本研究旨在藉由國中教師之激勵方式重要性與實現可能性認知兼論其對服務士氣的影響之實證研究，以期瞭解教師與行政間之激勵與保健因素措施最佳認知內涵取向。 　　本研究採取量化研究，以文獻分析法及問卷調查方法為主，受試為桃園縣54所國民中學中，經分層隨機取樣，依比率抽取學校樣本22所，其次再以簡單隨機取樣抽取教師樣本，總共調查問卷對象計1200人。每位受試均以編製之「國民中學教師教學工作調查表」內含「教師理想的工作」、「工作士氣問卷」測試。正式施測，有效樣本1075份，分別以描述性分析、t考驗、單因子變異數、二因子變異數等統計方法進行研究分析。 　　研究結果顯示： 　　一、由國中教師之激勵方式重要性認知分析：國中教師在「學校規模」、「性別」、「年齡」、「職務」、「任教科別」、「年資」上有顯著差異。亦即：學校班級在61班以下、女性、年紀愈輕者、專任、不同領域課程、服務5年以下之教師，都認為工作激勵重要。 　　二、由國中教師「激勵保健」因素重要性認知得知：以「教學環境讓人覺得愉快」、「學校能尊重教師專業權威」、「教學擁有專業自主」、「能讓教師獲致自我成長的機會」、「工作職位能有適切之保障」、「同事間擁有良好的關係」等，為教師激勵方式重要性認知指標。 　　三、由國中教師之激勵方式實現可能性認知發現：國中教師在「職務」、「任教科別」方面對激勵方式實現可能性認知感受有顯著差異。顯示：兼任行政及專任、健康教育與體育、社會科之教師認為理想工作較有可能實現；而私校、偏遠地區之教師則認為理想工作較不可能實現。 　　四、由國中教師「激勵保健」因素實現可能性認知顯示：以「教師具有崇高的責任與使命感」、「教師有機會充分發揮自己的能力」、「工作職位能有適切之保障」、「同事間擁有良好的關係」、「教學擁有專業自主」、「能讓教師獲致自我成長的機會」等，為教師之激勵方式實現可能性認知指標。 　　五、在整體工作士氣的分析得知：桃園縣國中教師在「學校性質」、「年齡」、「職務」、「學歷」、「年資」上有顯著相關。意指：公立國中、年紀愈大、專任、研究所四十學分結業者、年資11-15年及20年以上之教師整體士氣表現較佳。 　　本研究之成果可為行政運作上提出有效激勵方式，以激勵教師潛能，滿足教師個別需求，提昇服務士氣之參考。 / The purpose of this empirical research is to find out the best way to inspire teachers and administrators through finding out the importance of teachers' inspiration ways, realizing the possibility of cognition, and knowing the influence of working atmosphere. 　　This is a quantitative research using data-analysis and questionnaire. The subjects are 1200 teachers randomly picked out from 22 junior high schools in Tao-Yuan County. Each subject has taken the “junior high school teachers' teaching investigation list” which includes “teachers' ideal work” and “teachers' working attitude questionnaire”. After the test taking, there are 1075 valid samples. Descriptive analysis, T-test, one-way ANOVA, and two-way ANOVA are used to analyze the data in this research. 　　The outcome are as followed: 　　1.The cognitive analysis of the importance of junior high school teachers' inspiration ways shows that there are significant differences on variables including “the scale of the school”, “gender”, “age”, “position”, “the course they teach”, “the years being teachers”. This means that teachers in a school scale under 61 classes, young female teachers, teachers teaching in different course fields, and being a teacher under five years all agree the importance of providing inspiration during working. 　　2.Analyzing from the middle school teacher' understanding of the significance of the cause,” motivation-hygiene“：using “Teaching environment will make teacher feel pleased” ,”The school will esteem the teachers' professional authority”, ”Teaching will be acted on its own and be professional”, ”Offering teachers the opportunities of self-development”,”Teaching positions should be guarauteed properly”and “Keeping good relationship among the colleagues”,as the norm of teachers' understanding. 　　3.The cognitive feelings about realizing junior high school teachers' inspiration ways have significant differences on “position” and “the course they teach”. This shows that teachers who teach health, physical, and social science, and teachers who also do administration jobs and full-time teachers think that it's more possible to bring their ideal jobs out to lives. Besides, teachers in private schools, and teachers who teach in remote areas think that bringing out ideal jobs is not an easy thing. 　　4.The analysis through the factor of middle school teachers ” motivation-hygiene“ to achieve the possible understanding：using “Teachers posses the esteemed responsibilities and missions”,”Teachers coudle elaborate their abilities and talents sufficiently ”,” Keeping good relationship among the colleagues”, ”Teaching will be acted on its own and be professional”,and ”Offering teachers the opportunities of self-development”,as the cxiterion of teachers' accomplishing the possible understanding. 　　5.Analyzing from the whole working atmosphere shows that junior high school teachers in Tao-Yuan County have significant differences on variables such as “the school type”, “age”, “position”, “record of formal schooling”, and “years of being a teacher”. This means that teachers in public junior high schools, older teachers, full-time teachers, teachers with master degrees, being teachers more than 20 years and from 11-15 year have better working performance. 　　The outcome of this research can provide effective inspiration ways on administation operating to encourage teachers' latent energy, to satisfy teachers' individual needs, and to promote their working atmosphere.

