<p>The aim of this thesis is to investigate how the absolute accuracy of an industrial robot can be increased by monitoring the position of the robot. The motive is to automate high precision, low volume production such as aircraft industry. A laser tracker that can measure both position and orientation with very high accuracy isused to monitor the robot tool position. The robot and laser tracker are integrated via a standard computer. </p><p>The abilities and performance of the robot, with and without feedback from the laser tracker, are investigated. Robotic drilling is performed with supervision and control from the laser tracker. </p><p>The system is implemented and tested on parts of a demonstrator for new aircraft assembly techniques. The ability to position components with internal friction to (+/-)0.05 mm absolute accuracy is shown.</p>

The aim of this thesis is to investigate how the absolute accuracy of an industrial robot can be increased by monitoring the position of the robot. The motive is to automate high precision, low volume production such as aircraft industry. A laser tracker that can measure both position and orientation with very high accuracy isused to monitor the robot tool position. The robot and laser tracker are integrated via a standard computer. The abilities and performance of the robot, with and without feedback from the laser tracker, are investigated. Robotic drilling is performed with supervision and control from the laser tracker. The system is implemented and tested on parts of a demonstrator for new aircraft assembly techniques. The ability to position components with internal friction to (+/-)0.05 mm absolute accuracy is shown.

Language-specific theories of sentence processing suggest that individuals interpret sentences based on the characteristics of their native language (e.g., Bates & MacWhinney, 1989). As such, competing linguistic cues are taken into account (including word order, morphology, and animacy) and the cue selected is most likely to yield a correct interpretation in the native language. However, research in this area has produced conflicting results. MacWhinney (2005) has proposed that examining the role of perspective shifting in sentence comprehension may demonstrate how cognitive and syntactic factors work together to facilitate sentence comprehension. The aim of the current study is to investigate the role of perspective shifting in the processing of relative clauses by bilingual children. A total of 16 bilingual and 13 monolingual children in grades 3 and 5 participated in this study. Difficulty in Spanish and English sentence processing was assessed using four types of relative clauses, that varied in the complexity of perspective shift, and a control sentence. A sentence comprehension task was devised using Mouse Tracker software (Freeman & Ambady, 2010) to assess the participant's ability to identify whether or not the presented picture reflected the relationship described in the oral sentence presentation. Difficulty in sentence processing was determined using measures of accuracy (percent correct and d') and response time (RT). Data were compared across languages for the bilingual children and with an monolingual English control group. MANOVA results revealed a significant main effect for sentence type and no effect of language in all analyses. Hence, bilingual participant performance on the sentence processing task was similar across languages and across language groups when compared to those monolingual English speakers. In general, accuracy levels and d' values were greater for the 0 switch and control conditions. RTs were longer for the more complex relative clauses. The 1+ condition consistently appeared to be the most difficult. These findings indicate that participants processed the relative clauses in a similar way across languages and that more complex perspective shifts resulted in poorer performance. These results suggest that perspective shifting is a relevant factor in syntax comprehension, but that the number of perspective shifts is less important. Instead, the direction of perspective shift and the role of the relative clause (subject versus object-modifying) seem to be more essential. These results support the Unified Competition Model (MacWhinney, 1997) by demonstrating the use of shared cognitive processes across languages. However, one cannot rule out the role of language dominance and language structure in relative clause processing as the sentences in this experiment maintained parallel syntactic structures across languages. Clinical and educational implications are provided.

