Die vorliegende Arbeit beschreibt ein generisches Verfahren zur wahrscheinlichkeitsbasierten Erkennung von Fahrsituationen und Fahrmanövern für sicherheitsrelevante Fahrerassistenzsysteme. Fahrsituationen und Manöver unterliegen einer gewissen Unsicherheit basierend auf der unterschiedlichen Situationswahrnehmung bzw. Manöverdurchführung der Fahrzeugführer. Diese Unsicherheitskomponente wird in den Ansatz zur Situations- und Manövererkennung mit einbezogen. Ein weiterer Unsicherheitsaspekt beruht auf den ungenauen Umgebungsinformationen auf denen die Situations- und Manövererkennung basiert. Beide Unsicherheitsursachen sind völlig unabhängig voneinander und werden aus diesem Grund separat betrachtet und modelliert. Zur Modellierung dieser beiden Unsicherheitsaspekte bedient sich der vorgestellte Ansatz der Fuzzy-Theorie, der Theorie der probabilistischen Netzen sowie Verfahren zur Fehlerfortpflanzung und Sensitivitätsanalyse. Nach der theoretischen Vorstellung dieser Methodiken wird in der Arbeit detailliert auf den Einsatz und das Zusammenspiel der einzelnen Verfahren zur Erkennung der Fahrsituationen und Fahrmanöver eingegangen. Die Umsetzbarkeit des vorgestellten Verfahrens wird am Beispiel der Notbremssituation gezeigt. Die Notbremssituation setzt sich aus unterschiedlichen Teilsituationen und Manövern zusammen. Die Erkennung der einzelnen Situationen und Manöver sowie die Zusammenführung zur übergeordneten Notbremssituation wurden mit Hilfe des vorgestellten Verfahrens realisiert. Zur Evaluierung der Erkennungsgüte wurden sowohl Messdaten aus dem Straßenverkehr als auch realitätsnahe Daten, aufgezeichnet auf Versuchsstrecken, herangezogen. / The present work describes a generic method for the probabilistic identification of driving situations and driving manoeuvres for safety relevant driver assistance systems. Driving situations and driving manoeuvres underlie a certain uncertainty based on the different situation perception and manoeuvre execution of the driver. This uncertainty component is considered in the approach for the situation and manoeuvre identification. An additional uncertainty aspect is based on the inaccurate environment information, the identification of driving situations and manoeuvres depend on. Both uncertainty aspects are completely independent and are considered and modelled separately for this reason. For modelling both of these uncertainty aspects the present approach is using the fuzzy theory, probabilistic networks, as well as methods for error propagation and sensitivity analysis. After introducing these techniques theoretically, the application and the interaction of the single methods to identify the driving situations and manoeuvres is described in detail. The practicability of the introduced proceeding is shown exemplarily on the emergency brake situation. The emergency brake situation consists of several situation and manoeuvre components. The identification of the single situations and manoeuvres as well as the combination to the higher emergency brake situation is realised with the introduced proceeding. Measuring data gathered on road traffic and close to reality data measured on a test track were used to evaluate the identification quality.

Les méthodes de trajectographie conventionnelles par mesures d'angle supposent que la source est en mouvement rectiligne uniforme tandis que l'observateur est manoeuvrant. Dans cette thèse, nous remettons en cause cette hypothèse en proposant un autre modèle de cinématique de la source : le mouvement circulaire uniforme. Nous prouvons qu'une telle trajectoire est observable à partir d'un observateur en mouvement rectiligne uniforme. Puis, nous étudions l'apport de mesures additionnelles de fréquence ou la faisabilité de la trajectographie par mesures de distances. Le cas d'une source en mouvement rectiligne uniforme et d'un observateur manoeuvrant est étudié pour ce dernier type de mesures. Chaque cas donne lieu à une analyse de l'observabilité de la trajectoire de la source et à la mise au point de l'estimateur du maximum de vraisemblance. Nous montrons que ce dernier s'avère le plus souvent efficace.

