Continuum robots are biologically inspired robots that capture the extraordinary abilities of biological structures such as elephant trunks, octopus tentacles, and mamma-lian tongues. They are given the term continuum robots due to their ability to bend conti-nuously rather than at specific joints such as with traditional rigid link robots. They are used in applications such as search and rescue operations, nuclear reactor repairs, colo-noscopies, minimal invasive surgeries, and steerable needles. In this thesis, a model that predicts the shape of a continuum robot is presented and verified. A verification system to verify the validity and accuracy of the model is presented which allows easy and accu-rate measurement of a continuum robot tip position. The model was verified against a flexible rod, the core component of a continuum robot, resulting in an accuracy of 0.61%. Finally, this thesis introduces a novel robot design, consisting of a single rod for the backbone which can be manipulated by applying external forces and torques.

Die Osteoglossomorpha stellen eine basale Gruppe der Teleostei dar mit einer Mischung von plesiomorphen und apomorphen Merkmalen bezogen auf Reproduktion und ontogenetische Entwicklung. Bezüglich reproduktiver Gilden und ontogenetischer Entwicklung gibt es immer noch nur begrenzte Daten zu dieser Gruppe. Der größte Teil tiefer gehender Studien bezieht sich auf Mormyriden, detaillierte Beschreibungen und experimentelle Daten sind kaum vorhanden bei den anderen Gruppen sowie bei Notopterus notopterus und Osteoglossum bicirrhosum. Im Rahmen dieser Untersuchung wird zum ersten Mal eine detaillierte Beschreibung der ontogenetischen Entwicklung dieser beiden Arten auf der Basis von Laborzuchten vorgestellt. Nur bei N. notopterus gelangen Zuchtexperimente unter Laborbedingungen. Die experimentellen Daten zeigten, dass die Umweltparameter abnehmende Leitfähigkeit, Erhöhung des Wasserstandes und leichte Temperaturvariation keinen Einfluss auf Gonadenentwicklung oder Balzverhalten bei N. notopterus hatten. Die frisch abgelegten, klebrigen Eier von 3.8-4 mm Größe werden vom Männchen bis zum Schlupf bewacht. Die Eihülle besitzt äußere Rillen, die ringförmig um die Mikropyle herum angeordnet sind. Das Schlüpfen erfolgt im Alter von 168-204 Stunden. In dieser Studie wird zum ersten Mal eine Methode zur erfolgreichen Aufzucht von O. bicirrhosum unter Laborbedingungen bei 28 °C vorgestellt. Die nicht-klebrigen Eier von 12 mm Größe besitzen eine transparente Eihülle. Das Schlüpfen erfolgt im Alter von 162-166 Stunden und die geschlüpften Embryonen haben eine Länge von 16 mm. Bei O. bicirrhosum findet sich keine Larval-Periode; auf die Embryonal-Periode folgt sofort die Juvenil-Periode: Die Ontogenese kann somit als direkte Entwicklung klassifiziert werden. N. notopterus hingegen ist gekennzeichnet durch eine intermediäre Entwicklung unter Bezug auf Reproduktionsstrategien da sie eine höhere Anzahl von mittelgroßen Eiern produzieren bei gleichzeitiger Brutpflege. / The Osteoglossomorpha represent a basal group of teleostean fish comprising taxa with a mixture of both plesiomorphic and apomorphic characters of reproduction and ontogenetic development. Concerning reproductive styles and ontogenetic development of this group, there are still very limited data available so far. Most in depth studies are available for mormyrids, but detailed descriptions and experimental data remain scarce in the other groups as in Notopterus notopterus and Osteoglossum bicirrhosum. This study will describe in detail for the first time the ontogenetic development of these two species in laboratory-reared specimens. Only N. notopterus succeeded in the breeding experiment. Experimental data demonstrated that the environmental factors decreasing conductivity, slight variation of temperature, and water level have no influence on gonad development or courtship behaviour in N. notopterus. Newly spawned 3.8–4 mm adhesive eggs are guarded by the male until hatching. The egg envelope has external ridges, which are centred around the micropyle. Hatching occurs within 168–204 hours. For the first time, this study describes a method of successfully raising O. bicirrhosum at 28 °C under laboratory conditions. The non-adhesive eggs measure 12 mm with a transparent egg envelope. Hatching occurs around 162–166 hours and newly hatched embryos measure 16 mm. Actually there is no larval period found in O. bicirrhosum. The embryonic period is directly followed by the juvenile period and ontogeny can be characterized as direct development. N. notopterus is classified as intermediate species in an interpretation at reproductive strategies since they produce a higher number of medium-sized eggs and show parental care.