Clinicians are becoming increasingly aware of the effect of various pathologies on the characteristics of saccadic eye movements. As such, an efficient and non-invasive means of measuring eye-movement in a clinical environment is of interest to many. The aim of this thesis is to investigate the clinical application of a non-invasive eye movement recording technique as a part of a clinical examination. Eye movements were measured using an IRIS 6500 infrared limbal eye tracker, which we customized for the direct recording of oblique eye movements as well as horizontal and vertical. Firstly, the eye-tracker itself was assessed. Visually normal observers made saccadic eye movements to a 10' stimulus in eight directions of gaze. Primary (ANOVA) and secondary analyses (mean error less than 5%) resulted in acceptance that averaging four measurements would give a representative measurement of saccadic latency, peak velocity, amplitude and duration. Test-retest results indicated that this technique gives statistically (± 1.96*STDEVDifference) repeatable responses. Several factors that could potentially influence clinically based measures of eye-movements were examined. These included, the effect of ageing, viewing distances, dioptric blur and cataract. The results showed that saccadic latency and duration are significantly (p < 0.05) longer in older (60-89 years) observers compared to younger (20-39 years). Peak velocity and amplitude were not significantly affected by the age of the observer. All saccadic parameters (SP) were significantly affected by direction (Chapter 5). The compact nature of this eye movement methodology is obtainable since there is no significant effect on viewing distance (300 cm vs. 49 cm) (Chapter 6). There is also no significant effect of dioptric blur (up to +LOODS) on any of the four SP. In contrast, a higher level of defocus (+3.O ODS) has a larger probability of interfering with the measurements of peak velocity and duration (Chapter 7). Saccadic eye-movements were also recorded whilst normally sighted subjects wore cataract simulation goggles. The results suggested that the presence of dense cataract introduces significant increases in saccadic latencies and durations. No effect was found on the peak velocities and amplitudes. The effect of amblyopia on SP was also investigated in order to examine if this methodology is able to detect normal from abnormal responses (i.e. increased saccadic latencies). This set of data (Chapter9 ) showed that using IRIS 6500, longer than normal latencies may be recorded from the amblyopic eye but no consistent effect was found for the other SP (peak velocity, amplitude, duration). Overall, the results of this thesis demonstrate that the IRIS 6500 eye-tracker has many desirable elements (it is non-invasive; comfortable for the observers and gives repeatable and precise results in an acceptable time) that would potentially make it a useful clinical tool as a part of a routine examination.

Made available in DSpace on 2016-12-12T20:27:38Z (GMT). No. of bitstreams: 1 Rubens Hock.pdf: 9150198 bytes, checksum: dc75d13b884c75e842633257c0db27e6 (MD5) Previous issue date: 2015-02-24 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This paper presents a mobile voltage regulator based in a Distribution Static Synchronous Compensator (DSTATCOM) applied to low voltage distribution grids. The DSTATCOM consists in a three-phase four-wire inverter connected to the grid through a second order low pass filter. The control structure is composed of three output voltage loops with active damping and the two dc bus loops. In addition, a new concept of Minimum Power Point Tracking (mPPT) is introduced, forcing the DSTATCOM to operate with the minimum power. In certain conditions, this means no compensation. The dynamic models of the converter are presented, as well as the control design. Simulation results show the capacity of voltage regulation and the features of the mPPT, even under grid and load unbalances and nonlinear loads. This work is concluded with the construction of a 30 kVA prototype and validation through experimental results proves the proper functioning of the voltage regulator. / Esse trabalho apresenta um regulador de tensão móvel baseado em um compensador estático de reativos (DSTATCOM) aplicado a redes de distribuição de baixa tensão. O DSTATCOM consiste em um inversor trifásico a quatro fios conectado à rede através de um filtro de segunda ordem. A estrutura de controle é composta por três malhas de tensão de saída com amortecimento ativo e duas malhas de tensão do barramento cc. Em adição, um novo conceito de rastreamento da mínima potência (mPPT) é introduzido, forçando o DSTATCOM a operar com a mínima potência. Em certas ocasiões, isso significa nenhuma compensação. Os modelos dinâmicos do conversor são apresentados, assim como o projeto de controle. Resultados de simulação mostram a capacidade de regulação da tensão e as características do mPPT, mesmo com desequilíbrios na rede e/ou na carga e com cargas não lineares. O trabalho é concluído com a construção de um protótipo de 30 kVA e validação dos estudos através de resultados experimentais obtidos comprovam o bom funcionamento do regulador de tensão.

