本研究主要分為三大部份，分別針對中國大陸之經濟起飛、出口與國有企 業改革加以探討。研究結果顯示:一、依據 Tsiang S.C.之經濟起飛條件 判斷，中國大陸自1977年進入自力成長的經濟起飛階段。二、出口與經濟 成長間之關係 (一)利用出口與經濟成長間之定義關係(王春源，1983)檢 驗：出口擴張對於國民所得之貢獻率，在經改以後大幅提升且具較穩定 。 (二)利用 Feder(1982)之理論模型檢驗：中國大陸之出口部門與非出 口間之要素的社會邊際生產力存在明顯差異。至於中國大陸經濟成長來源 ，主要來自模型未考慮之其他變數與非出口部門資本的邊際生產力。 (三)依據本文之修正模型，實證結果顯示：影響中國大陸經濟成長之最主 要因素來自消費與投資。出口與經濟成長間之關係則出現「門檻效果」之 現象。三、造成國企不活之深層原因，主要是制度性因素所致，國有企業 在性質上只是「機關體」而非「企業體」。另據本文利用 Chow(1994)之 理論模型，模擬分析顯示：企業在市場經濟運行的效率，相對優於傳統計 劃經濟體制。因此，國企改革應謀求將「機關體」質變為經營目標單純化 之「企業體」，建立以市場為導向，以利潤為中心之企業制度。

<p>A control system for autonomous landing of an unmanned aerial vehicle (UAV)with high precision has been developed. The UAV is a medium sized model he-licopter. Measurements from a GPS, a camera and a compass are fused with anextended Kalman filter for state estimation of the helicopter. Four PID-controllers,one for each control signal of the helicopter, are used for the helicopter control.During the final test flights fifteen landings were performed with an average land-ing accuracy of 35 cm.    A bias in the GPS measurements makes it impossible to land the helicopter withhigh precision using only the GPS. Therefore, a vision system using a camera anda pattern provided landing platform has been developed. The vision system givesaccurate measurement of the 6-DOF pose of the helicopter relative the platform.These measurements are used to guide the helicopter to the landing target. Inorder to use the vision system in real time, fast image processing algorithms havebeen developed. The vision system can easily match up the with the camera framerate of 30 Hz.</p> / <p>Ett kontrolsystem för att autonomt landa en modellhelikopter har utvecklats.Mätdata från en GPS, en kamera samt en kompass fusioneras med ett Extend-ed Kalman Filter för tillståndsestimering av helikoptern. Fyra PID-regulatorer,en för varje kontrolsignal på helikoptern, har används för regleringen. Under densista provflygningen gjordes tre landingar av vilken den minst lyckade slutade35 cm från målet.    På grund av en drift i GPS-mätningarna är det omöjligt att landa helikopternmed hög precision med bara en GPS. Därför har ett bildbehandlingssystem som an-vänder en kamera samt ett mönster på platformen utvecklats. Bidbehandlingssys-temet mäter positionen och orienteringen av helikoptern relativt platformen. Dessamätningar används kompensera för GPS-mätningarnas drift. Snabba bildbehan-dlingsalgoritmer har utvecklats för att kunna använda bildbehandlingssystemet irealtid. Systemet är mycket snabbare än 30 bilder per sekund vilket är kameranshastighet.</p>

A control system for autonomous landing of an unmanned aerial vehicle (UAV)with high precision has been developed. The UAV is a medium sized model he-licopter. Measurements from a GPS, a camera and a compass are fused with anextended Kalman filter for state estimation of the helicopter. Four PID-controllers,one for each control signal of the helicopter, are used for the helicopter control.During the final test flights fifteen landings were performed with an average land-ing accuracy of 35 cm.    A bias in the GPS measurements makes it impossible to land the helicopter withhigh precision using only the GPS. Therefore, a vision system using a camera anda pattern provided landing platform has been developed. The vision system givesaccurate measurement of the 6-DOF pose of the helicopter relative the platform.These measurements are used to guide the helicopter to the landing target. Inorder to use the vision system in real time, fast image processing algorithms havebeen developed. The vision system can easily match up the with the camera framerate of 30 Hz. / Ett kontrolsystem för att autonomt landa en modellhelikopter har utvecklats.Mätdata från en GPS, en kamera samt en kompass fusioneras med ett Extend-ed Kalman Filter för tillståndsestimering av helikoptern. Fyra PID-regulatorer,en för varje kontrolsignal på helikoptern, har används för regleringen. Under densista provflygningen gjordes tre landingar av vilken den minst lyckade slutade35 cm från målet.    På grund av en drift i GPS-mätningarna är det omöjligt att landa helikopternmed hög precision med bara en GPS. Därför har ett bildbehandlingssystem som an-vänder en kamera samt ett mönster på platformen utvecklats. Bidbehandlingssys-temet mäter positionen och orienteringen av helikoptern relativt platformen. Dessamätningar används kompensera för GPS-mätningarnas drift. Snabba bildbehan-dlingsalgoritmer har utvecklats för att kunna använda bildbehandlingssystemet irealtid. Systemet är mycket snabbare än 30 bilder per sekund vilket är kameranshastighet.