A falta de acesso à água potável ainda é um problema de saúde pública no Brasil. O desenvolvimento de novos métodos analíticos de baixo custo para o reconhecimento de amostras contaminadas é uma necessidade, pois análises laboratoriais estão fora da realidade socioeconômica da população mais vulnerável. Visando contribuir para a resolução deste problema, esta tese apresenta esforços para o desenvolvimento de métodos de baixo custo para a análise de qualidade de águas ambientais. Foi estudada a associação de ferramentas quimiométricas com sensores voltamétricos para tentar discriminar amostras de águas contaminadas com espécies eletroativas. O modelo desenvolvido foi capaz de discriminar de forma satisfatória amostras contaminadas contendo chumbo(II), cobre(II), zinco(II) e nitrito. Os esforços para a redução do custo das análises também focaram no desenvolvimento de sensores com materiais de baixo custo. Um dos dispositivos voltamétricos propostos foi capaz de quantificar metais tóxicos e pesticidas, utilizando papel, grafite e cera. Foi desenvolvido também um sistema de agitação por som que resultou em um aumento significativo da sensibilidade dos dispositivos voltamétricos portáteis permitindo a quantificação de chumbo(II) até 48 nmol L-1, cádmio(II) até 370 nmol L-1 e zinco(II) até 340 nmol L-1. Outro sensor voltamétrico foi confeccionado utilizando apenas papelão como matéria prima, para o qual um laser de CO2 foi utilizado pela primeira vez com o intuito de pirolisar a superfície do papelão gerando estruturas de carbono condutoras. Sensores colorimétricos em papel foram testados com sucesso para a quantificação de fluoreto até 500 µmol L-1 em amostras de água mineral utilizando fotografias retiradas por um telefone celular para a construção de modelos12 de calibração. Com outro sistema colorimétrico em papel foi possível medir o pH de amostras utilizando um método de calibração multivariada. Como mostrado neste trabalho, o desenvolvimento e a integração dos dispositivos analíticos em papel é uma alternativa abrangente, confiável e de baixo custo para a análise da qualidade de águas ambientais. / The lack of access to safe water remains as a public health problem in Brazil. The development of new analytical methods for low cost contaminated samples recognition is necessary since the complete laboratorial procedures are away from the reality of the most socioeconomic vulnerable population. In order to contribute to solve this problem, this thesis shows our efforts to develop new low-cost analytical methods to evaluate environmental waters quality. The combination of chemometric tools with voltammetric sensors was studied to discriminate contaminated water samples with electroactive species. The proposed model was able to discriminate potable and contaminated samples containing lead(II), copper(II), zinc(II) and nitrite species. Efforts to reduce the analysis cost have also focused on the development of sensors using low-cost materials. A proposed voltammetric device fabricated with paper, graphite and wax was able to quantify heavy metals and pesticides. The use of a sound agitation system for the portable voltammetric devices resulted in a significant increase in the sensitivity allowing the quantification of lead(II) above 48 nmol L-1, cadmium(II) above 370 nmol L-1 e and zinc(II) above 340 nmol L-1 . Another voltammetric sensor was made for the first time using only cardboard as material and a CO2 laser to pyrolyze the cardboard surface generating conductive carbon structures. Paper colorimetric sensors were successfully tested for fluoride quantification in spring water samples based on photographs taken by a smartphone with a LOQ of 500 µmol L-1. Another paper colorimetric system was capable to measure the pH of samples using a multivariate calibration method. As shown in this thesis, the development and integration of analytical paper-based devices is a reliable and low-cost alternative for water quality analysis