Les chargements dynamiques extrêmes sont une cause importante des dommages des structures. Dans la nature, certaines plantes, particulièrement les arbres, résistent régulièrement à des chargements extrêmes comme lors de tempêtes. Pour ces structures vivantes, produits de l'évolution, dissiper efficacement l'énergie mécanique reçue lors de tels chargements conditionne leur survie et le mécanisme de leur amortissement est donc probablement optimisé. L'idée bio-inspirée défendue ici est que le branchement offre aux structures flexibles un mécanisme d'amortissement robuste et spécifique aux vibrations de grande amplitude. La dynamique en grands déplacements d'un modèle branché élémentaire ayant deux degrés de liberté est étudiée, mettant en évidence un transfert non linéaire d'énergie entre les modes propres. Ce transfert provient de non-linéarités géométriques et s'explique par une excitation centrifuge des branches par l'oscillation du tronc ; cette excitation est effective lorsque le rapport des fréquences des modes correspondants est approximativement de 2. Ce mécanisme, dénommé \mbox{"amortissement par le branchement"}, produit une dissipation spécifique qui augmente avec l'amplitude des vibrations. Il apparaît comme robuste vis-à-vis de la variété des sources possibles de dissipation de la structure, provenant, par exemple, de l'interaction avec un fluide environnant. En utilisant la méthode des éléments finis, l'analyse de la dynamique en grands déplacements d'un modèle branché continu constitué de poutres, excité par lâcher ou par forçage, montre l'applicabilité du mécanisme à des structures plus complexes. Une expérience met en évidence ce mécanisme d'amortissement par le branchement sur une structure flexible branchée et réglée en fréquence. Ces résultats ont permis de concevoir un absorbeur dynamique branché pour les systèmes en rotation, lequel offre des performances supérieures, dans une certaine gamme d'amplitudes, à celles d'un absorbeur dynamique classique équivalent. Enfin, l'analyse d'un modèle ramifié suggère que ce mécanisme est effectivement présent dans les arbres.

The work presented in this dissertation was aimed at understanding biology's application of soft materials to enhance sensing abilities and initiate innovative bio-inspired material-based approaches for flow (fluidic and air) sensors and photo-thermal sensors. A key aim is to help strengthen this niche of functional materials science referred to, here, as bio-inspired materials in sensing roles. The work aspires to traverse the boundaries of the subject in order to provide a strong foundation for future scientific explorations of the subject. The studies presented here, include studies of flow sensing in fish and implementing a bio-mimetic approach to microfabricated flow sensors. The work also includes studies of material based signal filtering in spiders, as well as, bio-inspired photo-thermal transduction mechanisms. The capabilities of the methodology are demonstrated with successful engineering studies.