Avec ce travail, nous avons voulu mettre l'accent sur la validité externe des expérimentations et nous focaliser sur des situations dynamiques naturelles. Or dans ce type de situation, les traitements top-down, découlant des connaissances préalables et de l'objectif, guident préférentiellement l'allocation de l'attention, tandis que les traitements bottom-up (caractéristiques des entrées perceptives) ont une influence mineure. Ce travail est donc centré sur l'attention top-down. La situation choisie est une approche de carrefour en conduite automobile, les sous-tâches étudiées sont le contrôle du véhicule (la trajectoire) et la décision de s'arrêter ou non au carrefour. Deux objectifs opérationnels sont investigués à travers l'analyse des mouvements oculaires : 1/ distinguer les sous-tâches de contrôle du véhicule et de prise de décision, 2/ distinguer les processus de la sous-tâche de prise de décision. Pour chaque objectif, une approche qualitative puis quantitative sont explorées. Des techniques de classification supervisées ont notamment été utilisées pour distinguer les différents processus. Deux études ont été conduites afin de répondre à ces objectifs, une en simulateur de conduite et une en situation réelle de conduite, mettant toutes deux en scène des approches de carrefours. / In this work, we focus on the external validity of experiments and on natural dynamic situations. In this type of situation, the top-down treatments resulting from prior knowledge and goal preferably guide the allocation of attention, while the bottom-up treatments (characteristics of perceptual input) play a minor role. This work is then focused on top-down attention. The chosen situation is an approach of driving crossroads, the studied subtasks are the control of vehicle (trajectory) and the decision to stop or not at the crossroads. Two operational objectives are investigated by analyzing eye movements: 1/ discriminating the vehicle's control and decision making subtasks, 2/ discriminating the process of the decision making subtask. For each objective, we explore a qualitative and quantitative approach. In particular, supervised techniques of classification have been used to distinguish the different processes. Two studies were conducted in order to meet these objectives, one with a driving simulator and one in a real situation of driving, both involving approaches to crossroads.

Made available in DSpace on 2016-08-31T13:33:38Z (GMT). No. of bitstreams: 1 RomeniaGV_DISSERT.pdf: 3190598 bytes, checksum: 478a0cda7a4c2391088f6946ab2c42c1 (MD5) Previous issue date: 2014-08-15 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / The photovoltaics energy has been explored as one of the solutions to the decline in oil production, and environmental worries. However, generating electric energy throw the sun is still considered uncompetitive when considering other sources, because it shows low efficiency and high production costs. Trying to turn it more attractive to the financial point view, sun trackers are been used to increase the photovoltaics system efficiency. Considering it, this work aims to perform a comparative study between a static photovoltaic solar panel and a one axis mobile panel, both installed in Mossoró/RN. The city is located on northeast semi-arid, under high levels of solar radiation, on dry and hot climate regions, achieving high temperatures during day. Initially are discussed concepts related to solar photovoltaics energy, and tracking technologies. Then, are described the control components, sensing and structures used on the photovoltaics systems proposed. Lastly, the analyses about the functioning and comparing study about the performance of the static and mobile system were realized, allowing to conclude that the sun tracker panel showed low gain on the generated power when compared to the static panel / A energia solar fotovoltaica vem sendo explorada como uma das soluções energéticas ao declínio da produção de petróleo, e preocupações ambientais. No entanto, geração de energia elétrica através do sol ainda é considerada pouco competitiva frete à outras fontes, por apresentar baixo rendimento e alto custo de produção. Na tentativa de torna-la mais atrativa do ponto de vista financeiro, rastreadores solares têm sido utilizados a fim de aumentar o rendimento dos sistemas fotovoltaicos. Neste sentido, o presente trabalho tem por objetivo realizar um estudo comparativo entre um painel solar fotovoltaico estático e um painel com mobilidade em um eixo, instalados na cidade de Mossoró/RN. O município em questão está localizado no semiárido nordestino, sob altos índices de radiação solar, em uma região de clima seco e quente, atingindo elevadas temperaturas durante o dia. Inicialmente são abordados conceitos relativos à energia solar fotovoltaica, e tecnologias de rastreamento do sol. Em seguida, descreve-se os componentes de controle, sensoriamento e estruturas utilizadas nos sistemas fotovoltaicos propostos. Por fim, foram realizadas as análises de funcionamento e o estudo comparativo de desempenho do sistema estático e do móvel, que permitiram concluir o que painel com rastreio do sol apresentou baixo ganho médio na potência gerada em relação ao painel fixo