A falta de acesso à água potável ainda é um problema de saúde pública no Brasil. O desenvolvimento de novos métodos analíticos de baixo custo para o reconhecimento de amostras contaminadas é uma necessidade, pois análises laboratoriais estão fora da realidade socioeconômica da população mais vulnerável. Visando contribuir para a resolução deste problema, esta tese apresenta esforços para o desenvolvimento de métodos de baixo custo para a análise de qualidade de águas ambientais. Foi estudada a associação de ferramentas quimiométricas com sensores voltamétricos para tentar discriminar amostras de águas contaminadas com espécies eletroativas. O modelo desenvolvido foi capaz de discriminar de forma satisfatória amostras contaminadas contendo chumbo(II), cobre(II), zinco(II) e nitrito. Os esforços para a redução do custo das análises também focaram no desenvolvimento de sensores com materiais de baixo custo. Um dos dispositivos voltamétricos propostos foi capaz de quantificar metais tóxicos e pesticidas, utilizando papel, grafite e cera. Foi desenvolvido também um sistema de agitação por som que resultou em um aumento significativo da sensibilidade dos dispositivos voltamétricos portáteis permitindo a quantificação de chumbo(II) até 48 nmol L-1, cádmio(II) até 370 nmol L-1 e zinco(II) até 340 nmol L-1. Outro sensor voltamétrico foi confeccionado utilizando apenas papelão como matéria prima, para o qual um laser de CO2 foi utilizado pela primeira vez com o intuito de pirolisar a superfície do papelão gerando estruturas de carbono condutoras. Sensores colorimétricos em papel foram testados com sucesso para a quantificação de fluoreto até 500 µmol L-1 em amostras de água mineral utilizando fotografias retiradas por um telefone celular para a construção de modelos12 de calibração. Com outro sistema colorimétrico em papel foi possível medir o pH de amostras utilizando um método de calibração multivariada. Como mostrado neste trabalho, o desenvolvimento e a integração dos dispositivos analíticos em papel é uma alternativa abrangente, confiável e de baixo custo para a análise da qualidade de águas ambientais. / The lack of access to safe water remains as a public health problem in Brazil. The development of new analytical methods for low cost contaminated samples recognition is necessary since the complete laboratorial procedures are away from the reality of the most socioeconomic vulnerable population. In order to contribute to solve this problem, this thesis shows our efforts to develop new low-cost analytical methods to evaluate environmental waters quality. The combination of chemometric tools with voltammetric sensors was studied to discriminate contaminated water samples with electroactive species. The proposed model was able to discriminate potable and contaminated samples containing lead(II), copper(II), zinc(II) and nitrite species. Efforts to reduce the analysis cost have also focused on the development of sensors using low-cost materials. A proposed voltammetric device fabricated with paper, graphite and wax was able to quantify heavy metals and pesticides. The use of a sound agitation system for the portable voltammetric devices resulted in a significant increase in the sensitivity allowing the quantification of lead(II) above 48 nmol L-1, cadmium(II) above 370 nmol L-1 e and zinc(II) above 340 nmol L-1 . Another voltammetric sensor was made for the first time using only cardboard as material and a CO2 laser to pyrolyze the cardboard surface generating conductive carbon structures. Paper colorimetric sensors were successfully tested for fluoride quantification in spring water samples based on photographs taken by a smartphone with a LOQ of 500 µmol L-1. Another paper colorimetric system was capable to measure the pH of samples using a multivariate calibration method. As shown in this thesis, the development and integration of analytical paper-based devices is a reliable and low-cost alternative for water quality analysis

