Those who today hear the name Djurhamn are maybe first thinking of a summer resort place with sunbathing, swimming and recreational boating activities. Djurhamn has an interesting and fascinating history well intertwined with the history of Sweden. The interesting history was exposed by the Stockholm Sport Diving Club which, during the summers of 1964 and 1965, brought up a large number of finds from the bottom of Djurhamn. The findings could essentially be dated to be in the in the period 1500s to 1700s. Like other parts of the East Coast Djurhamn was hit in "Russian raids" in the early 1700s. The known meetings of warships during the Vasa era and the history of naval ship Riskswasas fate also reflects the interesting parts of Djurhamn history. While working on this, a number of dives were made at the bottom of the basin in Djurhamn. Two side-scan surveys have also been conducted. Overall, this has not resulted in any change of the picture of what's on Djurhamns bottom. A previously unknown wreck that lies south of the cemetery have, however, been located based on information from the public. The finds from the dives during 1964 and 1965 talk about food and drinks, cooking utensils, three-leg pots and bottles speaks their language. Even earlier dated bargain materials speak the same language. It is a place where everyday objects leave imprints on the bottom along with the testimony of a brickyard, which flourished for a short period. Which traces have been left from the naval activities? Practically none. On land there are no naval monuments. The objects which were brought up at the 1960 dives were almost entirely attributable to the applications connected to cooking. Our modern society is a complex reality. There are homes, workplaces, hospitals, places of entertainment, etc. People are born, grow up, grow old and die. What do we find in the signs of the Djurhamn? Well, a picture that much is a reflection of today's society. Also here you are born grown up grown old and finally dead. Heavy drinking has flourished. In addition to self-household and shipping, there has been brick industry and cholera quarantine. Finally, perhaps Djurhamn over time is best described as farmers, fishermen and hungry sailors’ history more than the history of the fleet in the Vasa kings’ service.

L’action en urbanisme demeure un champ de recherche riche au regard de sa complexité. Par projet, elle est pratiquée selon une anticipation opératoire partiellement déterminée et repose sur des croyances. Le projet d’urbanisme se définit par l’articulation de plusieurs ambiguïtés notamment entre l’intention directrice de l’action et la confrontation de la réalisation à la réalité. Cette recherche participe à l’intelligibilité de la pratique du projet d’urbanisme, pratique de la complexité. Comme opérateur du projet d’urbanisme, les valeurs constituent l’objet de cette recherche. Nous proposons d’éclairer la pratique du projet par l’analyse de la mobilisation des valeurs dans, pour et par le projet. L’intrigue de cette recherche est la relation entre la mobilisation des valeurs dans le projet d’urbanisme et celui-Ci. Les hypothèses de ce travail reposent sur l’interaction entre la dynamique de cette mobilisation et la dynamique du projet. L’étude du projet Bossut à Cergy-Pontoise, pensé depuis plus de quatre décennies, et l’analyse de la mobilisation des valeurs dans ce projet, celles de Centralité, d’Identité et de Lien, ont révélé que les valeurs, si elles portent le projet d’urbanisme en retour sont portées par lui. Représentée par la figure du Tripode-Culbuto, la dynamique, à la fois stable et instable, de la mobilisation des valeurs dans, pour et par le projet, permet de gérer et de pratiquer une partie de la complexité du projet d’urbanisme. / Action in urban planning remains a field of research rich in terms of its complexity. Each project is performed based on an anticipated, partially determined, operating process and on beliefs as opposed to evidence. An urban planning project is defined as the interlink between several ambiguities, notably between the intended action of the planning and the reality of the situation. This research contributes to a better understanding of the practical considerations of an urban project, an exercise of complexity. The values as operators in urban planning constitute the subject of this research. We propose to provide substantial insights into the practicalities of urban planning by analyzing the mobilization of these values, in, for and by the project. The intrigue of this research is the relationship between the mobilization of these values in urban planning and the project itself. The hypotheses of this work rely on the interaction between the dynamic of this mobilization and the dynamic of the project. A study of the Bossut project in Cergy-Pontoise, which has been in the planning stages for four decades, and an analysis of the mobilization of the values herein (centrality, identity and connection), revealed that they did indeed support the project and, in return, were supported by it. Represented by the figure three-Legged stool / “Culbuto”, the dynamic of the mobilization of values in, for, and by the project, at times stable and unstable, allows managing and putting into practice some of the complexity of urban planning.

Using physical analogies when solving computational problems is not uncommon. The Electric Field Approach is such an analogy using potential fields for describing the situation in a robotic soccer match and for proposing the next step in optimizing the situation. The approach was developed and implemented during the summer of 2000 and was later used and tested during the fourth Robot Soccer World Cup in Melbourne, Australia. The results of the games prove that the approach is applicable in this narrow but interesting domain, combining artificial intelligence and robotics. The theory of the approach is general and can also be applied on various other domains. This is not the first potential field approach, but the ability of both handling navigation and manipulation of the environment is unique.

The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control.

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No description available.

