Self-stabilizing systems can be found in many contexts. They are used in aircraft and camera gimbals to name a few. In this project, a self-stabilizing container was constructed. The construction consists of three parts. An inner ring which rotates around the Z-axis, an outer ring which rotates around the Y-axis and a handle with space for three DC motors and a microcontroller. In this project an Arduino Nano was used. To detect inclination an IMU (Inertial Measurement Unit) was deployed. An IMU is a sensor consisting of three gyroscopes and three accelerometers, one for each coordinate axis. The software for the construction consists of four parts; angle reading, a Kalman filter, two PID-controllers and a motor controller. When a container is inserted into the construction the four-part system keeps the container horizontal and stable. Experimental data shows that in 84% of the tests the construction could stabilize the container. / Självstabiliserande system kan man finna i många olika sammanhang. Några exempel på självstabiliserande system är flygplan och kamerastabilisatorer. I detta projekt konstruerades en självstabiliserande behållare. Konstruktionen består av tre delar. En ring som kan rotera runt Z-axeln, en ring som kan rotera runt Y-axeln och ett handtag med plats för likströmsmotorer och mikrokontroller. I detta projekt användes Arduino Nano. För att avläsa vinklarna användes en tröghetsmäatare. En tröghetsmätare är en sensor som består av tre gyroskop och tre accelerometrar, en för varje axel. Mjukvaran i konstruktionen består av fyra delar; vinkelavläsning, ett Kalmanfilter, två PID-regulatorer och motorkontroller. Beroende på vilken vinkel konstruktionen har kommer någon av motorerna att korrigera vinkeln på behållaren. Testerna visade att konstruktionen kunde stabilisera behållaren i 84% av alla tester.

