A line-follower is a robot that follows a line. Line-followers can be used in industry, mostly for material transportation, but are also raced against each other in competitions. While line-followers used in industry prioritize smooth motion and accuracy, competition-style line-followers prioritize speed around the track. In order for a line-follower to perform well, it needs a robust control-algorithm. Usually, competition-style line-followers use a manually tuned PID-algorithm for control. Tuning a PID-controller can be difficult, and is dependent on the skill of the tuner. There are, however, multiple so called ”heuristic” tuning methods that can give more consistent results, quickly. In this work, some popular heuristic tuning methods have been investigated for control of a competition-style line-follower. The methods have been compared in terms of step-responses and cumulative deviation of the robot from a track. The results indicate that the purely proportional variant of the Ziegler-Nichols method gives the best performance for competition-style line-followers. The ”some overshoot” variant of the modified Ziegler-Nichols method gave the most consistent and accurate results, and could be appropriate for use in an industrial-scale line-follower. Surprisingly the newest method tested, the Tyreus-Luyben technique, had a very unstable behaviour, and have thus been excluded from multiple tests. / En av de enklaste typer av själkörande fordon är en linjeföljande robot. Dessa kan användas i industrin, som materialtransportörer, men också i tävlingar där den snabbaste vinner. För att en linjeföljare ska prestera väl så krävs en robust kontrollalgoritm. De flesta tävlingsinriktade linjeföljare använder sig av en manuellt inställd PID-algoritm. Att manuellt ställa in en kontroller kan dock vara svårt, och kan ge inkonsekventa resultat. För att snabbt ställa in en kontrollalgoritm, med goda och konsekventa resultat, finns det ett flertal så kallade ”heuristiska” metoder. I det här arbetet har några heuristiska metoder använts för att kontrollera en liten linjeföljare. Metoderna har sedan utvärderats utifrån stegsvar och den totala avvikelsen från en bana under en körning. För en liten linjeföljare så gav den rent proportionella varianten av Ziegler-Nichols-metoden bäst prestanda. ”Som eovershoot” varianten av den modifierade Ziegler-Nichols metoden hade dock det jämnaste och mest konsekventa resultatet, och lämpar sig antagligen bäst för en industriell linjeföljare. Förvånande nog så gav den nyaste metoden, Tyreus-Luyben, absolut sämst resultat, och kunde i många fall inte ens testas utan att roboten spårade ur.

The purpose of this study is to examine I. M. Pei and his partner Harry Cobb's downtown Dallas architecture within the context of their overall stylistic development. This paper explores the structure of five buildings within the framework of the city, and addresses their possible influence on the city's future architectural direction. The thesis is divided into six chapters. Chapter I introduces and states the problem as it discusses the fabric of Dallas architecture. Chapter II outlines a brief biography of I. M. Pei, looking to those who have influenced him, while discussing the key public buildings of his stylistic development. Chapter III is devoted to Pei's first structure in the city, the Dallas Municipal Administration Center. Chapter IV explores the concepts of his planned Morton H. Meyerson Symphony Center. Chapter V outlines a brief biography and focuses on the work of Harry N. Cobb: One Dallas Centre, ARCO Tower, and the Allied Bank Tower. Chapter VI summarizes the contributions of Pei and Cobb by placing them within the context of twentieth century architecture, and pointing out their specific achievements with their additions to the fabric of Dallas architecture.

