Grâce aux progrès réalisés dans les domaines de la robotique et des systèmes de transport intelligents (ITS), les véhicules autonomes du futur sont en train de devenir une réalité. Comme les véhicules autonomes devront se comporter en toute sécurité en présence d’autres véhicules, de piétions et d’autres objets fixes ou en mouvement, une des choses les plus importantes qu’ils doivent faire est de percevoir efficacement à la fois leur mouvement et l’environnement autour d’eux. Dans cette thèse, nous avons d’abord étudié comment des capteurs visuels bio-inspirés, qui mesurent le flux optique en 1-D en utilisant seulement quelques pixels sur la base du système visuel de la mouche, pourraient être utilisés pour améliorer les manœuvres de stationnement automatiques. Nous avons ensuite travaillé sur une nouvelle rétine de silicium bio-inspirée, en montrant que le nouveau pixel, appelé M²APIX, est capable de s’auto-adapter dans une gamme de 7 décades et de répondre de manière appropriée à des changements de luminosité rapides jusqu’à ±3 décades, tout en conservant une sensibilité aux contrastes aussi bas que 2%. Nous avons enfin développé et testé un nouveau capteur de flux optique basé sur cette rétine auto-adaptative et sur une nouvelle méthode robuste pour le calcul du flux optique, qui est robuste aux variations de lumière, textures et vibrations que l’on retrouve en milieu routier. Nous avons également construit un robot de type voiture, appelé BioCarBot, qui estime sa vitesse et son angle de braquage au moyen d’un filtre de Kalman étendu (EKF), en utilisant uniquement les mesures de flux optique délivrées par deux capteurs de ce type regardant vers le sol. / Thanks to the advances in the fields of robotics and intelligent transportation systems (ITS), the autonomous vehicles of the future are gradually becoming a reality. As autonomous vehicles will have to behave safely in presence of other vehicles, pedestrians and other fixed and moving objects, one of the most important things they need to do is to effectively perceive both their motion and the environment around them. In this thesis, we first investigated how bio-inspired visual sensors, giving 1-D optic flow using a few pixels based on the findings on the fly’s visual system, could be used to improve automatic parking maneuvers. We subsequently tested a novel bio-inspired silicon retina, showing that the novel pixel, called M2APix, can auto-adapt in a 7-decade range and respond appropriately to step changes up to ±3 decades, while keeping sensitivity to contrasts as low as 2%. We lastly developed and tested a novel optic flow sensor based on this auto-adaptive retina and a new robust method for computing the optic flow, which is robust to the light levels, textures and vibrations that can be found while operating on the road. We also constructed a car-like robot, called BioCarBot, which estimates its velocity and steering angle by means of an extended Kalman filter (EKF) using only the optic flow measurements delivered by two downward-facing sensors of this kind.