This thesis is a transdisciplinary study of leading South African Marxist intellectual, political activist and sociologist of language Neville Edward Alexander’s written work in English. It is an attempt to explore the “dialogical narratives” as a proposition in my assessment of his work and it is also a description of a method he employs to arrive at his own political and literary compositions. In tracking his formation as a political subject and an activist, Alexander’s and other writers’ interpretations of his meetings with and his stories about people are explored. His writings cover the spectrum of politics, education and language, and he employed a political economy approach in all his written expositions. The study argues that he had an exceptional ability to “argue against himself” because he was a dialectical reasoner and because he embraced the political and sociological toolkit of historical materialism as the philosophical matrix of his work. / History / D.Lit et Phil. (History)

The topic of this essay is the strategic importance of the Golan Heights during the period 1967-1973, specifically targeting the following questions; -          Why were the heights strategically important? -          What are the gains of either of the states in controlling the Golan Heights? A theoretical framework based on Jerker Widén´s and Jan Ångström´s Militärteorins grunder (The fundamentals in Military Theory) and its chapter regarding the strategic context will be used as an analytical framework. The framework has been applied on the specific conditions of the Golan Heights during a given and limited period of time; stretching from 1967 to 1973, however, the study will not deal with the war of attrition in 1970 as the impact on the Golan Heights and the surrounding geographical strategically important area was limited if at all. The two wars waged during this particular time are used in an attempt to give a somewhat objective picture of the strategic importance of the area. The conclusions are that the importance of the Golan heights during the selected period was significant as the Golan Heights provided a “strategic lock” both ways and provides a favourable area to deploy artillery, intelligence and surveillance sensors. / Denna uppsats behandlar främst de grundläggande teorierna kring strategi applicerade på referensobjektet Golanhöjderna under åren 1967-1973. Syftet är att svara på frågorna: Varför var höjderna viktiga ur ett strategiskt perspektiv? Vilka fördelar vinner endera staten på att besitta dem? Tidsrymden har valts med tanke på att det är under denna tid som de häftigaste striderna ägde rum på detta specifika terrängavsnitt. Utnötningskriget 1970 berörs ej då det inte berörde terrängavsnittet. De parter som behandlas är Israel och Syrien då dessa gränsar till varandra runt Golanhöjderna. De bägge parternas planer och mål under stridigheterna kommer att analyseras enligt en deskriptivt-analyserande metod och även till viss del jämföras vad avser deras avsikter och önskade slutläge. Den teoretiska referensramen, vilken skall fungera som ett analysverktyg, består huvudsakligen av sex belysande aspekter som tillsammans kan beskriva den strategiska bilden, hämtade ur Jerker Widéns och Jan Ångströms bok Militärteorins grunder. Utöver dessa sex aspekter kommer även manöverkrig, linjaritet samt rysk krigskonst att beskrivas. Dessa operationaliseras sedan på referensobjektet och leder fram till en diskussion som sedan mynnar ut i ett antal slutsatser. De slutsatser som har dragits är att Golanhöjderna har en strategisk vikt i området 1967-1973 då de fungerade som ett ”strategiskt lås” för bägge sidor samt att höjderna var värdefulla ur underrättelse-/spaningshänseende.

Thoracic surgical procedures require partial or complete airway separation and the opportunity to exclude one lung from ventilation (one-lung ventilation, OLV). OLV is commonly associated with profound pathophysiological changes that may affect the postoperative outcome. It is injurious in terms of increased mechanical stress including alveolar cell stretch and overdistension, shear forces secondary to repeated tidal collapse and reopening of alveolar units and compression of alveolar vessels. Ventilation and perfusion distribution may thus be affected during and after OLV. The present studies investigated the influence of OLV on ventilation and perfusion distribution, on the gas/tissue distribution and on the lung histomorphology in a pig model of thoracic surgery. Anaesthetised and mechanically ventilated piglets were examined. The ventilation and perfusion distribution within the lungs was assessed by single photon emission computed tomography. Computed tomography was used to establish the effects of OLV on dependent lung gas/tissue distribution. The pulmonary histopathology of pigs undergoing OLV and thoracic surgery was compared with that of two-lung ventilation (TLV) and spontaneous breathing. OLV induced hyperperfusion and significant V/Q mismatch in the ventilated lung persistent in the postoperative course. It increased cyclic tidal recruitment that was associated with a persistent increase of gas content in the ventilated lung. OLV and thoracic surgery as well resulted in alveolar damage.  In the present model of OLV and thoracic surgery, alveolar recruitment manoeuvre (ARM) and protective ventilation approach using low tidal volume preserved the ventilated lung density distribution and did not aggravate cyclic recruitment of alveoli in the ventilated lung. In conclusion, the present model established significant alveolar damage in response to OLV and thoracic surgery. Lung injury could be related to the profound pathophysiological consequences of OLV including hyperperfusion, ventilation/perfusion mismatch and increased tidal recruitment of lung tissue in the dependent, ventilated lung.  These mechanisms may contribute to the increased susceptibility for respiratory complications in patients undergoing thoracic surgery. A protective approach including sufficient ARM, application of PEEP, and the use of lower tidal volumes may prevent the ventilated lung from deleterious consequences of OLV.