Legged robotics creates the demand for high torque compact actuators able to develop high instantaneous torque. Proprioceptive actuator design theory is a design theory that removes the need for a torque feedback device and relies on the stiffness in the leg for absorbing the high Ground Impact Forces created by walking locomotion. It utilizes a high torque density motor paired with a gearbox with a high gear ratio for torque multiplication. Previously work has been done to design a proprioceptive actuator design that utilizes a planetary gearbox to create a modular low-cost actuator for legged robotics. The purpose of this thesis is to design and analyze a proprioceptive actuator that utilizes a cycloidal gearbox design to test the feasibility of the gearbox design and look at the advantages it might bring over a planetary gearbox design. A cycloidal gearbox utilizes eccentric motion of cycloidal disks, made of epicycloids, to create a high gear ratio in a very limited space without having to rely on expensive gears for torque multiplication purposes. A prototype low-cost actuator was developed using a 2-disk cycloidal gearbox in its design. It was tested for wear life and torque control and was able to meet the torque and operation requirements of the Cal Poly legged robotics project. The design was also optimized to be made using low-cost additive manufacturing techniques rather than relying on conventional machining.

No description available.

Legged robots are well-suited for navigating unstructured terrain due to their ability to perform agile dynamic motions. Building on the efforts of Cal Poly's Legged Robotics Group, this project focuses on achieving stable forward hopping with a single legged robot. A comprehensive model of leg hopping is formulated, with leg dynamics during flight and stance phases derived using Euler-Lagrange equations. During the stance phase, a spring-mass system models the leg-ground interaction. The touchdown and lift-off conditions are formulated mathematically, and state mappings between phases are determined via momentum conservation. A two-phase hybrid controller is designed, incorporating trajectory planning during flight and ground-reaction force and impedance control during stance. Numerical simulations validate the design, followed by experimental testing on a Speedgoat real-time machine within a Simulink environment, showing good correlation with simulations. The impact of a control parameters on average velocity are experimentally analyzed. The results demonstrate the controller's effectiveness in achieving stable hops and provide a method for tuning hop speeds. This research also paves the way for future projects by thoroughly documenting the leg's physical parameters and addressing the challenge of implementing reliable impact and lift-off detection during experimental testing.

經濟體系由過去以產品為導向、有形資產為主的經濟體系轉向為以知識、服務與無形資產為主的知識型經濟時，產業核心競爭力已逐漸改變，財務性及非財務性的智慧資本成為企業取得核心競爭力與確保未來獲利能力之驅動力量。因此本研究將智慧資本與企業經營績效之關係性研究，試著根據「平衡計分卡」以非財務性領先指標連結最終財務績效表現之觀點與「智慧資本」的觀念架構，以瞭解影響企業經營績效之核心智慧資本項目與衡量指標，並提出具體建議，期使企業內部經理人與外部投資人能獲得足夠且攸關的財務與非財務資訊，俾以做出正確的決策。 本研究乃針對我國上市(櫃)製造業為研究對象，包含資訊電子業、化學業、水泥、生物科技、玻璃陶瓷、食品、紡織、造紙、塑膠、運輸工具、電線電纜、橡膠輪胎、機電、鋼鐵金屬等產業，並將智慧資本分為人力資本、創新資本、流程資本以及顧客資本四大構面因素，探討智慧資本與經營績效之關係性，從企業內部管理者的觀點，以企業之經營績效作為衡量智慧資本所產生實質效益之衡量指標，並發展以下問題： 【問題一】人力資本對企業經營績效之影響為何？是否具有遞延效益？ 【問題二】創新資本對企業經營績效之影響為何？是否具有遞延效益？ 【問題三】流程資本對企業經營績效之影響為何？是否具有遞延效益？ 【問題四】顧客資本對企業經營績效之影響為何？是否具有遞延效益？ 研究結果顯示，整體而言，儘管並非所有自變數之反應皆如預期，智慧資本對企業之經營績效仍然具有正向之影響。就個別項目而言，代表人力資本衡量指標之「員工附加價值」與「員工變動率」，代表創新資本衡量指標之「研發投入密集度」，以及代表顧客資本之「廣告投入密集度」均對於當期經營績效具有正向之影響。而人力資本、創新資本以及流程資本對於經營績效則具有遞延一期以上之影響。 / This study is based on the viewpoint of ” the balanced scorecard”－linking non-financial, leading performance measures to ultimate financial performance measures, and the framework of “intellectual capital” to analyize the relationship between intellectual capital and business performances, catch on which categories and measures of intellectual capital can be concerned with business performances, and set forth concrete suggestions. It’s anticipated that the management and investors would obtain enough and relevant information to make accurate decisions. This study primarily focuses on the enterprises of manufacturing industry trading in Taiwan Stock Exchange Corporation, classifies intellectual capital into four categories: human capital, innovation capital, process capital and customer capital, and then analyzes the relationship between intellectual capital and business performances from the management’s viewpoint through using business performance as measures of benefit from intellectual capital. Four issues are as follows: （1） Is human capital concerned with business performances? Are there any legged effects? （2） Is innovation capital concerned with business performances? Are there any legged effects? （3） Is process capital concerned with business performances? Are there any legged effects? （4） Is customer capital concerned with business performances? Are there any legged effects? The results show that intellectual capital as a whole has positive effects on business performances. Specificly, both “value-added by personnel” and “rate of personnel change” of human capital measures, “R&D intensity” of innovation capital measures, and “advertisement intensity” of customer capital measures are positively concerned with business performances. In addition, human capital, innovation capital, and process capital do have lagged effects on business performances.