Dans un contexte industriel en constante évolution, le designer industriel utilise la représentation comme un vecteur lui permettant de s’inspirer et d’opérer des choix stylistiques afin d’imaginer l’expérience induite par les concepts de produits qu’il développe. Ce travail doctoral présente l'étude comparative entre l'activité de design amont traditionnelle et l'activité de design amont immersive, permettant l'évaluation et la modélisation de l'activité de Kansei Design Virtuel. Mes travaux portent essentiellement sur l'application et l'expérimentation de théories fondamentales à travers la conception de deux outils consécutifs du processus de design:• Les Univers de Tendance sont des environnements inspirationnels spatiaux immersifs dédies à la compréhension d'une tendance stylistique et conçu pour substituer et augmenter le rôle des planches de tendances traditionnelles.• Le Dessin Tridimensionnel Immersif est un environnement générationnel permettant au designer de déposer, effacer, manipuler… un tracé dans l'espace et dédié aux premiers croquis d'idéation.Ces recherches ont pour but de développer des outils et un workflow digital immersif permettant d'une part, d'anticiper le Kansei (relation holistique designer/client-produit) afin d'optimiser les choix stylistiques stratégiques et d'autre part, de maximiser la fidélité de retranscription entre espace d'inspiration et espace de génération tout en augmentant la capacité du designer à produire des concepts esthétiques et innovants. / In an ever-changing context, the industrial design uses representation as a vector for inspiration and as a tool to operate stylistic choices which in turn enable the shaping of the experience induced by the designed product.This doctoral research presents the comparative study of traditional early design activity and immersive early design activity. This enables the evaluation and modeling of Virtual Kansei Design. My work essentially address the application and experimentation of fundamental theories through the design of two successive tools composing and innovative early design process.• The Immersive Moodboards are spatial immersive inspirational environments dedicated to the understanding of a stylistic trend, designed to substitute and enhance traditional moodboards.• The Immersive sketching is a generational environment enabling the design to position, erase, manipulate… a graphical mark in a three dimensional space planned for the creation of the first ideation sketches.This research aim to develop tools and a digital immersive workflow which first of all enables the design to anticipate Kansei (holistic relationship between the designer/user and the product) in order to optimize strategic style related choices and secondly enhances the fidelity between inspiration and generation while increasing the ability of the designer to produce innovating and aesthetic concepts.

<p>Partitur av alla delar av LYSSNA och arrangemang av mässans psalmer finns bifogade som bilagorna A1-12.</p><p>Ljudinspelningarna från uruppförandet utgör bilagorna B1-10.</p><p>Se bilaga C för länkar till videorna och vidare information om uruppförandet och samarbetsprojektet som initierades av ESAIM projektet på KMH.</p>

Les matériaux naturels tels que l'os et la nacre d’ormeau sont constitués de blocs de construction relativement faibles et présentent pourtant souvent des combinaisons remarquables de rigidité, de résistance à la rupture et de ténacité. Ces performances sont dues en grande partie à leurs architectures de brique et de mortier. De nombreux efforts sont consacrés à la duplication de ces principes dans les matériaux synthétiques. Toutefois, les progrès sont en grande partie basés sur des approches empiriques, qui prennent beaucoup de temps et ne garantissent pas la réalisation optimale.La modélisation est une alternative attrayante pour guider la conception et les voies de traitement de ces matériaux. Dans ce travail, nous développons un modèle numérique basé sur la méthode des éléments discrets (DEM) pour comprendre les mécanismes de renforcement et optimiser les propriétés mécaniques des matériaux de type nacre en fonction de leurs paramètres microstructurales. Le modèle suit l’évolution de la fissure, prend en compte de différents mécanismes de renforcement et évalue quantitativement la rigidité, la résistance à la rupture et la ténacité. Une approche intéressante, basée sur l'imagerie EBSD, est présentée pour modéliser le matériau réel et ses différentes variations microstructurales. Les résultats sont ensuite combinés pour fournir des directives de conception pour les composites synthétiques de type brique et mortier comprenant uniquement des constituants fragiles. / Natural materials such as bone and the nacre of some seashells are made of relatively weak building blocks and yet often exhibit remarkable combinations of stiffness, strength, and toughness. Such performances are due in large part to their brick and mortar architectures. Many efforts are devoted to translate these design principles into synthetic materials. However, much of the progress is based on trial-and-error approaches, which are time consuming and do not guarantee that an optimum is achieved.Modeling is an appealing alternative to guide the design and processing routes of such materials. In this work, we develop a numerical model based on Discrete Element Method (DEM) to understand the reinforcement mechanisms and optimize the mechanical properties of nacre-like materials based on their microstructural parameters. The model follows the crack propagation, accounts for different reinforcement mechanisms, and quantitatively assess stiffness, strength, and toughness. An interesting approach, based on EBSD imaging, is presented to model the real material and its different microstructural variations. Results are then combined to provide design guidelines for synthetic brick-and-mortar composites comprising with only brittle constituents.

