This thesis presents the design of Kalman filter based attitude determination algorithms for a hypothetical LEO satellite and for a satellite attitude control test setup. For the hypothetical LEO satellite, an Extended Kalman Filter based attitude determination algorithms are formed with a multi-mode structure that employs the different sensor combinations and as well as online switching between these combinations depending on the sensor availability. The performance of these different attitude determination modes are investigated through Monte Carlo simulations. New attitude determination algorithms are prepared for the satellite attitude control test setup by considering the constraints on the selection of the suitable sensors. Here, performances of the Extended Kalman Filter and Unscented Kalman Filter are investigated. It is shown that robust and sufficiently accurate attitude estimation for the test setup is achievable by using the Unscented Kalman Filter.

The main argument of this study is that the right of Indigenous peoples in Peru to consultation has little practical force and effect, since the Peruvian Constitutional Tribunal is not prepared to base it on a broader right of self-determination. I centre my investigation on the 2005-2011 decisions of the Constitutional Tribunal of Peru regarding the right to consultation. In these decisions, the application of the right to consultation is divorced from a perspective informed by the right of Indigenous self-determination. The main consequence of this divorce is that it obscures the pragmatic and symbolic dimension of the right to Indigenous self-determination, debilitating the practical and symbolic potential of the right to consultation. The lack of correspondence between the right to consultation and the right of indigenous self-determination is built into the jurisprudence of the Constitutional Tribunal and reflects the bias of its judges. This bias is actually a continuation and accommodation of old prejudices of the dominant society against Indigenous peoples in Peru; it is part of the pervasive cultural discrimination that is embedded in Peruvian society and that has been translated into jurisprudential terms and language. This bias is also a symptom of the invisibility of the cultural manifestations of Indigenous peoples and the resultant obscuring of cultural differences in general. This situation illustrates that the racism that existed in the colony, and continued during the republican era in Peru, has not died, but has merely been transformed into a more subtle form of legal and constitutional colonialism. / Graduate / 0326 / alvaro.cordova@mail.mcgill.ca

Thesis (Ph. D.)--University of Texas at Austin, 2004. / Vita. Includes bibliographical references.

Thesis (Ph. D.)--University of Texas at Austin, 2004. / Supervisors: Mia Carter and Lisa Moore. Vita. Includes bibliographical references. Also available from UMI.

Utifrån ett interpersonellt psykologiskt perspektiv och self determination theory har föreliggande studie som syfte att undersöka hur sånglärare samtalar om relationer mellan lärare och elev i sångundervisning. I bakgrundskapitlet presenteras litteratur och forskning som belyser olika aspekter av relationer, relationskompetens och relationer i utbildning. Datamaterialet samlades in genom två fokusgruppsintervjuer där sånglärare diskuterade relationer. Den data som har genererats ur intervjuerna har bearbetats och analyserats med hjälp av ett tematiskt analyssätt. Resultatet visar att lärarna anser att relationer är viktiga för att eleven skall känna sig trygg och att det krävs en välfungerande relation för att kunna ställa krav i undervisningen. Resultatet visar också att lärarna anser att relationer kan vara svårt när de inte förstår eleven eller när eleven inte mår bra. Vidare visar resultatet att lärarna försöker hitta en bra balans i relationen till sina elever genom att ställa frågor för att visa genuint intresse. Sammanfattningsvis har lärarna svårt att definiera och beskriva vad det är som gör relationer välfungerande eller inte. I diskussionen lyfts två sammanfattade teman fram vilka är relationers betydelse och förutsättningar för relationer. / Through the lens of interpersonal psychological theory and self determination theory, this study explores how vocal teachers converse about relationships between teacher and students. The background chapter presents literature and previous research that describes different aspects of relationships, relationship competence and relationships in education. The data generated from the interviews has been collected through two focus group interviews where vocal teachers discuss relationships. The generated data was processed and analysed applying thematic analysis. The result shows that the teachers consider that relationships are important for the student to feel confident and that well-functioning relationships are needed to be able to make demands for teaching. Furthermore, the result reveals that teachers consider relations to be difficult when they experience that they don’t understand each other or when the student doesn’t feel well. Finally, the result shows that the teachers try to find a balance in the relationships to their students by asking questions to show genuine interest. In summary, the teachers find it difficult to describe and define what makes relationships effective, or lack thereof. In the discussion two concluding themes are highlighted, meaning of relationships and conditions for relationships.