Made available in DSpace on 2014-12-17T15:07:01Z (GMT). No. of bitstreams: 1 Gilmara_VCA_DISSERT_PARCIAL.pdf: 184000 bytes, checksum: 6e7229f225a02ef2414739d32a0abca0 (MD5) Previous issue date: 2012-12-10 / Dans ce travail de recherche nous nous proposons d ?tudier l oeuvre d Anna de Noailles, po?tesse et romanci?re fran?aise qui a publi? ses premi?res po?sies ? la fin du XIX?me si?cle. Notre corpus est constitu? de trois po?mes du recueil L Ombre des Jours, publi? en 1902, ? savoir : Jeunesse, Le R?pit et Renaissance. Initialement, nous avons trait? la mise en contexte sociale et culturelle de la fin du XIX?me et du d?but du XX?me si?cle. Ensuite, nous avons abord? l espace interne de l oeuvre noaillienne qui se manifeste ? travers des paysages de la nature. Nous avons remarqu? que dans celle-ci, il y a une identification avec le moi lyrique. Enfin, nous avons analys? les trois po?mes de notre corpus. Nous soulignons que le manque de critiques et de recherche sur l oeuvre noailliene en France et l absence de recherche sur la po?tesse dans le milieu acad?mique br?silien nous ont motiv?e ? r?aliser cette ?tude. Ce travail a comme objectif mettre en ?vidence la richesse de la po?tique d Anna de Noailles. Dans notre ?tude sur l oeuvre l ombre des jours, nous nous sommes apper?ue que l auteur poss?de son propre style, elle ne cherchait pas ? imiter un mod?le litt?raire particulier ? ses contemporains. Dans son esth?tique, nous avons remarqu? le refuge dans la nature, dans le pass? et aussi une forte ?vocation sensorielle. L univers lyrique de l oeuvre noaillienne est represent? ? travers des paysages bucoliques qui ?voquent des saisons. Malgr? ce retour ? la nature, nous avons d?couvert des ?l?ments que caract?risent la po?sie moderne, comme la luminosit?, la qu?te de l expansion, la superposition des images, entre autres. L espace de l ombre des jours est grandiloquent, la po?tesse mentionne fr?quemment son d?sir d expansion et pour cette raison, nous trouvons dans les po?mes des lieux ouverts, o? le contact direct avec la lumi?re, l air et l eau devient possible. Dans l Ombre des Jours, il est rare qu une r?f?rence ? un lieu clos soit trait?e; si la po?tesse le fait, c est pour exprimer la suspension de la passion / Neste trabalho de pesquisa nos propomos a estudar a obra de Anna de Noailles, poetisa e romancista francesa que publicou suas primeiras poesias no final do s?culo XIX. Nosso corpus constitui-se dos poemas; Jeunesse, Le R?pit e Renaissance, pertencentes ? colet?nea L Ombre des Jours, publicada em 1902. Tratamos inicialmente da contextualiza??o social e cultural do final do s?culo XIX e in?cio do XX. Em seguida, discorremos sobre o espa?o interno da obra noailliana que se manifesta atrav?s de paisagens da natureza. Observamos que nesta, h? uma identifica??o com o eu l?rico. Enfim, analisamos os tr?s poemas do nosso corpus. Ressaltamos que a falta de obras cr?ticas e de pesquisas sobre a obra noailliana na Fran?a e a aus?ncia de pesquisa sobre a poetisa no meio acad?mico brasileiro nos motivou a realizar esse estudo. Com esse trabalho, objetivamos ressaltar a riqueza da po?tica de Anna de Noailles. No nosso estudo sobre a obra l ombre des jours, percebemos que a autora tem o seu estilo pr?prio e n?o busca imitar um modelo liter?rio particular dos seus contempor?neos. Em sua est?tica encontramos o ref?gio na natureza, no passado e tamb?m uma forte evoca??o sensorial. O universo l?rico da obra noailliana ? representado nas paisagens das esta??es, nos espa?os buc?licos. Apesar desse retorno ? natureza, pudemos encontrar em seus poemas elementos que caracterizam a poesia moderna, como a luminosidade, a busca pela expans?o, a sobreposi??o de imagens, entre outros. O espa?o da obra l ombre des jours ? grandiloquente, a poetisa frequentemente menciona o seu desejo de expans?o; por essa raz?o encontramos nos poemas ambientes abertos onde ? poss?vel o contato direto com a luz, o ar e a ?gua. As raras vezes que a poetisa refere-se a um recinto de clausura ? para expressar o estado de abatimento da paix?o

Denna rapport beskriver vårt projektarbete på ComOpt i Helsingborg. Uppgiften har varit att göra presentationer av företagets produkter. Det centrala i arbetet har varit grafisk design, i det här fallet gränssnittsdesign till de presentationer vi har gjort. I vår rapport reflekterar vi över den designprocess vi har genomgått och ställer frågor som: Vad gör en designer till en bra designer? Och: Var får vi kreativitet och inspiration ifrån? Det vi har kommit fram till är att en bra designer kännetecknas av förmågan att kunna prestera bra trots bristande resurser. En bra designer är kreativ och innovativ. Denna kreativitet åstadkoms genom att designern känner sig själv på ett bra sätt och vet hur han eller hon ska få inspiration. Vi har kommit fram till att mycket handlar om att strunta i det självklara och få inspiration i sin omgivning. En inspirerande omgivning ger ofta upphov till många bra idéer. Under vårt arbete har vi använt oss av metoder såsom intervjuer, feedbackmöten, mock-up och storyboard med flera. Detta har hjälpt oss att sätta oss in i produkterna, identifiera kundgrupp och designa presentationer våra klienter har varit nöjda med. Abstract This report is about our work at the company ComOpt in Helsingborg. Our task there has been to make presentations of the company´s products. The core in our work has been graphic design, in this case on the interfaces of the presentations we have been making. In our report we are reflecting about the designprocess we have been in and asking questions such as: What is it that makes a good designer? And: Were do we get our creativity and innovation from? Our conclusion is that a good designer is able to produce good products even with the lack of important resources. A good designer is creative and innovative. The designer knows him or herself and knows how to get inspired and thereby get great ideas. We have noticed that we get these ideas by ignoring the obvious and receiving inspiration through our surroundings. During our work we have been using methods as interviews, feedbackmeetings, mock-ups and storyboards and etcetera. This methods has helped us getting to know the products, identify the customergroup and designing presentations that has been to the satisfaction of our clients.