Die presbyterianische Kirche in Süd-Korea ist vor allem aufgrund von unterschiedlichen Auffassungen über die Verbalinspiration der Bibel in etwa 100 Denominationen gespalten. Der Streit hat sich um die Verbalinspiration in den 50er Jahren des 20. Jahrhunderts besonders auf die Auseinandersetzung zwischen Hyongyong Park als einem Vertreter der Verbalinspiration und Chaechun Kim als Vertreter der sogenannten „Sachinspiration“ fokussiert. Ich stellte in meiner Arbeit dar, wie es zu diesen Spaltungen gekommen ist, die ihre Wurzel schon in der presbyterianischen Mutterkirche in den USA haben. Dabei verdeutlichte ich, dass dieser Streit Auseinandersetzungen über grundsätzliche theologische und ethische Fragen zur Folge hatte, z. B. über den Kreationismus oder über die Frauenordination. Um einen Anstoß zu einem Versöhnungsprozess zwischen den gespaltenen presbyterianischen Kirchen in Süd-Korea zu geben, ging ich auf Johannes Calvin als einem der Väter der Presbyterianischen Kirche zurück, mit der Begründung, dass sich alle Parteien auf ihn berufen. Hilfreich ist dabei meine Analyse, wie Calvin die Inspiration der Schrift durch Gottes Geist verstanden hat. Ich habe zunächst untersucht, wie sich Calvin in seinen theologischen Schriften und exegetischen Arbeiten auf die Inspiration der Schrift bezogen hat. Auf dieser Grundlage werden dann die verschiedenen, in der Calvinforschung vertretenen Interpretationen von Calvins Begründung der Autorität der Schrift thematisiert; (1) was bei ihm „Wort Gottes“ bedeutet, inwiefern er dieses Wort als „spezielle Offenbarung“ versteht und in welchem Sinne er von einer „Selbstevidenz der Schrift“ redet. (2) Calvins Kanonverständnis wird berücksichtigt, obwohl es in der dem Schriftverständnis Calvins geltenden Forschung bislang verhältnismäßig geringe Aufmerksamkeit gefunden hat. (3) Darüber hinaus untersuchte Ich, dass Calvin das Verb dictare, auf das sich die Vertreter der Verbalinspirationslehre vor allem berufen, häufig verwendet, wenn er von der Inspiration der Schrift spricht. (4) Anschließend war es nötig, eine Auseinandersetzung mit der These zu führen, da Calvins Verständnis der Allmacht Gottes auf die Behauptung der Unfehlbarkeit der Schrift hinaus führt. / The Presbyteran church in South-Korea is divided in to around 100 different denominations because of their varying opinons about the verbal inspiration of the Bible. It results from the discussion about the verbal inspiration in the fifties between Hyongyong Park as the representative of the verbal inspiration und Chaechun Kim as the representative of the Understanding of the inspiration, which the Holy Spirit inspiriers only content of the Bible with regarding to the salvation of Jesus Christ. I gave a detailed description, how the church is seperated and showed the connection between the seperation of the Presbyteran church in Korea and in the USA and I became aware of the fact, that the discussion resulted in the disputes about creationism and ordination of woman. Every denomination refers to John Calvin as the spiritual father of the Presbyteran church. Therefore it would be helpful, if we considered, how Calvin unterstood the biblical inspiration by the Holy Spirit. At first we scrutinized, how Calvin reflected it in his theological writings und his biblical exegeses. On the basis of the results, I analysed the various interpretations, which researchers gave according to the verbal inspiration in their research. (1) We investigated, what the term of „Word of God“ meant, how Calvin establiched a connection between the „Word of God“ and the „special revelation“ and what he exactly signified as „self-authentication“. (2) We had to take the unterstanding of canon in to consideration, although the researchers of Calvin didn’t especially point it out. (3) We need to analyse the verb dictare, on the one side because of the fact that Calvin used it often, when he talked about the inspiration of the Bible and on the other side because the representatives of the concept of verbal-inspiration use it as an argument. (4) In addition it was necessary to reflect on the omnipotence of God, because it is connected with irrancy of the Bible.