Syftet för studien var att skapa förståelse kring ideellt engagemang i välgörenhetsprojekt och viktiga aspekter som motiverar dessa personer. Resultatet kan användas av organisationer, föreningar och personer med ledande funktioner för att motivera och leda ideella deltagare. För att besvara syftet formulerades forskningsfrågan: Vad motiverar deltagare till att gå med i och fullfölja ideella välgörenhetsprojekt? Tillvägagångssättet som användes var en kvalitativ fallstudie där intervjuer användes som datainsamlingsmetod, materialet bearbetades sedan genom en tematisk analys. Studien visade att inre motivation i form av en utmaning och en vilja att göra gott var det som fick deltagarna att gå med, under projektet blev det mer komplext och motivationen kunde förändras under tid. De viktigaste motiven till att fullfölja var gemenskapen i laget, att kunna utmana sig själv, regelbundna framsteg och att det välgörande syftet var något starkt att kämpa för

A seleção de fornecedores de transporte é um desafio cada vez maior. O crescimento da rede de clientes a ser coberta demanda uma alocação eficiente em termos de custo não suprida por mecanismos tradicionais de negociação. Neste âmbito, o leilão combinatório torna-se uma alternativa de negociação ao permitir capturar sinergias entre os trajetos que devem ser atendidos. Em conseqüência disso, diminui-se o custo de transporte do fornecedor que se reflete nos menores preços de suas propostas e finalmente no custo total de compra do serviço. Por outro lado, esta decisão envolve fatores além do custo total; a mensuração destes torna-se importante para identificar fornecedores que melhor se ajustam aos requerimentos do comprador. No entanto, é fundamental escolher um método adequado para sua avaliação porque este influência a decisão final. Este problema de compra de serviços de transporte é conhecido na literatura como Winner Determination Problem (WDP) que, devido a sua complexidade, possui uma resolução limitada. Após revisão teórica, foi observado que os estudos relacionados à área de transporte focalizavam o desenvolvimento de modelos matemáticos que fossem representativos da realidade. Alguns destes modelos abordam a utilização de múltiplos critérios atribuindo um coeficiente que pondera cada critério. Evidenciou-se a necessidade do desenvolvimento de um algoritmo alternativo que além de facilitar sinergias entre trajetos, fosse abrangente o suficiente para tratar múltiplos critérios em instâncias compatíveis com problemas reais. Logo, com o intuito de contribuir com a literatura foi adaptado um algoritmo matemático otimizante ao problema de compras de fornecedores de transporte com base no algoritmo de Sandholm (2002). Este algoritmo aplica leilão combinatório de compras, apoiando-se na teoria da análise de decisão para mensurar critérios relevantes do comprador. Inicialmente, o algoritmo minimiza o custo total do comprador designando combinações de trajetos e fornecedores; depois é modificado para o tratamento multi-critério. Os resultados obtidos foram comparados com o software comercial CPLEX. / Selecting suppliers is a crescent challenge for the enterprises. The extent of the client web that needs to be served demands efficient allocations, in terms of cost, that are not addressed by traditional mechanisms. In this scenario, another mechanism came to be: the combinatorial auction. In this one, suppliers can express their synergies on routes they wish to supply. This leads to lowering their transportation costs, which is reflected in lower bidding prices as well as in the total cost of service. On the other hand, the selection of a supplier involves other criteria besides cost. The definition of these is essential to define which supplier fits the needs of the buyer. That is why it is of most importance to choose the right method to evaluate these needs, as it defines the final choice. This problem is known as Winner Determination Problem (WDP) and due to its complexity, possesses a feeble solution. After compiling what has been done about the subject, it was noticed that in the field of transport, studies are focused on mathematical models that represent reality. Some models address criteria assigning coefficients to the objective function by weighting on it. Clearly, there was a need for alternative algorithms that would, besides promoting synergies on routes, also treat multi-criteria problems close to reality. Therefore, searching for a valid contribution in the field, an adaption of an optimizing algorithm based on Sandholm (2002)s was made. The algorithm applies combinatorial auction, supported by decision analysis for measuring relevant buyers criteria. First, the main algorithms objective is to minimize buyers costs by combining routes and suppliers; then, a modified approach considers multi criteria. Results were then compared to the commercial software CPLEX.