Cette thèse étudie certains problèmes plus importants dans le sens de guidage, navigation et contrôle présentés dans une catégorie particulière de mini véhicules aériens (MVA) : le MVA convertible avec des ailes fixes et disques pendulaires. Cet aéronef est capable de changer sa configuration de vol, du vol stationnaire au vol palier et vice versa, au moyen d’une manœuvre de transition. Motivé par des applications civiles, on étudie théoriquement et expérimentalement les principes de contrôle en fonction de Lyapunov pour les dynamiques présentées dans le MVA convertible. Des résultats de convergence asymptotique sont obtenus sur l’enveloppe de vol complet du véhicule : d’un vol vertical à basse vitesse à un vol vers l’avant à grande vitesse. Cette thèse est divisée en quatre parties principales : l’étude de 1) les aéronefs à voilure fixe ; 2) le quadrirotor (avion équipe de quatre moteurs) ; 3) l’aéronef convertible ; 4) les applications de vision en utilisant l’aéronef convertible. Dans la première partie, un principe de contrôle en fonction de Lyapunov est développé pour diriger un mini véhicule aérien à voilure fixe tout au long d’un chemin d’accès souhaité. En outre, un générateur de chemin d’accès est proposé. Le résultant de la stratégie du contrôle donne une convergence globale du chemin actuel du MVA au chemin d’accès souhaité. Dans la deuxième partie, un contrôle en fonction de Lyapunov à l’aide de la théorie de la perturbation du singulier est proposé et appliqué sur la dynamique du MVA. En effet, dans cette partie on a abordé le problème diagnostic et la détection de pannes fault detection and diagnosis (FDD) pour un quadrirotor. Dans la troisième partie une nouvelle stratégie de contrôle pour effectuer la transition d’un avion convertible entre le mode avion et le mode hélicoptère, et vice versa, est présenté. L’analyse est effectuée pour le modèle longitudinal du PVHAT (Planar Vertical Helicopter-Airplane Transition) aéronef, lequel est un avion ayant disques pendulaires afin de réaliser la manœuvre de transition. L’algorithme de contrôle de boucle fermée qui en résulte, est prouvé être globalement asymptotiquement stable. Finalement, dans la quatrième partie de cette thèse, le problème de l’estimation et suivi d’un chemin à l’aide de vision système embarqué dans l’avion PVHAT est résolu. La stabilité globale exponentielle de la position sous-système ainsi que le contrôleur de commutation est démontrée. Des simulations illustratives et résultats expérimentaux sont obtenus sur plusieurs plateformes expérimentales développées dans cette thèse, pour évaluer l’applicabilité des principes contrôle proposés et mettre en valeur les mérites de l’approche. / This thesis studies some of the most relevant problems in the sense of guidance,navigation and control presented in a particular class of mini aerial vehicles (MAV) : the convertible MAV with fixed wings and tilting rotors. This aircraft is able to change its flight configuration from hover to level flight and vice-versaby means of a transition maneuver. Motivated by civilian applications, we theoretically and experimentally study Lyapunov-based control laws for dynamics presented in the convertible MAV. Results of asymptotic convergence are obtained over the complete flight envelope of the vehicle : from low-speed vertical flight through high-speed forward flight. We have divided this thesis in four main parts : the study of 1) the fixed-wingaircraft; 2) the quadrotor; 3) the convertible aircraft and 4) vision applications by using the convertible aircraft. In a first part, a Lyapunov-based controllaw is developed to steer a fixed wing mini aerial vehicle along a desired path. Furthermore a path generator is proposed. The resulting control strategy yields global convergence of the current path of the MAV to the desired path. In a second part, a Lyapunov-based control using singular perturbation theory is proposed and applied on dynamics of the MAV. Furthermore, in this part we address the problem of fault detection and diagnosis (FDD) for a quad-rotor. In the third part a new control strategy for the transition between airplane and helicopter mode, and vice versa, in convertible planes is presented. The analysis is carried out for the longitudinal model of the PVHAT (Planar VerticalHelicopter-Airplane Transition) aircraft, which is an airplane having tilting rotors in order to achieve the transition maneuver. The resulting closed loop control algorithm is proved to be globally asymptotically stable. Finally in thefourth part of this thesis the problem of estimation and tracking of a road using avision embedded system in the PVHAT aircraft is solved. The global exponential stability of the position subsystem together with the switching controller is demonstrated. Illustrative simulations and experimental results obtained on several experimental platforms developed in this thesis, assess the implementability of the proposed control laws and highlight the merits of the approach.