O padrão respiratório é dividido em 4 fases: pré-inspiração (PrI), inspiração (I), pós-inspiração ou fase 1 da expiração (PI/E1) e a expiração ativa (E2), que são moduladas por áreas encefálicas. Diante disso, o objetivo do presente estudo foi verificar o envolvimento dessa região no controle da atividade PrI e PI em ratos Wistar adultos (270-320 g, n = 5/grupo). Foram registradas a pressão arterial média (PAM), atividade eletromiográfica dos músculos genioglosso (GGEMG), diafragma (DiaEMG) e abdominal (AbdEMG) e a atividade elétrica do nervo vago em ratos ventilados artificialmente e anestesiados com uretano. A injeção unilateral de NMDA (5 pmol/50 nl) no pFRG/RTN de animais anestesiados foi capaz de promover um aumento da PAM (13 ± 6 mmHg), da atividade elétrica dos músculos GGEMG (21 ± 3%), do DiaEMG (25 ± 5%), além de gerar a atividade expiratória observada no registro da atividade do AbdEMG. Adicionalmente, a estimulação do pFRG/RTN promoveu um aumento da atividade pós-inspiratória (57 ± 9%). A injeção bilateral de muscimol na região de KF eliminou a atividade do GGEMG (2 ± 2%), mas apenas reduziu a atividade do DiaEMG (12 ± 2%) e do AbdEMG (111 ± 13%) induzida pela injeção de NMDA no RTN. Além disso, a inibição da região do KF foi capaz de eliminar o aumento da atividade do GGEMG (6 ± 4 vs. salina: 47 ± 9%) após a hipercapnia (10% CO2). A injeção de muscimol no KF apenas reduziu a atividade do DiaEMG (25 ± 6 vs. salina: 43 ± 8%) e a atividade do AbdEMG (213 ± 23 vs. salina: 335 ± 18%) induzidas pela hipercapnia. Nossos resultados mostram que a região do pFRG/RTN, além de estar envolvida no controle da atividade I e E2, tem uma participação na geração da atividade pré e pós-inspiratória e que essas respostas respiratórias são moduladas pela atividade de KF. / Breathing pattern is divided into 4 phases: pre-inspiration (PrI), inspiration (I), post-inspiration or first phase of expiration (PI/E1) and the active expiration (E2), and this phases are controlled by the central nervous system . Thus, the aim of this study was to investigate the involvement of this region in the control of PrI and PI activity in adult male Wistar rats (270-320 g, n = 5/group). Mean arterial pressure (MAP), the electromyographic activity of the genioglossus muscles (GGEMG), diaphragm (DiaEMG) and abdominal (AbdEMG) and the electrical activity of the vagus nerve were recorded in rats artificially ventilated and urethane anesthetized. Unilateral injection of NMDA (5 pmol/50 nl) in the pFRG/RTN of anesthetized animals was able to produce an increase in MAP (13 ± 6 mmHg), GGEMG (21 ± 3%), DiaEMG (25 ± 5%), and elicit an expiratory activity in the AbdEMG. In addition, pFRG/RTN stimulation increase post-inspiratory activity (57 ± 9%). Bilateral injection of muscimol (100 pmol/50 nl) into the KF eliminated the GGEMG (2 ± 2%), but only reduced the DiaEMG (12 ± 2%) and AbdEMG (111 ± 13%) induced by NMDA injection into the pFRG/RTN. Muscimol bilaterally into the KF was able to eliminate GGEMG (6 ± 4 vs. saline: 47 ± 9%) after hypercapnia (10% CO2). Muscimol into the KF reduced the DiaEMG (25 ± 6 vs. saline: 43 ± 8%) and AbdEMG (213 ± 23 vs. saline: 335 ± 18%) produced by hypercapnia. The results of the present study showed for the first time that the pFRG/RTN region it is not only involved in the control of inspiration and expiration, but shows to have a role in the pre- and post-inspiratory activity. Moreover, our work also presents evidence that these respiratory responses are modulated by KF network.

