-doigts. / Robots have improved industry processes, most recognizably in conveyor-belt assemblysystems, and have the potential to bring even more benefits to our society in transportation,exploration of dangerous zones, deep sea or even other planets, health care and inour everyday life. A major barrier to their escape from fenced industrial areas to environmentsco-shared with humans is their poor skills in physical interaction tasks, includingmanipulation of objects. While the dexterity in manipulation is not affected by the blindnessin humans, it dramatically decreases in robots. With no visual perception, robotoperations are limited to static environments, whereas the real world is a highly variantenvironment.In this thesis, we propose a different approach that considers controlling contact betweena robot and the environment during physical interactions. However, current physicalinteraction control approaches are poor in terms of the range of tasks that can beperformed. To allow robots to perform more tasks, we derive tactile features representingdeformations of the mechanically compliant sensing surface of a tactile sensor andincorporate these features to a robot controller via touch-dependent and task-dependenttactile feature mapping matrices.As a first contribution, we show how image processing algorithms can be used todiscover the underlying three dimensional structure of a contact frame between an objectand an array of pressure sensing elements with a mechanically compliant surfaceattached onto a robot arm’s end-effector interacting with this object. These algorithmsobtain as outputs the so-called tactile features. As a second contribution, we design a tactileservoing controller that combines these tactile features with a position/torque controllerof the robot arm. It allows the end-effector of the arm to steer the contact frame ina desired manner by regulating errors in these features. Finally, as a last contribution, weextend this controller by adding a task description layer to address four common issuesin robotics: exploration, manipulation, recognition, and co-manipulation of objects.Throughout this thesis, we make emphasis on developing algorithms that work notonly with simulated robots but also with real ones. Thus, all these contributions havebeen evaluated in experiments conducted with at least one real robot. In general, thiswork aims to provide the robotics community with a unified framework to that will allowrobot arms to be more dexterous and autonomous. Preliminary works are proposedfor extending this framework to perform tasks that involve multicontact control withmultifingered robot hands.

Les travaux exposés dans cette thèse sont de natures multiples mais visent tous à une meilleure compréhension du geste de saisie chez l'homme, que ce soit d'un point de vue comportemental, cinématique ou de contrôle. Lorsqu'il doit saisir un objet, l'homme s'appuie sur une structure de contrôle multi-niveaux ainsi que son expérience, ce qui lui permet d'estimer les mouvements à effectuer de manière très efficace avant même d'avoir commencé à bouger. Nous pensons que ce mode de commande peut apporter une solution innovante au double problème de l'atteinte et de la saisie par une main artificielle. Nous avons donc développé une architecture de commande distribuée reproduisant en partie ces mécanismes et capable de contrôler ce genre d'artefacts de manière efficace, déclinée en plusieurs versions en fonction du niveau de contrôle souhaité. Elle est constituée d'un ensemble d'unités d'appariement s'inspirant des structures présentes dans le Système Nerveux Central : chacune a en charge une partie du problème global à résoudre, elles intègrent des informations en provenance de la consigne et/ou d'autres unités à travers des échanges parfois redondants, et elles s'appuient sur un algorithme d'apprentissage supervisé. Afin de mieux comprendre les principes qui sous-tendent le mouvement humain nous nous sommes aussi intéressés à la modélisation de la main et du geste de saisie, que ce soit à travers un protocole d'expérimentation chez l'homme ou l'analyse de données médicales et vidéos chez le singe / Works presented in this thesis are of multiple kinds but all aim at a better understanding of the human grasping movements, may it be from a behavioural, kinematics or control point of view. When one wants to grasp an object he relies on a multilayer control structure and its personal experience, the two of which allow him to estimate the appropriate move in a very efficient way, even before he actually started to move. We think that this type of command can bring forth an innovative solution to the double reach and grasp problem that face an artificial hand. We developed a distributed command architecture that reproduce in part these mechanisms and is able to control this type of artefacts in an efficient way, several versions of which were implemented regarding the desired control level. It consists of a group of matching units that takes inspiration in the Central Nervous System: each of them is in charge of a part of the global problem to be solved; they integrate data from the system inputs and/or from other units in partly redundant ways; and they rely on a supervised learning algorithm. In order to better understand the underlying principles of human movement we also took interest in hand and grasping movement models, may it be through an experimental protocol on human or monkey medical and video data analysis