A estimativa da idade é um elemento importante na investigação antropológica, sendo uma das fontes preliminares dos dados para estabelecer a identidade de pessoas vivas ou restos mortais desconhecidos. Os métodos mais utilizados para este fim são os baseados no desenvolvimento ósseo e dentário dos indivíduos. Neste sentido, o presente trabalho apresentou como objetivo, estabelecer valores de referência na população brasileira para a estimativa da idade, por meio de dois métodos: a análise da mineralização dos terceiros molares; e a mensuração da altura do ramo mandibular. Para isso, foram escaneadas radiografias (407 panorâmicas e 289 cefalométricas em norma lateral) de pacientes, de 6 a 25 anos de idade, atendidos na Faculdade de Odontologia de Bauru. As imagens radiográficas panorâmicas foram utilizadas para análise da mineralização dos terceiros molares inferiores, através do método proposto por Demirjian, Goldstein e Tanner (1973), e as imagens radiográficas cefalométricas utilizadas para medir a altura do ramo da mandíbula. Os resultados indicam uma forte correlação entre a idade cronológica e ambos os métodos utilizados, proporcionando a elaboração de fórmulas para o cálculo da idade aproximada dos indivíduos na população estuda. Não houve diferença estatisticamente significante para o desenvolvimento dos terceiros molares entre os sexos. Já para a altura do ramo da mandíbula, essa diferença ocorreu entre os 16 e 25 anos de idade. A probabilidade de afirmamos que um indivíduo tem 18 anos ou mais de idade, com base nas duas metodologias proposta neste trabalho, é extremamente alta (>90%). Concluiu-se que ambos os métodos estariam aptos a serem utilizados para estimar a idade na população brasileira, entretanto, pelo fato do Brasil ser um país com extenso território e apresentar uma população bastante miscigenada, novos estudos devem ser realizados, aumentando a amostra dessa população, e permitindo o aprimoramento dos valores aqui informados. / Age determination is an important element in anthropological research, one of the primary sources of data to establish the person living identity or unknown remains. The aim of this paper was to establish reference values in Brazilian population to estimate chronological age by two methods: mineralization of third molars and measurement of the mandible ramus height. Therefore, radiographs from patients between 6 to 25 years, were scanned (407 panoramics and 289 cephalometrics). The patients were from School of Dentistry at Bauru. The panoramic radiographs were used for analysis the mineralization of the mandibular third molars. Moreover, cephalometric radiographs were used to measure the mandibular height. The results indicated a strong correlation between chronological age and both methods, providing the development of formulas for calculating the approximate real age of individuals by radiographs. There was no statistically significant difference for the third molars development between sexes. There was a significant difference between men and women for ramus height of the mandible for the range between 16 and 25 years. The probability of a claim that an individual is 18 years or older, based on the two methodologies proposed in this work was extremely high (>90%). It was concluded that both methods were suitable to be used to estimate the age in Brazilian population. However, as Brazil is a country with vast territory and present a fairly mixed population, it is necessary further studies to confirm the values reported.

Determinação a baixo custo de açúcares redutores totais em caldo-de-cana, empregando sistema de análise por injeção em fluxo com o uso de DNS Um sistema de análise por injeção em fluxo foi utilizado para a determinação de açúcares redutores totais em caldo-de-cana. O método é baseado na hidrólise da sacarose, seguido da oxidação dos açúcares redutores pelo ácido 3,5-dinitrosalicílico (DNS) em meio alcalino, e determinação espectrofotométrica em 510 nm. Visando obter melhor sensibilidade e seletividade, os parâmetros volume de amostra e comprimento dos reatores foram estudados para avaliar o comportamento das curvas analíticas. Foram utilizados mini-compressores de aquários no lugar de bomba peristálticas e cela espectrofotométrica em acrílico no lugar de cela de vidro importada, a fim de minimizar o consumo de reagentes e o custo do sistema FIA. O presente sistema foi comparado ao método Lane-Eynon recomendado pelo Ministério da Agricultura. Usando o teste-t, não foram constatadas diferenças significativas entre os resultados dos dois métodos, sendo que os desvios relativos foram ao redor de 1%. O método permite analisar cerca de 14 amostras h-1 com desvio padrão relativo inferior a 1,35%. / A flow injection analysis system was employed for determination of total reducing sugars in sugar cane broth. The method is based on hydrolysis of sucrose followed by oxidation of reducing sugars by 3,5-dinitrosalicylic acid (DNS) in alkaline solution and spectrophotometric determination at 510 nm. In order to obtain better sensitivity and selectivity, the parameters sample volume and reactor length were studied to evaluate the behavior of the analytical curves. Aiming the use of low reagents amount and a low cost in FIA system, fish aquarium mini-compressors were used instead of peristaltic pumps and acrylic spectrophotometric 0011 instead of imported glass cell. The present system was compared to Lane-Eynon method recommended by the Brazilian Ministry of Agriculture. Using the t-test no sígnificant differences were observed between both methods, with relative deviations around of 1%. The method allows analyses of ca. 14 samples h-1 with relative standard deviation lower than 1.35%.