In this paper I aimed to explore the bodily experiences and expressions that Christian charismatics interpret as religious.  The so-called presence of God and the so-called gifts of the spirit were in focus in the gathering of information. My purpose was to find out how the social community of the Christian charismatics affects the subjective bodily experiences that are interpreted as religious by the individual. The main questions were: 1: How do Christian charismatics describe religious experiences and their effect on the body? 2: What bodily expressions of religious experience can be observed in Christian charismatic contexts? 3: Is there a common way of expressing the experience of God's presence (individually or in a group) and how, in this case, can any resemblance be explained? The methods used to answer these questions were qualitative interviews and participant observations, which then were analyzed by the anthropologist Thomas J. Csordas theory of embodiment. By applying his theory on a Swedish-based material I hope to bring a new perspective into the research on this subject and inspire to further research and curiosity about Christian charismatics in Sweden. In this essay phenomena such as falling in the spirit, speaking in tongues, and healing were analyzed. Some of the phenomena, which are interpreted as presences of God by the believer, could be explained according to the theory of embodiment, but some could not. The similarities of bodily religious experiences among different groups of Christian charismatics can be explained with the concept of habitus. That is because even though the groups may have long distances between them, the still share behaviors and belief systems , for example the Bible, as common ideas in the global habitus of Christian charismatics.

(in English): The aim of this thesis is to provide an introduction into the topic of specialized texts in relation to Czech and German, or to be more precise, into the topic of translating business administrative texts into a foreign language. The theoretical part begins with an introduction of the research results hitherto achieved in the area of specialized texts and the translation thereof. After that, we deal with business administrative texts and their translation. Within these first two parts, we always first give an introduction into the particular topic giving an historical overview of research formulated in our three languages of main interest - English, German and Czech, with, Spanish being mentioned to a much lesser extent. We address the issue of translation into non-mother tongues and translation associated computer technologies in relation to the text we analyze in the analytical part of the thesis. There, we analyze a typical type of business-administrative text - annual reports. We compare the results with the theory knowledge. The analysis of the interview led in the company that provided the texts for the analysis serves as supplementary information. Finally we sum up the hitherto carried out research and correlate it with the results of our translatological analysis.

The purpose of this study is to explore the life history of Fred Francis Bosworth (1877-1958) and critically analyze the influential factors that may have contributed to his success as a famous healing evangelist. It seeks to answer the question, “How did he develop from a small-town farm boy into a famous healing evangelist and Pentecostal pioneer?” Using the historical case study method as the research design, the study employs a variant of Social Cognitive Career Theory (SCCT), which suggests that a person's career choice can be determined by his or her self-efficacy beliefs and expected outcomes. Self-efficacy comes from past performances, various learning, social support and one's reaction to barriers. The aim of the study is to determine how Bosworth's childhood and adolescent experiences, as well as his secular experiences in the business world, may have prepared him for his career as a healing evangelist. By showing how a person's early years can impact his or her future, this research will allow the church to know more about the role of early, natural experiences (including skills and environment), in determining God's will for a person's life and ministry. Although Bosworth, author of Christ the Healer (1948), is widely known for his teachings on divine healing, there is little known about his life history. This study is the first to offer a critical analysis of his entire life and ministry; it is also the first study to use the concepts of SCCT to show how his adulthood success may have been influenced by the experiences of his childhood and youth. This study argues that several factors played a critical role in Bosworth’s development. In addition to music and his secular work as a businessman, these factors include his crises, strong Christian women, healings in answer to prayer, and his work in foreign missions. Although Bosworth and others have attributed his success primarily to his Pentecostal experience, this study contends that his childhood, secular and business experiences played a more important role than has been reported in the literature. Furthermore, this study shows that Bosworth’s path to success can be understood through the elements of SCCT. Through SCCT, one can see how Bosworth developed an interest in the healing ministry, how he chose to pursue the ministry as a career, and how he performed and set goals as an evangelist. / Thesis (PhD)--University of Pretoria, 2009. / Church History and Church Policy / unrestricted

In a manner similar to other countries on the African continent, Botswana has witnessed the explosive growth of new Pentecostal churches. These churches are most often distinguished by their recent origins, focus on the prosperity gospel and spiritual deliverance ministries. In this study, one specific church, Bible Life Ministries, in the capital city of Gaborone, was researched in an effort to understand its great appeal. I have proposed that their rapid growth is a result of their "promise of power" - spiritual power that provides individuals with temporal results such as health, wealth and control over one's environment. Faced with the rapid changes brought about by external forces such as urbanization and globalization, these churches are deliberately seeking to bridge western and Setswana culture in an effort to contextualize the gospel for contemporary Batswana. Of major missiological concern is whether or not the gospel message has been distorted in this process. / Church Spirituality, Church History and Missiology / M.Th. (Missiology)