This thesis named Verbal assessment at primary schools in the Czech Republic and in Switzerland focuses on an introduction and a comparison of verbal assessment in these two countries. The comparison is intended as a tool for a mutual inspiration. The verbal assessment is a current topic due to the recent changes in the concept of primary education in the Czech Republic. The thesis is divided into two parts. The theoretical part deals with the definition of the term "assessment", its forms and types within the Czech system of education, then it is concentrated on the description of the verbal assessment in more detail. There is also the introduction to the educational concept of one alternative school. The following chapters contain basic information about Swiss education in the context of its history. The school system of evaluation is further described within the Swiss canton called Luzern. The practically empirical part of this thesis examines systems of evaluation at primary school in the Czech Republic and in Switzerland applying the research methods as the interview or the questionnaire. The purpose of this part is to prove that the verbal assessment is more appropriate evaluating form than using classification during the first few years at primary school. KEY WORDS Verbal assessment, Swiss...

Ce manuscrit traite de la conception d’un robot quadrirotor bio-inspiré. Ce robot, nommé QuadMorphing, s’inspire de l’oiseau et possède la capacité de se replier en vol afin de diminuer son envergure. Cette particularité est intéressante pour des problématiques d’évitement d’obstacles dans des milieux encombrés.Le travail présenté ici contient une présentation du robot où la plateforme mécatronique y est décrite en détails. Puis, des résultats expérimentaux sont présentés et commentés afin de quantifier les performances du prototype QuadMorphing durant des scénarios de franchissement d’obstacles.La deuxième partie de cette thèse traite de l’estimation de la taille d’obstacles en vol grâce à une perception visuelle monoculaire. Deux algorithmes d’estimation ont été simulés afin d’être validés pour être ensuite mis en place sur une nouvelle version du robot qui a été testée expérimentalement. Ces estimations permettent par la suite de rendre le robot plus autonome pour éviter les collisions avec son environnement et actionner son système de changement de forme si cela est nécessaire. / This paper describes a bio-inspired quadrotor design. This robot, called QuadMorphing, is inspired by birds and has the ability to fold its mechanical structure to reduce its wingspan during the flight. This feature could be useful for obstacle avoidance task in cluttered environments.The work presented here contains a full description of the mechatronic structure. Then, experimental results are presented and discussed in order to quantify the QuadMorphing performances during obstacle avoidance scenarios.The second part of this thesis deals with estimating obstacle size during flight using monocular visual perception. Two estimation algorithms were simulated in order to be validated and then implemented for experimental testing on a new version of the robot. In order to make the robot autonomous, the estimation of the size of the obstacle allows the robot to avoid collisions with its environment and to perform its morphological reduction if necessary.