Anthropogenic climate warming is predicted to accelerate over the next century, with potentially dramatic consequences for wildlife. It is important to understand as well as possible how different organisms will respond to this stress. This project seeks to gain a better mechanistic understanding of the thermal biology of the Glanville Fritillary butterfly (Melitaea cinxia) at the latitudinal and elevational extremes of its range. Investigation of the temperatures at which adult butterflies took spontaneous flight revealed a significant difference between populations from the elevational extremes, with insects from high elevation taking flight at lower thoracic temperatures than those from low elevation. Contrary to expectation, there was no systematic effect of latitude on takeoff temperature. If these measures represent adaptation to climate, then these effects are not simple and the influences of elevation and latitude are not the same. Investigation of thermal tolerance across all life cycle stages found no difference in larval performance between the populations tested. There was however an effect of treatment. This suggests that in M. cinxia, even populations from different extremes of the range may not differ in their thermal tolerance. The effect of treatment suggests that there is temperature-induced plasticity. The adaptive significance of this has been explored to some extent. Investigation of heat shock protein expression between the latitudinal extremes finds no difference in Hsp21.4 expression when exposed to heat stress, however both Hsp20.4 and Hsp90 were upregulated in response to heat stress. For Hsp20.4, there were significant differences in expression between the populations. Finally, a species distribution model using maximum entropy techniques was conducted for M. cinxia, predicting both the current and future (2100) distributions of the species. The model closely matches the known current distribution, and predicts a clear northward range shift in response to climate change. / text

abstract: The objective of this work is to develop a Stop-Rotor Multimode UAV. This UAV is capable of vertical take-off and landing like a helicopter and can convert from a helicopter mode to an airplane mode in mid-flight. Thus, this UAV can hover as a helicopter and achieve high mission range of an airplane. The stop-rotor concept implies that in mid-flight the lift generating helicopter rotor stops and rotates the blades into airplane wings. The thrust in airplane mode is then provided by a pusher propeller. The aircraft configuration presents unique challenges in flight dynamics, modeling and control. In this thesis a mathematical model along with the design and simulations of a hover control will be presented. In addition, the discussion of the performance in fixed-wing flight, and the autopilot architecture of the UAV will be presented. Also presented, are some experimental "conversion" results where the Stop-Rotor aircraft was dropped from a hot air balloon and performed a successful conversion from helicopter to airplane mode. / Dissertation/Thesis / M.S.Tech Mechanical Engineering 2011

Airborne Wind Energy Systems (AWES) harness the power of high-altitude winds using tethered planes or kites. Continuous and reliable operation requires that AWES become autonomous devices, but the wind intermittency forces the system to repeatedly take-off to start, and land to shut-off. Therefore, a common approach to facilitate the operation is implementing Vertical take-off and landing (VTOL) functionality. This thesis models and simulates AWES flights working towards the implementation of flight controller hardware and autonomous operation of an AWES demonstrator platform. The Ardupilot open-source autopilot platform provides a convenient tool for modeling, simulation, and hardware implementation of small-scale airplanes. An AWES lab-scale demonstrator was developed to obtain operational insight, get preliminary flight data, and real-world experience in this technology. A quadplane was developed by combining a structurally reinforced glider with VTOL and autopilot components. Its performance is obtained from static and aerodynamic studies and converted into the Ardupilot parameter format to define it in the simulation. An AWES flight model was developed from the ground up to evaluate the performance of a simple flight controller in trajectory tracking. The Ardupilot Software-in-Loop (SIL) tool expands the simulation capabilities by running the flight controller code without requiring any hardware. This allowed controller tuning and flight plan evaluation with a more advanced fight model. AWES crosswind flight simulation was only possible due to the incorporation of an elastic tether and an ideal winch into the physics model. As a result, different trajectories and configurations were tested to find the optimal parameters that were uploaded to the flight controller board. The operational capabilities of the AWES demonstrator were expanded with a flight testing campaign. By targeting individual objectives, each test gradually increased its complexity and ensured that the flight envelope was safely expanded. The results were validated with the simulation before moving on to the next flight test. The testing campaign is still underway due to challenges and limitations presented by the legal and logistical aspects of operating the quadplane. However, preliminary flight tests in VTOL mode have been completed and were consistent with the simulated results in terms of autonomous waypoint navigation and attitude control. / Graduate