The object of the diploma thesis is a preparation of fundamental bases for realization aerofoils of the replica of the biplane aircraft BH534 Avia. The preambule of the work balances replica against the real historic aircraft. As next the basic aerodynamics characteristics, construction of aerofoils and strenght calculation of the aerofoils are described.

This dissertation studies the First World War South African campaign in German South West Africa from 1914 until 1915. The campaign was characterised by the high mobility of the Union’s mounted soldiers which enabled swift advances and rapid envelopments. The German forces applied a defensive strategy relying on the lack of water and remoteness of the terrain to deter and prolong the Union’s invasion. The German force also relied on internal lines of communication to concentrate its forces on the Union’s advancing columns. The Union Defence Forces’s numbered approximately 50 000 compared to the German force of about 7 000. The campaign culminated on 9 July 1915 with the surrender of almost the entire German fighting force intact. This study analyses whether the victory can be attributed to the Union Defence Forces’s numerical superiority or the operational strategy and tactics which were applied during the campaign. It is argued that this operational strategy is congruent with the modern theory of manoeuvre warfare and that the campaign is therefore a textbook example of manoeuvre warfare theory / History / M.A. (History)

The number of man-made space objects is dramatically growing nowadays. The continuous monitoring and studying of these objects are necessary to keep their number under control and ensure safe space operations. With respect thereto, international guidelines recommend decongesting the most populated space regions from satellites arriving at the end of their operational lifetime by performing post-mission disposal strategies. In general, a satellite is considered to be functional if it is still performing periodic manoeuvres to stay within the orbital operation configuration. This study presents a promising method to detect historical in-plane manoeuvrers of satellites on a geostationary orbit (GEO). Since a manoeuvrer changes the orbital state of the spacecraft, its effect can be detected by comparing the observed data to a reference evolution. In this case, the  model is represented by the dynamical model STELA  based on a semi-analytical theory. The observed data is provided by the public American space object catalogue. The Two-line element (TLE) database contains the orbital state of each tracked object, however, not all six orbital parameters are interesting to study in terms of in- plane manoeuvrers. The evolution of the longitude and of the eccentricity vector is immediately affected by a manoeuvre that changes the shape or the size of an orbit. Within the longitude analysis, the manoeuvre epoch is estimated by focusing on the manoeuvre strategy. An operational spacecraft usually performs a manoeuvre as soon as the longitude motion threatens to violate the operational deadband. Consequently, the longitude evolution follows a parabolic motion. Two polynomial curves of second degree are laid over the observation: the first curve is derived from a simplified dynamical model and the second curve is directly obtained through a Least Squares (LS) fitting method. The discrepancy between the LS and physical fitted parabolas gives an indication on the quality of the input data, that is to say, of the TLEs. The detected manoeuvre epoch must be companioned by a confidential parameter that denotes the time range around the estimated epoch in which the manoeuvre is expected to have happened. The manoeuvre interval is then forwarded to the eccentricity analysis where the manoeuvrer epoch is estimated more precisely by studying the divergence between the observed and expected eccentricity vector evolution. The latter is propagated with STELA after having estimated the area-to-mass ratio that is needed in order to model the perturbation effects accurately upon which the performance of the dynamical reference model strongly depends. As soon as the observed eccentricity vector deviates significantly from the expected evolution, the epoch and the velocity ΔV of the manoeuvre can be recovered, too.

Previous studies show that elderly people with mental illness tend not to have their needs met due to lack of interaction between authorities (Grundberg, Hansson, Religa & Hillerås 2016). The purpose of this study is therefore to investigate what care managers in social psychiatry and elderly care experience affect their work and collaboration between them. In this way, we want to create a deeper understanding of how work and collaboration affect the care of older people with mental illness. This qualitative study is based on semi-structured interviews with six care managers. We have used a thematic analysis to analyze our empirical material. Through transcription and reading of the empirical material, we have highlighted quotations that have identified repetitions, similarities and differences that have since shaped themes. Furthermore, the material was analyzed based on theories of collaboration (Danermark & Kullberg 1999; Grape 2015) and Lipsky's street level bureaucracy. Our study shows that care managers feel that collaboration is a prerequisite for being able to meet the needs of elderly people with mental illness, but opinions differ on whether the support needs of the target group are actually met. Collaboration between social psychiatry and elderly care is generally perceived to work well, even though our results show some contradictions to this claim. Finally, the study shows that collaboration and social work is influenced by various factors such as proximity and distance, as well as laws and guidelines and knowledge about these. These factors affect the care manager's room for manoeuvre and professional identity, which is also perceived to affect the possibilities for collaboration. Collaboration, room for manoeuvre and professional identity seem to be related and through interaction all parts form a whole.