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Ett viktigt uppdrag för Svenska kraftnät (SvK) som den systemansvariga myndigheten i Sverige är att driva elnätet på det bästa möjliga sättet. För att kunna garantera den önskade 99,9% tillför- litligheten behövs konstant underhåll och diagnostisering av kraftöverföringssystemets komponenter, varav elkrafttransformatorer är en viktig beståndsdel. Nollföljdsimpedansen behövs för att bestämma hur stora felströmmar som uppkommer när fel inträffar i systemet. Nollföljdsimpedansen är en av tre följder (sekvenser) som används för att analysera trefaskomponenter och är en storhet som inte kan bestämmas analytisk på ett enkelt sätt. Dess värde brukar fås från tester som görs av tillverkaren när transformatorn fabriceras. Denna information saknas dock för flera transformatorer som finns driftsatta i nätet. I detta examensarbete utvecklas empiriska modeller för att estimera nollföljdsimpedansen hos tre- och fembenta elkrafttransformatorer med tre (YY∆) och fyra lindningar (YYY∆), av vilka en av lindningarna är en utjämningslindning. En utjämningslindning är en deltakopplad lindning som icke är åtkomlig och som är avsedd för att minska och balansera nollföljdsimpedansvärdena för intilliggande lindningar. Nollföljdsimpedansen kan endast skattas eftersom en direkt mätning inte är möjlig hos dessa transformatorer. De erhållna modellerna bildar en estimeringsalgoritm, där olika transformatorstorheter kan användas som indata för att skatta nollföljdsimpedansvärdet. Metodiken för att ta fram modellerna bygger på en analys av korrelationen mellan nollföljdsim- pedansen och andra kända och beräknade storheter, där en linjär regression baserad på minsta kvadratmetoden resulterar i en approximativ trendlinje. Approximationen förbättras med en bisquare algoritm, där avvikande värden ges mindre vikt. Denna process utförs för alla transformatorer i stu- dien där generella anpassningsmodeller tas fram. Processen upprepas för särskilda undergrupper med syfte att erhålla modeller med högre anpassningsgrad. Indelning i undergrupper baseras på kopp- lingsart för transformatorernas sekundärlindning som består av antingen fullindad eller autokopplad lindning, samt kärnkonstruktion som består av tre- eller fem ben. Tillförlitligheten för varje modell analyseras med hänsyn till deras anpassningsgrad, statistisk relevans samt kvaliteten av data som användes för att utveckla modellen. Endast modeller med måttlig anpassningsgrad (goodness of fit) och som baseras på ett tillräckligt stor antal enheter för att betraktas som statistisk representativ för målgruppen, inkluderas i algoritmen. Generellt sätt följer data en normalfördelning som tyder på få extrema värden. Följaktligen, anses data ha en bra distribution för att avgöra dess trend. Modellernas prestanda för transformatorer med tre lindningar testades mot ett förväntat värde för nollföljdsimpedansen, baserat på en skattning som för närvarande används av Svk. Testresultaten vissa modeller medan för andra inträffar avvikelser. I detta projekt används LAB som utvecklingsplattform för alla analyser / An important comission for Svenska kraftnät (SvK) as the Swedish authory in charge of the power distribution network is to operate the grid in the most efficient way. In order to ensure 99,9% uptime, constant maintenance and fault diagnostics are required for the entire network of which power transformers are an important component. The zero-sequence impedance is a way to determine the maximum fault currents a transformer can accept before being damaged. The zero- sequence impedance is one of three sequences used to analyze three-phase systems and is a quantity which is not easily obtained analytically. Its value is usually determined in tests carried out during the fabrication process. This information is not available for several transformers currently in service on the power grid. The focus of this thesis is to develop empirical models to estimate the value of the zero-sequence impedance for three- and five limb power transformers with three (YY∆) and four windings (YYY∆) including a stabilizing winding. A stabilizing winding is a delta-connected winding which is not brought out; its purpose is to reduce and balance the zero-sequence impedance in adjacent windings. The value for the zero-sequence impedance can only be estimated since a direct measurement on the winding is not possible for this type of transformers. The resulting models are part of an algorithm where different transformer quantities are used as inputs to estimate the value of the zero-sequence impedance for a given transformer. The method used to obtain these models is based on an analysis of the correlation between the zero-sequence impedance and other known and calculated quantities where a linear regression based on the least-squares method produces an approximative trend line. This approximation is made more robust with a bisquare-weight algorithm where less weight is given to diverging data points. This process is carried out for all the transformers included in this study where general models are obtained. The process is then repeated for specific subgroups of transformers with the goal of deriving more accureate models for these subgroups. The subdivision criteria is based in coupling- and core type which includes an0- and yn0-couplings and three- and four limb cores respectively. The reliability of each model is analayized with respect to their goodness of fit, statistical relevance and the quality of the data used to develop the model. Only models with a substantial goodness of fit and which were based on a sufficiently large number of transformers to be considered statistically representative of the target group are included in the final algorithm. In general, all the data analyzed follows a normal distribution which indicates that there are few extreme values. Consequently, the data used in this study is condsidered to be appropriately distributed to determine its trend. The performance of the models for transformers with three windings was tested against the expected values for the zero-sequence impedance based on the approximation algorithm which is currently being used by Svk. The test results from some of the models match the expected values while oth deviations. MATLAB is used in this projetct as the development platform for all analyses

This thesis, entitled "The effect of physiotherapy on the function of postural motorics in competitive sportsmen (tennis players)", deals with how the activation of the deep stabilizing muscles affects postural functions in adolescent tennis players. A group of 13 competitive tennis players, aged between 10 and 17 years, were used as our probands. These subjects were examined with a bespoke set of tests of functions and then they were individually educated to train with a set of stabilization functions. After the therapy, they were re-examined with this set of tests again and the results of both sets of tests were compared and evaluated. In particular, we evaluated the changes in reactions of individual players, the changes in separate tests and in groups of tests, and the position of players in match rankings. Powered by TCPDF (www.tcpdf.org)

В магистерской диссертации определены закономерности изменения тягово-эксплуатационных свойств и конструктивной безопасности автопоезда при модернизации тягово-сцепного устройства, уточнены методики определения параметров опорно-поворотного устройства с наклонной поворотной платформой, предложены конструкции тягово-сцепных устройств и представлены результаты испытаний масштабной модели автопоезда на ленточной конвейерной дорожке. / This master thesis the regularities of the change of traction and the performance and structural safety of the trains when upgrading trailer hitch, refined methods of determining the parameters of support-rotating device with a tilted turntable and the proposed design of the hitch and the results of tests of scale model train on a conveyor track.