<p>Detta examensarbete är en studie av glas- och silverformgivaren Gunnar Cyréns och modedesignern Gunilla Ponténs designmetodiker, formspråk och inspirationskällor.  Det undersöker också om de uttrycker sig konstnärligt i sina privata trädgårdar.  Kan deras formspråk spåras i trädgården och har trädgården inspirerat dem i deras formgivningsarbete?  Utifrån vad vi har funnit har vi skissat på trädgårdsidéer och tematrädgårdar med utgångspunkt i hur vi uppfattat deras formspråk.  I det arbetet har vi tillämpat de av dem beskrivna designmetodikerna.</p> / <p>This degree thesis studies the design methodology, artistic expression and source of inspiration of two renowned Swedish designers: Gunnar Cyrén, glass artist and silversmith, and Gunilla Pontén, fashion designer.  It also investigates if they express themselves artistically in their private gardens.  Can their artistic expressions be seen in their gardens?  Has the garden inspired them in their design work?</p>

Detta examensarbete är en studie av glas- och silverformgivaren Gunnar Cyréns och modedesignern Gunilla Ponténs designmetodiker, formspråk och inspirationskällor.  Det undersöker också om de uttrycker sig konstnärligt i sina privata trädgårdar.  Kan deras formspråk spåras i trädgården och har trädgården inspirerat dem i deras formgivningsarbete?  Utifrån vad vi har funnit har vi skissat på trädgårdsidéer och tematrädgårdar med utgångspunkt i hur vi uppfattat deras formspråk.  I det arbetet har vi tillämpat de av dem beskrivna designmetodikerna. / This degree thesis studies the design methodology, artistic expression and source of inspiration of two renowned Swedish designers: Gunnar Cyrén, glass artist and silversmith, and Gunilla Pontén, fashion designer.  It also investigates if they express themselves artistically in their private gardens.  Can their artistic expressions be seen in their gardens?  Has the garden inspired them in their design work?

Studiens syfte är att undersöka vad verksamma pianopedagoger har för erfarenheter av gruppundervisning och samspelsmöjligheter för nybörjarpianoelever. I bakgrundskapitlet ges en överblick vad som finns skrivit om samspel, pianogruppundervisning, traditioner inom pianoundervisning och material för grupper. Därefter följer en presentation av tidigare forskning inom ämnesområdet. Den teoretiska utgångspunkten för studien utgörs av det sociokulturella perspektivet på lärarande och kommunikation. Det insamlade datamaterialet består av kvalitativa intervjuer med fyra verksamma pianopedagoger som har erfarenheter av samspel och gruppundervisning för piano. I resultatkapitlet beskrivs informanternas erfarenheter av gruppundervisning, samspel, förutsättningar och material. Resultatet berättar att yttre ramfaktorer (som instrument och tjänst) liksom inre ramfaktorer (som pedagogens intresse och motivation) har stor betydelse för hur undervisningen blir. Andra aspekter som tas upp av informanterna är bland annat gruppdynamik, vikten av puls och lyssnande i samspelssituationer samt tillvägagångssätt för att hitta passande material. I det avslutande diskussionskapitlet lyfts delar av studiens resultat till diskussion i relation till det sociokulturella perspektivet på lärande samt till tidigare litteratur och forskning. En slutsats är att pianoeleven i grupp får möjlighet att tillägna sig andra kunskaper än den individuella eleven. En annan slutsats är att om inte gruppdynamiken fungerar så fungerar inte heller det musikaliska samspelet eller något annat moment. / The purpose of this study is to investigate active piano teachers’ experiences of group teaching and interaction opportunities for new beginner in piano. The background chapter provides an overview of what's written about the interplay, piano tutorials, traditions in piano teaching and materials for groups, followed by a presentation of previous research in the field. The theoretical starting point for the study consists of the socio-cultural perspective on learning and communication. The collected data material consists of qualitative interviews with four active piano teachers who have experience of interaction and group lessons for piano. The results chapter describes the informants' experiences of group work, interaction, conditions and materials. The result tells that external frame factors (such as instruments and services) as well as internal frame factors (as educator interest and motivation) have important implications for how the teaching will be. Other issues raised by informants are group dynamics, the importance of pulse and listening in interaction situations and approaches to find suitable materials. The concluding discussion chapter highlights parts of the study’s results discussed in relation to the socio-cultural perspective on learning, and the previous literature and research. One conclusion is that piano students in a group have the opportunity to learn other skills than the individual student. Another conclusion is that if the group dynamic doesn’t function, so does not the musical interaction, or any other elements.