The type of commentary a narrative is able to make is fully dependant on the type of narrator who is relating it. The visual elements present in a film are the true narrational forces which guide it. The presence of the camera, the use of lighting, the architecture, and the objects present in the film each have their own meaning. These elements come together to make a greater commentary than the dialogue. How these meanings interact with each other is what defines what type of narrator is present in the film. By analyzing what type of narrator is relating the story it is possible to examine what commentary the film is able to make. Mike Nichols? 1967 film The Graduate and Terry Gilliam?s 1998 film adaptation of Hunter S. Thompson?s 1971 literary work Fear and Loathing in Las Vegas make commentaries that act as bookends for the ideals of the youth culture during the late 1960?s. Where as The Graduate is condemning the shining emptiness of 1967 suburban California society which its narrator inhabits, Fear and Loathing?s narrator is depicting the twisted abomination which grew within the emptiness of that society during those four years. The fact that Gilliam?s adaptation came 27 years after the source material was created allows for an even more specific translation of Thompson?s message. The Graduate is looking towards the unknown future where as Fear and Loathing is look backwards at the results. The Graduate is commenting on the current situation and looking forwards where as Fear and Loathing is looking backwards to see what has happened in the interim. It is this difference that forces the type of narration and the visual style employed by the films to be diametrically opposed.

Under 12 arbetsveckor har vi i projektgruppen producerat en dokumentärfilm för en extern kund, Svenska Kyrkan. En film med 70 procent samtal och de övriga procenten har fördelat emellan, reportage, miljö och klippbilder. Samarbetet oss mellan oss tre har fungerat bra, med samarbetet med uppdragsgivaren inte fungerat lika önskvärt. Där problem med löften, förseningar i tidsplanen och snabba omstruktureringar tillstötte. Jag har applicerat Bill Nichols modus på mitt verk samt jämfört verk som håller kriterierna för de modus som Nichols beskriver. Jag har kommit fram till att  min dokumentärfilm bestod av tre modus, det observerande, det deltagande och det förklarande, där det sistnämnda dominerar. Det slutgiltiga resultatet blev en 28 minuters lång film som handlar om en stridspilots vardag, tro och han syn på hur livet ska vara. / Mellan Himmel och Jord

<p> Under 12 arbetsveckor har vi i projektgruppen producerat en dokumentärfilm för en extern kund, Svenska Kyrkan. En film med 70 procent samtal och de övriga procenten har fördelat emellan, reportage, miljö och klippbilder. Samarbetet oss mellan oss tre har fungerat bra, med samarbetet med uppdragsgivaren inte fungerat lika önskvärt. Där problem med löften, förseningar i tidsplanen och snabba omstruktureringar tillstötte. Jag har applicerat Bill Nichols modus på mitt verk samt jämfört verk som håller kriterierna för de modus som Nichols beskriver. Jag har kommit fram till att  min dokumentärfilm bestod av tre modus, det observerande, det deltagande och det förklarande, där det sistnämnda dominerar. Det slutgiltiga resultatet blev en 28 minuters lång film som handlar om en stridspilots vardag, tro och han syn på hur livet ska vara.</p> / Mellan Himmel och Jord

Thesis (Ph. D.)--Lehigh University, 1998. / Includes vita. Includes bibliographical references (leaves 212-224).

Thesis (M.A.)--Indiana University, 2010. / Title from screen (viewed on July 19, 2010). Department of English, Indiana University-Purdue University Indianapolis (IUPUI). Advisor(s): Robert Rebein, David Beck, Terry Kirts. Includes vitae. Includes bibliographical references (leaves 16-17) and annotated bibliography (leaves 100-108).

University, Diss., 2004--München.

Directors designed for observation and fire control in naval environments consist of a mechanical pedestal moved by two electrical motors. To meet the high demands on director precision, a servo solution based on feedback control is used. The digital servo controller has to be tuned to meet demands on performance and stability. This report presents methods for automatic tuning, intended to replace today’s manual tuning procedures. System identification based on relay feedback and recursive least-squares approximations are combined with the Ziegler-Nichols and AMIGO tuning procedures for PI controllers are evaluated. Evaluations are performed in simulations, for which a SIMULINK model is constructed. Results indicate that the automatic tuning may perform well compared to the manual tuning used today, and that it could bring considerable reduction in the time required for tuning.

Indiana University-Purdue University Indianapolis (IUPUI)