The main aim of the presented diploma thesis was to record objective and subjective changes after therapy with DNS concept in a group of 13 people with LBP. Moiré projection topography was used to record postural changes after 5.5 week therapeutic intervention. It was not clear, whether DNS exercise would help them to achieve visible postural changes and whether this technique is able to record these changes, which would mean that it is a suitable option for objectivisation of therapies focusing on correction of stabilisation and postural functions. Pedoscan was used for further objectivisation of the effect of DNS concept. The chosen correlate of the mentioned objective evaluation was Oswestry disability index, evaluating limitations of common everyday activities resulting from pain in the lower back, and the Numeric pain scale. Patients underwent 5 hour-long physiotherapeutic lessons, the recommended frequency of exercises in the household environment was 3-4 times per day. The probands exercised with the use of DNS concept according to the individual examination findings, especially in the area of the integrated spine stabilisation system. The data were statistically elaborated by Wilcoxon Signed-Rand test, which a non-parametric variant of the pair T-test. It is obvious from the results that...

Le concept d'auto-stabilisation a été introduit par Dijkstra en 1973. Un système distribué est auto-stabilisant s'il peut démarrer de n'importe quelle configuration initiale et retrouver une configuration légitime en un temps fini par lui-même et sans aucune intervention extérieure. La convergence est également garantie lorsque le système est affecté par des fautes transitoires, ce qui en fait une approche élégante, non masquante, pour la tolérance aux pannes. L'auto-stabilisation a été étudiée dans divers domaines des systèmes distribués tels que les problèmes de synchronisation de l'horloge, de la communication et les protocoles de routage. Vu l'importance des paramètres de graphes notamment pour l'organisation et l'optimisation des communications dans les réseaux et les systèmes distribués, plusieurs algorithmes auto-stabilisants pour des paramètres de graphe ont été proposés dans la littérature, tels que les algorithmes autostabilisants permettant de trouver les ensembles dominants minimaux, coloration des graphes, couplage maximal et arbres de recouvrement. Dans cette perspective, nous proposons, dans cette thèse, des algorithmes distribués et autostabilisants pour certains problèmes de graphes bien connus, en particulier pour les décompositions de graphes et les ensembles dominants qui n'ont pas encore été abordés avec le concept de l'autostabilisation. Les quatre problèmes majeurs considérés dans cette thèse sont: partitionnement en triangles, décomposition en p-étoiles, Monitoring des arêtes, fort ensemble dominant et indépendant. Ainsi, le point commun entre ces problèmes, est qu'ils sont tous considérés comme des variantes des problèmes de domination et de couplage dans les graphes et leur traitement se fait d'une manière auto-stabilisante / The concept of self-stabilization was first introduced by Dijkstra in 1973. A distributed system is self-stabilizing if it can start from any possible configuration and converges to a desired configuration in finite time by itself without using any external intervention. Convergence is also guaranteed when the system is affected by transient faults. This makes self-stabilization an effective approach for non-masking fault-tolerance. The self-stabilization was studied in various fields in distributed systems such as the problems of clock synchronization, communication and routing protocols. Given the importance of graph parameters, especially for organization and communication of networks and distributed systems, several self-stabilizing algorithms for classic graph parameters have been developed in this direction, such as self-stabilizing algorithms for finding minimal dominating sets, coloring, maximal matching, spanning tree and so on. Thence, we propose in this thesis, distributed and self-stabilizing algorithms to some wellknown graphs problems, particularly for graph decompositions and dominating sets problems that have not yet been addressed in a view of self-stabilization. The four major problems considered in this thesis are: the partitioning into triangles, p-star decomposition, edge monitoring set and independent strong dominating set problems. The common point between these four problems is that they are considered as variants of dominating set and matching problems and all propositions deal with the self-stabilization paradigm

La tesi que teniu a les mans recull quatre treballs amb un objectiu comú; determinar si els patògens (virus, bacteris, paràsits.) han exercit pressions selectives sobre els genomes dels seus hostes (com per exemple els humans).Sabent que la detecció de l'empremta de la selecció permet identificar aquelles regions del genoma que han estat rellevants al llarg de l'evolució d'una espècie, ja que a nivell local és la variació funcional qui acaba essent objecte de la selecció, ens hem disposat a estudiar els possibles senyals de selecció en gens relacionats amb la interacció hoste-patògen. En concret, hem analitzat gens que codifiquen per: a) components del sistema immunitari innat i, b) enzims de glicosilació, la majoria dels quals s'inclouen en quatre de les principals rutes biosintètiques de glicans, en diferents poblacions humanes.Com a conclusió principal; ambdós conjunts de gens mostren clars senyals de selecció. A més hem vist que segons el context biològic on és troben certs gens és veuen més afectats per l'acció de la selecció natural. / The present thesis includes four studies with a common objective: determining whether pathogens (virus, bacteria, parasites.) have exerted selective pressures on the genome of their hosts (for example, humans).Detecting signatures of positive selection is a useful tool to identify functionally relevant genomic regions since selection locally shapes the functional variation. Based on this premise, we have studied the possible signatures of selection in genes related to host-pathogen interactions. Specifically, we have analyzed those genes encoding: a) components of the innate immunity response; and ii) glycosylation enzymes most of them involved in four major glycan biosynthesis pathways, in different human populations.The main conclusion obtained from these studies is that both studied gene categories show clear signatures of selection. Moreover, we have determined that according to their biological context certain genes are more prone to the action of selection.