Modelagem da Informação da Construção ou BIM (Building Information Modeling) é um processo inovador aplicado na gestão de todo o ciclo de vida de um empreendimento. Por meio do BIM, desenvolve-se o modelo virtual do empreendimento a ser construído. Os componentes deste modelo contêm geometria e parâmetros com dados técnicos relevantes para sua caracterização e utilização. No segmento de obras de sistemas prediais, os contratantes ditam os valores dos contratos, cabendo às empresas construtoras e instaladoras fazerem uma estimativa de orçamento acurada para dominar os custos e mensurar seus riscos no contrato almejado. Dada esta perspectiva, existe a necessidade de determinar com precisão os quantitativos do projeto, ponto de partida de qualquer orçamento analítico ou detalhado. Este trabalho, dividido em dois estudos de caso, destina-se a compreender como a Modelagem da Informação da Construção pode alterar o processo de orçamentação nas empresas instaladoras, auxiliando na extração de quantitativos e compatibilização dos projetos. Baseando-se em um fluxo de trabalho BIM descrito por Eastman et al. (2011) e utilizando-se em conjunto o processo de modelagem proposto por Nguyen (2010), propõe-se que o desenvolvedor do modelo BIM de sistemas prediais seja a empresa instaladora, por esta ser o agente ativo na orçamentação e execução dos sistemas prediais. Nos estudos de caso, foi comparado a acurácia dos quantitativos de componentes do empreendimento dentre as propostas orçamentarias das empresas instaladoras, o modelo BIM criado, e o quantitativo real utilizado na execução de uma obra de um centro comercial. Os resultados desta pesquisa sugerem que a utilização do BIM é uma alternativa viável para as empresas instaladoras em seus processos de orçamentação, considerando-se o nível de detalhamento e as informações inseridas e a serem extraídas do modelo, conforme o processo apresentado e o guia de modelagem criado no decorrer deste trabalho. / Building Information Modeling is an innovative process applied to the management of the entire lifecycle of a project. Through BIM, the virtual model of the project to be constructed is developed. The components of this model contain geometry and parameters with relevant technical data for their characterization and use. In the building systems works market segment, contractors dictate the values of contracts and is up to the construction and installation companies to make an accurate estimate of the budget to master the costs and measure their risks on the desired contract. Given this perspective, there is a need to accurately determine the quantities of the project, which are the starting point of any analytical or detailed budget. This work, divided into two case studies, was designed to understand how Building Information Modeling can change the budgeting process in the building systems companies, assisting in the quantity take off and design coordination processes. Relying on a BIM workflow described by Eastman et al. (2011) and jointly using the modeling process proposed by Nguyen (2010), it is proposed the building systems company to be the developer of the MEP model, as this is the active agent in the costing and execution of building systems. In these case studies, we compare the accuracy of the quantitative components of the project, among: the building systems companies, the BIM model and the actual quantities used in the execution of a small shopping center. These results suggest that the use of BIM is a viable alternative to the MEP companies in their budgeting processes, considering the level of detail and the model information input and output, according to the process and modeling guide proposed here.