Titel: Kompetens, autonomi och samhörighetens betydelse för arbetsmotivation – En studie om medarbetares motivation inom upplevelseindustrin Nivå: C-uppsats i ämnet företagsekonomi   Författare: Josefin Tangen, Pauline Wiberg   Handledare: Monica Wallmon, Maria Fregidou-Malama   Datum: 2018 – januari   Syfte: Syftet med denna studie är att öka förståelsen för hur individens grundläggande behov av kompetens, autonomi och samhörighet påverkar arbetsmotivation inom upplevelseindustrin.   Metod: Studien utgår från en kvalitativ metod med semistrukturerade intervjuer. Sammanlagt 10 intervjuer genomfördes med medarbetare inom upplevelseindustrin. Det insamlade materialet har analyserats med hjälp av en tematisk analys.   Resultat & slutsats: Resultatet av studien visar att samtliga tre grundläggande behov påverkar arbetsmotivationen hos medarbetare inom upplevelseindustrin, samt att ledningen arbetar med att främja dessa tre behov. Respondenterna anser att ledningen arbetar med att främja samhörighet på ett tillfredställande sätt men att arbetet med att tillgodose behovet av kompetens och autonomi kan förbättras. Förslag till fortsatt forskning: Då flertalet respondenter poängterat att positiv återkoppling från kunder är av stor betydelse, föreslår vi att fortsatta studier kan undersöka om kundens återkoppling möjligen upplevs viktigare än ledarens återkoppling för medarbetare inom upplevelseindustrin. Ytterligare förslag till fortsatt forskning är att genomföra en mer omfattande studie för att skapa djupare förståelse, eftersom att denna studie är begränsad till endast tio intervjuer. Då studien endast utgår från ett medarbetarperspektiv skulle framtida forskning avseende behovstillfredsställelse och arbetsmotivation utifrån ett ledningsperspektiv bidra till ökad förståelse inom ämnet.   Uppsatsens bidrag: Genom denna studie har vi ökat förståelsen för hur individens tre grundläggande behov påverkar arbetsmotivation inom upplevelseindustrin, som är ett outforskat område. Denna studie tillför således ett teoretiskt bidrag gällande ett nytt område, upplevelseindustrin, till den befintliga forskningen avseende arbetsmotivation. Vi menar också att denna studie bidrar till praktiken då vi uppmärksammat och studerat medarbetarens centrala roll inom upplevelseindustrin. Denna studie kan således ge ett bidrag till ledare inom upplevelseindustrin i deras arbete med att motivera medarbetare, vilket i det förlängda leder till en positiv upplevelse för kunden och en lönsam verksamhet.   Nyckelord: Upplevelseindustrin, arbetsmotivation, kompetens, autonomi, samhörighet, Self-Determination Theory, Servant Leadership. / Title: The importance of competence, autonomy and relatedness for employee motivation - a study about employee motivation within the experience economy   Level: Final assignment for Bachelor Degree in Business Administration   Author: Josefin Tangen, Pauline Wiberg   Supervisor: Monica Wallmon, Maria Fregidou-Malama   Date: 2018 – January   Aim: The aim of this study is to increase the understanding of how the individual's basic needs for competence, autonomy and relatedness affect employee motivation within the experience economy.   Method: The study is based on a qualitative approach. A total of 10 interviews were conducted with employees in the experience economy. We analyzed our material using a thematic analysis.   Result & Conclusions: The result of this study shows that all three basic needs affect employee motivation within the experience economy. This study also shows that management is working to promote these three basic needs. Respondents believe that their need of relatedness is promoted in a satisfactory manner, but that efforts to meet the need for competence and autonomy can be improved.   Suggestions for future research: Since the majority of respondents emphasized that positive feedback from customers is of great importance, we suggest that further studies investigate if customer feedback is possibly more important than the leader’s feedback for employees in the experience economy. Since this study is confined to only ten interviews another proposal for future research is to do a more extensive study in order to create deeper understanding. As the study is based solely on an employee perspective, we suggest that further studies can investigate need satisfaction and employee motivation from a management perspective to contribute to deeper understanding within the matter. Contribution of the thesis: Through this study, we have increased the understanding of how the individual's three basic needs affect employee motivation in the experience economy, which is an unexplored area. Therefore, this study adds a theoretical contribution to existing research in employee motivation in terms of a new field, the experience economy. We also believe that this study contributes to the practice as we have noted and studied the central role of employees in the experience economy. This study can therefore contribute to leaders in the experience economy in their efforts to motivate employees, which in the long run leads to a positive experience for the customer as well as a profitable business. Key words: Experience economy, employee motivation, competence, autonomy, relatedness, Self-Determination Theory, Servant Leadership.