UNIVERZITA KARLOVA V PRAZE PEDAGOGICKÁ FAKULTA Katedra výtvarné výchovy Téma diplomové práce ČLOVĚK A KŮŇ (Jiný přítel) Jana Peštová 7. ročník Učitelství výtvarné výchovy pro ZŠ, SŠ a ZUŠ Prezenční studium Vedoucí diplomové práce: Doc. ak. mal. Jiří Kornatovský Konzultant: Doc. PhDr. Marie Fulková, Ph.D. Doc. PhDr. Jaroslav Bláha, Ph.D. Korektury: Mgr. Zuzana Hrubá Praha, červen 2012 CHARLES UNIVERSITY IN PRAGUE FACULTY OF EDUCATION Department of art education Master thesis: MAN AND HORSE (Another friend) Jana Peštová 7th year full-time studies Art education for Elementary school, Hight school and School of Arts Supervisor: Doc. ak. mal. Jiří Kornatovský Consultant: Doc. PhDr. Marie Fulková, Ph.D. Doc. PhDr. Jaroslav Bláha, Ph.D. Proofreading: : Mgr. Zuzana Hrubá Prague , June 2012 Prohlašuji, že jsem tuto diplomovou práci zpracovala samostatně a uvedla jsem veškeré použité zdroje. Práce byla prověřena systémem na kontrolu plagiátorství dostupném na www.odevzdej.cz. Praha, červen 2012 ............................................... Poděkování: Za podnětné nápady při zpracovávání práce děkuji Doc. ak. mal. Jiřímu Kornatovskému, Doc. PhDr. Marii Fulkové, Ph.D. a Doc. PhDr. Jaroslavu Bláhovi, Ph.D. Za korektury textu děkuji Mgr. Zuzaně Hrubé. KLÍČOVÁ SLOVA: kůň, člověk, sebereflexe, kvalita, zkušenost, forma,...

This project is a thesis for a Bachelor of Science in Industrial Design Engineering at Luleå Tekniska Universitet. In the project, a concept has been developed for a solution to be able to use an electric whisk without holding it. It can be difficult to hold an electric whisk and whisk together a batter. The shoulder aches, you may have reduced strength in the wrist, or you wish it was possible to have your hands free to easily sift down the flour a little at a time. On the market today solutions are sold in the form of stands that comes with a new electric whisk and only fits that electric whisk, or expensive and bulky kitchen assistants. The purpose of the project has been to solve the problem that it is not possible to use the electric whisk you already have at home, without holding it, and to investigate whether it is possible to make the solution universal. The goal of the project has been to develop a concept for a solution that has high usability. The process that has been used in the project is IDEO's user-centered design process, human-centered design, with the three phases inspiration, ideation, and implementation. Each phase has started with a broad exploration, and then limited and analysed the results from the phase before the process started again in the next phase. The result is an electric driven stand for electric whisks that have an included attachment, as well as an included bowl that is rotated using a motor. The stand can be adjusted in height to be easily adapted to different lengths of whisks, and so that the bowl can be removed from the stand, without having to mount off the electric whisk. The maximum height of the stand is high enough for the longest whisks to come above the bowl, and low enough for the electric whisks with the shortest whisks to be used with the stand. The electric whisk is attached to the stand, by gluing a small attachment to the underside of the electric whisk, the attachment is then clicked onto the stand. To avoid having to connect two cables to the wall, there is a socket for the electric whisk integrated in the stand. The result is not a universal solution, but it is estimated that the stand works for 74 percent of all electric whisks and 91 percent of the best-selling electric whisks. / Det här arbetet är ett examensarbete inom Teknisk design högskoleingenjör, vid Luleå Tekniska Universitet. I arbetet har det tagits fram ett koncept på lösning för att kunna använda en elvisp utan att hålla i den. Det kan vara besvärligt att hålla i en elvisp och vispa ihop en smet. Axeln värker, du kan ha nedsatt styrka i handleden, eller så önskar du att det gick att ha händerna fria för att enkelt kunna sikta ner mjölet lite i taget. På marknaden idag säljs lösningar i form av ställningar som följer med en ny elvisp och enbart passar den elvispen, eller stora och dyra köksassistenter. Syftet med arbetet har varit att lösa problemet med att det inte går att använda elvispen du redan har hemma, utan att hålla i den, samt att utreda om det är möjligt att göra lösningen universell. Målet med arbetet har varit att ta fram ett koncept på en lösning som har hög användbarhet. Processen som har använts i arbetet är IDEO’s användarcentrerade designprocess, human-centered design, med de tre faserna inspiration, ideation, och implementation. Varje fas har börjat med att det utforskats brett, för att sedan begränsat och analyserat resultatet från fasen innan processen börjat om i nästa fas. Slutresultatet är en eldriven ställning till elvispar som har ett medföljande fäste, samt en medföljande bunke som roteras med hjälp av en motor. Ställningen går att justera i höjdled för att enkelt kunna anpassas efter olika längder på vispar, samt för att bunken ska vara möjlig att ta från ställningen, utan att behöva montera lös elvispen. Maxhöjden på ställningen är nog hög för att de längsta visparna ska komma ovanför bunken, och nog låg för att elvisparna med de kortaste visparna ska kunna användas med ställningen. Elvispen fästs på ställningen genom att ett litet fäste klistras på undersidan av elvispen, detta fäste klickas sedan fast på ställningen. För att undvika att behöva koppla in två sladdar i väggen, finns ett uttag för elvispen integrerad i ställningen. Resultatet är inte en universell lösning, men uppskattningsvis passar ställningen 74 procent av alla elvispar och 91 procent av de mest sålda elvisparna.