Cette thèse présente l'implémentation d'une stratégie visuelle bio-inspirée sur un aéroglisseur miniature totalement actionné, qui lui permet de naviguer dans le plan horizontal d'un tunnel inconnu. L'élaboration de ce pilote automatique, nommé LORA, fait suite aux études éthologiques menées sur l'abeille depuis ces dernières décennies et nous ont amené à énoncer le principe de la régulation du flux optique pour le contrôle du vol de croisière. Ce pilote automatique est un double régulateur de flux optique latéral constitué de deux boucles visuo-motrices interdépendantes contrôlant conjointement la vitesse d'avance et la position du robot par rapport aux obstacles sans avoir à mesurer ou estimer aucun de ces paramètres. La clé de voûte de ce système de guidage est une troisième boucle destinée à maintenir le cap grâce à un micro-gyromètre et un micro-compas magnétique permettant au robot d'effectuer des mouvements de translation qui génèrent sur son œil composé artificiel du flux optique de translation, seul dépendant du ratio vitesse/distance aux obstacles. Cet œil estime le flux optique grâce à ses deux ou quatre Détecteurs élémentaires de mouvement (total de 4 ou 8 pixels). L'aéroglisseur est alors capable de franchir sans collision, à la manière d'une abeille, divers tunnels : droit, fuselé ou présentant une pente, un virage, une absence de texture sur un mur ou même une zone non-stationnaire. Cette stratégie visuelle bio-inspirée fournit non seulement une solution de navigation élégante à destination de robots totalement actionnés mais elle permet aussi d'expliquer comment une abeille de 100mg peut naviguer sans l'aide de SONAR, RADAR, LIDAR, ou GPS. / In this work, we present for the first time a bio-inspired motion vision-based navigation strategy embedded on a miniature fully-actuated hovercraft allowing it to navigate safely on the horizontal plane of an unknown corridor. The design of this autopilot, called LORA, follows the ethological findings made on honeybees these last decades, which led us to elaborate the principle of the optic flow regulation which might be used by insects to control their flight. The bee-inspired LORA autopilot is a dual optic flow regulator which consists in two intertwined visuomotor feedback loops which control jointly the forward speed of the robot and its clearance to the obstacles. The keystone of this bio-inspired guidance system is a heading-lock system enabling the robot to move in translations and therefore experience a purely translational optic flow which depends only on the ratio speed/clearance to obstacles thanks to a micro-gyrometer and a micro-magnetic compass. The estimation of optic flow is made by a minimalist compound eye, made of two or four Elementary Motion Detectors (only 4 or 8 pixels). The hovercraft is therefore able to cross without crashing a straight or a tapered corridor, presenting a frontal sloping terrain, a bend, a textureless wall, or even a non-stationary section by automatically adapting both its forward speed and its clearance to the walls imitating the honeybee. This bio-inspired visual strategy not only provides an elegant navigation solution in an unknown environment aimed to equip fully-actuated miniature vehicles but also to explain how a 100mg honeybee can navigate with few computational ressources, i.e., without any SONAR, RADAR, LIDAR or GPS.