Le récit de la Pentecôte (Actes des Apôtres 2) présente au lecteur un élément particulier qui se retrouve rarement dans le canon biblique : les « langues comme de feu ». Seuls les passages d’Isaïe 5,24 et Actes 2,3 utilisent cette expression; pourtant, leurs contextes diffèrent largement. Nous trouvons certains commentaires rabbiniques et fragments de rouleaux de la Mer Morte qui emploient cette même expression, et la littérature gréco-romaine utilise une image similaire où un feu divin se pose sur la tête de certains personnages. Puisque la fonction de cet élément diffère d’un ouvrage littéraire à un autre, comment devons-nous interpréter les langues de feu dans le récit de la Pentecôte? Les commentaires bibliques qui examinent cet élément proposent différentes hypothèses sur la symbolique des langues de feu. Afin de répondre à cette problématique, nous commencerons notre étude avec une présentation sur l’état de la question et des approches synchroniques utilisées. Nous présenterons ensuite l’analyse structurelle du récit de la Pentecôte afin de percevoir la place que notre expression occupe dans cette péricope. Au chapitre trois, nous ferons une analyse grammaticale de notre segment afin de voir la fonction grammaticale de l’expression, et présenter une recension des ouvrages hébraïques et gréco-romains qui utilisent cette expression ou une image similaire. Enfin, l’analyse philologique des termes γλῶσσα et πῦρ sera élaborée et comparée à l’utilisation retrouvée dans le livre des Actes des Apôtres. Subséquemment, nous serons en mesure de porter un regard critique sur quelques interprétations proposées afin de percevoir que la mise en réseau structurel du membre γλῶσσαι ὡσεὶ πυρός, avec les termes répétitifs et synonymiques du récit, nous orientent à percevoir l’accomplissement de la promesse du Saint-Esprit, qui à son tour habilite le croyant à réaliser la mission donnée : la proclamation du message christologique à toutes les ethnies. / The Pentecost Account (Acts of Apostles 2) introduces the reader to a particular item that is rarely found in the biblical canon: the tongues as of fire. Only passages of Isaiah 5:24 and Acts 2.3 use this term, yet their contexts differ widely. We find some rabbinic commentaries and fragments of the Dead Sea scrolls that use this same expression. Greco-Roman literature uses a similar image where a divine fire is set on the head of certain characters. Since the function of this element varies from one text to the other, how are we to interpret the tongues of fire in Pentecost account? Biblical commentaries focused on this element propose different hypothesis as to the symbolism of the tongues of fire. To address this issue, we are going to conduct a presentation on the state of the question, a grammatical analysis, a review of Hebrew texts and Greco-Roman stories that use this expression or a similar image, a philological analysis of the terms γλῶσσα and πῦρ, followed by a structural analysis to perceive the place that our expression holds in the Pentecost account. Subsequently, we will be able to take a critical look at previous synchronic interpretations, and propose that the expression γλῶσσαι ὡσεὶ πυρός works in its structural framework along with its repetitive and synonymous terms in order to guide us to see the fulfillment of the promise of Holy Spirit, which in turn empowers the believer to carry out the mission given: the proclamation of the Christological message to all ethnic groups.

In a manner similar to other countries on the African continent, Botswana has witnessed the explosive growth of new Pentecostal churches. These churches are most often distinguished by their recent origins, focus on the prosperity gospel and spiritual deliverance ministries. In this study, one specific church, Bible Life Ministries, in the capital city of Gaborone, was researched in an effort to understand its great appeal. I have proposed that their rapid growth is a result of their "promise of power" - spiritual power that provides individuals with temporal results such as health, wealth and control over one's environment. Faced with the rapid changes brought about by external forces such as urbanization and globalization, these churches are deliberately seeking to bridge western and Setswana culture in an effort to contextualize the gospel for contemporary Batswana. Of major missiological concern is whether or not the gospel message has been distorted in this process. / Church Spirituality, Church History and Missiology / M.Th. (Missiology)