La manipulation dextre est un sujet important dans la recherche en robotique et dans lequel peu de travaux ont abordé la manipulation d'objets déformables. De nouvelles applications en chirurgie, en industrie agroalimentaire ou encore dans les services à la personne nécessitent la maîtrise de la saisie et la manipulation d'objets déformables. Cette thèse s’intéresse à la manipulation d’objets déformables par des préhenseurs mécaniques anthropomorphiques tels que des mains articulées à plusieurs doigts. Cette tâche requière une grande expertise en modélisation mécanique et en commande : modélisation des interactions, perception tactile et par vision, contrôle des mouvements des doigts en position et en force pour assurer la stabilité de la saisie. Les travaux présentés dans cette thèse se focalisent sur la modélisation de la saisie d'objets déformables. Pour cela, nous avons utilisé une discrétisation par des systèmes masses-ressorts non-linéaires pour modéliser des corps déformables en grands déplacements et déformations tout en ayant un coût calculatoire faible. Afin de prédire les forces d’interactions entre main robotique et objet déformable, nous avons proposé une approche originale basée sur un modèle rhéologique visco-élasto-plastique pour évaluer les forces tangentielles de contact et décrire la transition entre les modes d’adhérence et de glissement. Les forces de contact sont évaluées aux points nodaux en fonction des mouvements relatifs entre les bouts des doigts et les facettes du maillage de la surface de l’objet manipulé. Une autre contribution de cette thèse consiste à utiliser de cette modélisation dans la planification des tâches de manipulation d’objets déformables 3D. Cette planification consiste à déterminer la configuration optimale de la main pour la saisie de l’objet ainsi que les trajectoires à suivre et les efforts à appliquer par les doigts pour contrôler la déformation de l’objet tout en assurant la stabilité de l’opération. La validation expérimentale de ces travaux a été réalisée sur deux plateformes robotiques : une main Barrett embarquée sur un bras manipulateur Adept S1700D et une main Shadow embarquée sur un bras manipulateur Kuka LWR4+. / Dexterous manipulation is an important issue in robotics research in which few works have tackled deformable object manipulation. New applications in surgery, food industry or in service robotics require mastering the grasping and manipulation of deformable objects. This thesis focuses on deformable object manipulation by anthropomorphic mechanical graspers such as multi-fingered articulated hands. This task requires a great expertise in mechanical modeling and control: interaction modeling, tactile and vision perception, force / position control of finger movements to ensure stable grasping. The work presented in this thesis focuses on modeling the grasping of deformable objects. To this end, we used a discretization by non-linear mass-spring systems to model deformable bodies in large displacements and deformations while having a low computational cost. To predict the interaction forces between robot hand and deformable object, we proposed an original approach based on a visco-elasto-plastic rheological model to evaluate tangential contact forces and describe the transition between the sticking and slipping modes. The contact forces are evaluated at nodes as function of the relative movements between the fingertips and the surface mesh facets of the manipulated object. Another contribution of this thesis is the use of this model in the planning of 3D deformable object manipulation tasks. This planning consists in determining the optimal configuration of the hand for grasping the objects as well as the paths to track and the efforts to be applied by the fingers to control the deformation of the object while ensuring the stability of the operation. The experimental validation of this work has been carried out on two robotic platforms: a Barrett hand embedded on a Adept S1700D ® manipulator and a Shadow hand embedded on a Kuka LWR4+® manipulator.

The main purpose of this study was to evaluate the effects of a Technology Outreach Programme on Public Understanding of Science, Engineering and Technology (PUSET). The study further intended to give feedback to the management of the Tsebo Koloing Technology Outreach Programme, to assist them to make an informed decision with regard to the continuation, termination or revision of the existing programme, which represent a major investment of resources. It was also foreseen that the findings of this study could contribute towards the design and successful implementation of similar PUSET programmes elsewhere. To facilitate the understanding of the problem statement of this study, an evaluation framework based on the Context-Input-Process-Product (CIPP) model of Stufflebeam, Madaus&Kellaghan, (2000) was applied. The research was carried out at four secondary schools that were considered disadvantaged situated in townships near Pretoria, South Africa. Secondary school learners and science and technology teachers, who visited the Tsebo Koloing programme, as well as members of the executive committee of the programme, participated in the study. This study provided valuable insight into the understanding of the effects of the TK programme on learners and teachers in schools (particularly in a developing nation context) who visited the programme and how the extent to which the programme created and promoted PUSET furthermore this study emphasized the importance of programme evaluation and proper planning of S&T outreach programmes with regard to needs assessment; identification of target groups; programme design; programme development and content; as well as programme implementation and evaluation. Although valuable information was obtained from this research, there is still scope for further research on how to evaluate the effects of S&T programmes on PUSET as well as research on the effectiveness of mobile S&T programmes. / Dissertation (MEd (Assessment and Quality Assurance in Education and Training))--University of Pretoria, 2007. / Curriculum Studies / MEd / unrestricted

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