Bioinspired robots are becoming more and more common and getting inspired by the solutions found in nature to tackle problems is often useful. Regarding the swimming robots Ąeld of research, we can get inspiration from swimming snakes. In the last twenty years several snake-like swimming robots have been conceived as their slender shape can allow more freedom in movements. It also may be less intrusive in an underwater environment. One problem encountered in swimming snake robots is to stabilize it on water surface and to control the head movement. Due to its shape it is very sensitive to rolling motion. A way to counter this is inspired by the swimming of the cottonmouth snake. By rotating its modules the robot can play on the buoyancy effect and gravity to stay stabilized and this would allow to stabilize the gaze of the robot. For that however we need to be able to locate the head, relatively to the water surface to have an absolute position of each module. The goal of this thesis is to conceive a perception module that would be able to reproduce the senses a cottonmouth snake uses to stabilize itself on the water surface. In order to achieve this an Inertial Measurement Unit is used to reproduce the information a snake gets from its inner ear. Distance sensors imitate the snakeŠs vision and provide an estimate of the distance of the head from the water surface. The perception module should be able to follow the movement of the snake robotŠs head relatively to the water surface. One of the challenges is that this module should be operational speciĄcally on water. To test the performances of the conceived perception module a hardware solution is presented in this thesis to simulate the movements of the robotŠs head above a water tank. This structure allows the perception module to do simple movements such as sinusoidal waves along the z axis or the movements the robot head would do when it is slightly disturbed, according to the simulation of that robot. The results show that the perception module has an accuracy similar to biological systems (the senses of the snake) so we believe that it will be usable to control the robotŠs stability. / Bioinspirerade robotar blir allt vanligare och det är ofta bra att låta sig inspireras av lösningar som Ąnns i naturen för att lösa problem. När det gäller forskningsområdet simulerande robotar kan vi inspireras av simulerande ormar. Under de senaste tjugo åren har Ćera ormliknande simrobotar utformats eftersom deras smala form ger större rörelsefrihet. Den kan också vara mindre påträngande i en undervattensmiljö. Ett problem med simmande ormrobotar är att stabilisera dem på vattenytan och att kontrollera huvudets rörelser. På grund av sin form är den mycket känslig för rullande rörelser. Ett sätt att motverka detta är inspirerat av vattenmockasinets simning: ett projekt vid IMT Atlantique-robotlabbet går ut på att arbeta med kroppens form genom att Ćytta robotens olika moduler. Genom att rotera modulerna kan roboten spela på Ćytkraften och gravitationen för att hålla sig stabil, vilket skulle göra det möjligt att stabilisera robotens blick. För detta måste vi dock kunna lokalisera huvudet i förhållande till vattenytan för att få en absolut position för varje modul. Målet med den här avhandlingen är att utforma en perceptionsmodul som skulle kunna återge de sinnen som ett vattenmockasin använder för att stabilisera sig på vattenytan. För att uppnå detta kommer en tröghetsmätningsenhet att användas för att reproducera den information som en orm får från sitt inneröra. Sedan kommer avståndssensorer att läggas till för att efterlikna ormens syn (eftersom vi behöver en uppskattning av huvudets avstånd från vattenytan). Uppfattningsmodulen bör kunna följa ormarobotens huvudets rörelse i förhållande till vattenytan. En av utmaningarna är att denna modul ska fungera speciĄkt på vatten. För att testa den tänkta uppfattningsmodulens prestanda presenteras i denna avhandling en hårdvarulösning för att simulera robothuvudets rörelser ovanför en vattentank. Denna struktur gör det möjligt för perceptionsmodulen att göra enkla rörelser, t.ex. sinusformade vågor längs z-axeln eller de rörelser som robothuvudet skulle göra när det störs en aning, enligt simuleringen av roboten. Resultaten kan analyseras med en biologisk utgångspunkt. Resultaten visar att perceptionsmodulen har en noggrannhet som liknar biologiska system (ormens sinnen) så vi tror att den kommer att kunna användas för att kontrollera robotens stabilitet.