Ce travail étudie certains des problèmes les plus pertinents dans le sens de la navigation et contrôle présentés dans une classe particulière de mini-véhicules aériens. L'un des principaux objectifs c'est à réaliser un véhicule léger et facile à déployer dans un court laps de temps, un véhicule sans pilote drone capable de suivre une mission complète, du décollage aux points de cheminement suivants et de terminer la mission avec un atterrissage autonome à l'intérieur d'une zone délimitée en utilisant une interface graphique dans un ordinateur ou une tablette. La génération de trajectoire II est la partie qui dit le drone où il doit voyager et sont générés par un algorithme intégré sur le drone. Le résultat classique de Dubins est utilisé comme base pour la génération de trajectoire en 2D et nous avons étendu à la génération de trajectoire 3D. Une stratégie de suivi de trajectoire développée en utilisant l'approche de Lyapunov, est présentée pour piloter un drone à voilure fixe à travers tout le chemin désiré. Le concept clé derrière le contrôleur de suivi de trajectoire s'appuie sur la réduction de la distance entre le centre de masse de l'avion p et le point sur la trajectoire q à zéro, ainsi que l'angle entre le vecteur vitesse et la tangente à la trajectoire. Afin de tester les techniques mises au point au cours de la thèse une application C# -Net personnalisée a été développé nommé MAV3DSim (Multi-Aerial Vehicle 3D Simulator). Le MAV3DSim permet une opération de lecture/écriture de/vers le moteur de simulation à partir de laquelle nous pourrions recevoir toutes les informations de capteurs émulés et envoyés par le simulateur. Le système complet est capable d'effectuer un décollage et d'atterrissage autonome, à travers des points de suivi. Ceci est accompli en utilisant chacune des stratégies développées au cours de la thèse. Nous avons une stratégie pour le décollage et l'atterrissage, ce qui est généré par la partie de navigation qui est le générateur de trajectoire. Une fois que nous avons généré le chemin, il est utilisé par la stratégie de suivi de trajectoire et avec ce que nous avons l'atterrissage et le décollage autonome. / This work studies some of the most relevant problems in the direction of navigation and control presented in a particular class of mini‐aircraft. One of the main objectives is to build a lightweight and easy to deploy vehicle in a short period of time, an unmanned aerial vehicle capable of following a complete mission from take‐o⁄ to the following waypoints and complete the mission with an autonomous landing within a delimitated area using a graphical interface in a computer. The Trajectory Generation It is the part that tells the drone where it must travel and are generated by an algorithm built into the drone. The classic result of Dubins is used as a basis for the trajectory generation in 2D and we have extended it to the 3D trajectory generation. A path following strategy developed using the Lyapunov approach is presented to pilot a fixed wing drone across the desired path. The key concept behind the tracking controller is the reduction of the distance between the center of mass of the aircraft p and the point q on the path to zero, as well as the angle between the velocity vector and the vector tangent to the path. In order to test the techniques developed during the thesis a customized C # .Net application was developed called MAV3DSim (Multi‐Aerial Vehicle 3D Simulator). The MAV3DSim allows a read / write operation from / to the simulation engine from which we could receive all emulated sensor information and sent to the simulator. The MAV3DSim consists of three main elements, the simulation engine, the computation of the control law and the visualization interface. The simulation engine is in charge of the numeric integration of the dynamic equations of the vehicle, we can choose between a quadrotor and a xed wing drone for use in simulation. The visualization interface resembles a ground station type of application, where all variables of the vehicle s state vector can be represented on the same screen. The experimental platform functions as a test bed for the control law prototyping. The platform consists of a xed wing aircraft with a PX4 which has the autopilot function as well as a Raspberry PI mini‐computer which to the implementation of the generation and trajectory tracking. The complete system is capable of performing an autonomous take‐o⁄and landing, through waypoints. This is accomplished by using each of the strategies developed during the thesis. We have a strategy for take‐o⁄ and landing, which is generated by the navigationon part that is the trajectory generator. Once we have generated the path, it is used by the trajectory tracking strategy and withthat we have landing and take‐o⁄ autonomously.

Tyrimo objektas. Žingsnių greitis ir ilgis bei išlėkimo greitis ir kampas. Tyrimo tikslas. Ištirti Lietuvos ir Pasaulio šuolininkių į tolį moterų paskutiniųjų bėgimo žingsnių greičio ir ilgio bei išlėkimo greičio ir kampo įtaką sportiniam rezultatui. Tyrimo uždaviniai: 1. Nustatyti ir palyginti Pasaulio ir Lietuvos šuolininkių į tolį paskutiniųjų įsibėgėjimo žingsnių greičio kitimą ir jo įtaką sportiniam rezultatui. 2. Nustatyti ir palyginti Pasaulio ir Lietuvos šuolininkių į tolį paskutiniųjų įsibėgėjimo žingsnių ilgio kitimą ir jo įtaką sportiniam rezultatui 3. Nustatyti ir palyginti Pasaulio ir Lietuvos šuolininkių į tolį išlėkimo greitį ir jo įtaką sportiniam rezultatui. 4. Nustatyti ir palyginti Pasaulio ir Lietuvos šuolininkių į tolį išlėkimo kampą ir jo įtaką sportiniam rezultatui. Tiriamieji. Buvo analizuojamos Pasaulio šuolininkės dalyvavusios 12 Pasaulio lengvosios atletikos čempionate Berlyne (n=8). Lietuvos šuolininkių testavimas atliktas Lietuvos studentų čempionate (2012 m.) Kauno manieže (n=10). Hipotezė. Didelę įtaką šuolio į tolį rezultatui turi bėgimo greitis paskutiniuose metruose prieš atsispyrimą bei išlėkimo greitis ir kampas. Pagrindiniai rezultatai. Pasaulio šuolininkių į tolį greitis paskutiniajame žingsnyje yra 9.33±0,19 m/s, Lietuvos 7.76±0,41 m/s. Pasaulio šuolininkių priešpaskutinis žingsnis yra 2,31±0,17 m, Lietuvos 2,09±0,15 m, paskutinis žingsnis sutrumpėja palyginus su priešpaskutiniuoju 0,24 m, ir 0,06 m atitinkamai. Lietuvos... [toliau žr. visą tekstą] / Research object: Speed and length of the running steps, take off speed and angle. Research goal: To analyze Lithuanian and World female long jumpers –discuss influence of the speed of last running steps as well as takeoff to the performance in the competition. Research tasks: 1. To identify and compare speed ofLithuanian and World long jumpersin the last runningsteps and its influence to the performance in the competition. 2. To identify and compare length of Lithuanian and World long jumpersin the last runningsteps and its influence to the performance in the competition. 3. To identify and compare take off speed of Lithuanian and World long jumpers and its influence to the performance in the competition. 4. To identify and compare take off angle of Lithuanian and World long jumpers and its influence to the performance in thecompetition. Subjects of this research: World’s top female long jumpers who participated at the 12th Athletics Championship in Berlin (n=8). Lithuanian long jumpers who were tested at the Student Athletics Championship in Kaunas in 2012 (n=10). Hypothesis: Significant influence to the result in the long jumps comes from the running speed in the last meters before the take off, also take off speed and angle. Main results: Speed of top World top female long jumpers in the last running step is 9.33±0,19 m/s, meanwhile of Lithuanians 7.76±0,41 m/s. Length of the last step of the World female long jumpers is 2,31±0,17 m, Lithuanians 2,09±0,15 m. The last step... [to full text]