The aim of the work was to measure and evaluate the strength of deep stabilizing system (DSS) in connection with correct body posture and, subsequently, to asses the efficiency of the existing known exercise of the lumbar spine area as well as drawing comparison to the exercise recently introduced by doc. PaedDr. Pavel Kolář. The research was carried out on two sample groups of sixth form boys attending elementary school. It was necessary in the first place to detect, test and document correct body posture and, above all, the functionality of the DSS in members of the respected groups. This was followed by six weeks of active exercise according to exercise programme focusing primarily on the lumber spine area. The control group of ten boys carried out exercises based mainly on general principles of correct exercise whereas the experimental group totalling the same number of boys did exercises of DSS and lumbar spine area according to doc. PaedDr. Pavel Kolář. A muscle dynamometer was used to objectify and check the DSM in lumbar spine area. The measuring was than documented, processed and evaluated by means of charts and graphs. The work also comprises an overview of basic principles of lumbar spine stability as well as a questionnaire designed to assess health and lifestyle.\\

This work aims to study the niobium influence in the crystallographic texture and the corrosion resistance of ferritic stainless steels on aerated and de-aerated environments. For this objective the ferritic stainless steels P409, P410, P430A, P430E (Nb stabilized) were used; and austenitic stainless steel, P304, and carbon steel, A36, were used as comparative materials. These materials had a mechanical characterization (hardness and tension test), and the steels P430A and P430E had a crystallographic characterization too. That crystallographic characterization (by EBSD) was analyzed through to inverse pole figure (IPF) and crystal orientation distribution function (CODF). The samples were submitted to anodic potentiodynamic polarization test in solutions: 3.56% NaCl, and 1N H2SO4 on aerated environment, and 3.56% NaCl at de-aerated environment. The samples were examined by SEM after the polarization tests. The analysis of the results clearly showed that the crystallographic texture influence the corrosion resistance. The niobium in the stainless steel reduces the presence of preferential orientation, therefore, the influence of the texture in the corrosion resistance, but helps to increase the corrosion resistance by the formation of niobium carbbonites. Finally it was observed that for polarization tests in aerated environments and de-aerated have a very small variation in behavior that depends on the steel, but this variation is not statistically significant. / O objetivo deste trabalho é estudar a influência do nióbio na textura cristalográfica e resistência à corrosão de aços inoxidáveis ferríticos em ambientes aerados e desaerados. Usou-se para o estudo os aços inoxidáveis ferríticos P409, P410, P430A, P430E (estabilizado ao Nb) e como objetos de comparação usaram-se os aços inoxidáveis austenítico P304 e o aço ao carbono A36. Neles realizou-se uma caracterização mecânica (dureza, ensaio de tração), e para os aços P430A e P430E foi feita uma caracterização cristalográfica (via EBSD) por meio de figura de polos inversa (IPF) e da função de distribuição de orientação cristalina (FDOC). As amostras foram submetidas a ensaios de polarização potenciodinâmica anódica para soluções de 3,56% NaCl e 1N de H2SO4 em ambiente aerado e solução de 3,56% NaCl em ambiente desaerado. As amostras foram examinadas por microscopia MEV após os ensaios de polarização. A análise dos resultados mostrou claramente que a textura cristalográfica influência a resistência à corrosão. O nióbio diminui a presença de orientações preferenciais, e, por consequência, a influência da textura na resistência à corrosão, no entanto aumenta a resistência à corrosão nos aços inoxidáveis pela formação de carbonetos de nióbio. Por último observou-se que para ensaios de polarização em ambientes aerados e desaerados existe uma ligeira variação no comportamento que depende de cada aço, mas que não é estatisticamente significativa. / Mestre em Engenharia Mecânica