Modelagem da Informação da Construção ou BIM (Building Information Modeling) é um processo inovador aplicado na gestão de todo o ciclo de vida de um empreendimento. Por meio do BIM, desenvolve-se o modelo virtual do empreendimento a ser construído. Os componentes deste modelo contêm geometria e parâmetros com dados técnicos relevantes para sua caracterização e utilização. No segmento de obras de sistemas prediais, os contratantes ditam os valores dos contratos, cabendo às empresas construtoras e instaladoras fazerem uma estimativa de orçamento acurada para dominar os custos e mensurar seus riscos no contrato almejado. Dada esta perspectiva, existe a necessidade de determinar com precisão os quantitativos do projeto, ponto de partida de qualquer orçamento analítico ou detalhado. Este trabalho, dividido em dois estudos de caso, destina-se a compreender como a Modelagem da Informação da Construção pode alterar o processo de orçamentação nas empresas instaladoras, auxiliando na extração de quantitativos e compatibilização dos projetos. Baseando-se em um fluxo de trabalho BIM descrito por Eastman et al. (2011) e utilizando-se em conjunto o processo de modelagem proposto por Nguyen (2010), propõe-se que o desenvolvedor do modelo BIM de sistemas prediais seja a empresa instaladora, por esta ser o agente ativo na orçamentação e execução dos sistemas prediais. Nos estudos de caso, foi comparado a acurácia dos quantitativos de componentes do empreendimento dentre as propostas orçamentarias das empresas instaladoras, o modelo BIM criado, e o quantitativo real utilizado na execução de uma obra de um centro comercial. Os resultados desta pesquisa sugerem que a utilização do BIM é uma alternativa viável para as empresas instaladoras em seus processos de orçamentação, considerando-se o nível de detalhamento e as informações inseridas e a serem extraídas do modelo, conforme o processo apresentado e o guia de modelagem criado no decorrer deste trabalho. / Building Information Modeling is an innovative process applied to the management of the entire lifecycle of a project. Through BIM, the virtual model of the project to be constructed is developed. The components of this model contain geometry and parameters with relevant technical data for their characterization and use. In the building systems works market segment, contractors dictate the values of contracts and is up to the construction and installation companies to make an accurate estimate of the budget to master the costs and measure their risks on the desired contract. Given this perspective, there is a need to accurately determine the quantities of the project, which are the starting point of any analytical or detailed budget. This work, divided into two case studies, was designed to understand how Building Information Modeling can change the budgeting process in the building systems companies, assisting in the quantity take off and design coordination processes. Relying on a BIM workflow described by Eastman et al. (2011) and jointly using the modeling process proposed by Nguyen (2010), it is proposed the building systems company to be the developer of the MEP model, as this is the active agent in the costing and execution of building systems. In these case studies, we compare the accuracy of the quantitative components of the project, among: the building systems companies, the BIM model and the actual quantities used in the execution of a small shopping center. These results suggest that the use of BIM is a viable alternative to the MEP companies in their budgeting processes, considering the level of detail and the model information input and output, according to the process and modeling guide proposed here.