Submitted by GILBERTO BUENO DE OLIVEIRA JUNIOR null (gilberto.bueno@yahoo.com.br) on 2016-02-03T13:55:05Z No. of bitstreams: 1 Dissertação - Concentrador Solar - VERSÃO FINAL - V0017.pdf: 5444637 bytes, checksum: 24e8c86834b9e8a8354dc9e314104039 (MD5) / Approved for entry into archive by Ana Paula Grisoto (grisotoana@reitoria.unesp.br) on 2016-02-05T11:29:33Z (GMT) No. of bitstreams: 1 oliveirajunior_gb_me_bauru.pdf: 5444637 bytes, checksum: 24e8c86834b9e8a8354dc9e314104039 (MD5) / Made available in DSpace on 2016-02-05T11:29:33Z (GMT). No. of bitstreams: 1 oliveirajunior_gb_me_bauru.pdf: 5444637 bytes, checksum: 24e8c86834b9e8a8354dc9e314104039 (MD5) Previous issue date: 2015-12-18 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / The searching for renewable energy sources has mobilized much of the scientific community, which work is tireless in pointing out feasible solutions to use clean energy. Solar energy is natural choice among others, because its availability and amount. A known way to use this energy is by focusing solar rays through parabolics, which allow rays concentration to a small area. The advantage of this type of project is to produce thermal energy at high temperatures. This energy has a wide application on producing other forms of energy such as electric power in turbines since solar concentrators provide steam at high pressure and temperature. The goal of this study is to build a solar concentration device and measure the energy produced, as well its efficiency in transformation. Thus, was built up a parabolic concentrator and a solar tracker to motion in three dimension, which allows device alignment towards incidence of solar rays. Was utilized a pumping system to flowing thermal fluid at high temperatures through the absorber. The energy balance of this thermal fluid, led to obtain behavior curves of net power and system efficiency. The experimental was divided in two parts. On the first one, was obtained the stagnation temperature and the other one, was measured the eficiency over a circulating thermal fluid. The stagnation temperature measured in december was 476,5°C, at 4:25PM. The second part of tests has shown an efficiency of 33% on first one assay. However when was utilizing another form to measure the solar irradiation (theoretic approach), the efficiency rises between 45% to 55%, regarding steady state conditions. Furthermore, this work allowed discussions to discover ways to increase the energy efficiency. / A busca por formas alternativas de energia tem mobilizado grande parte da comunidade científica, cujos trabalhos são incansáveis em apontar soluções viáveis para o aproveitamento das energias renováveis e limpas. A energia solar se destaca dentre todas pela sua disposição e quantidade. Uma forma já conhecida de sua utilização é através da concentração em sistemas parabólicos, que permitem o direcionamento dos raios do Sol para uma pequena área. A vantagem deste tipo de projeto é a produção de energia térmica a altas temperaturas e pressões. Essa energia concentrada possui grande aplicação, pois permite a conversão eficiente em energia elétrica, produzidas em turbinas a vapor. O objetivo deste trabalho foi construir um dispositivo termo-eletrônico para concentração solar e, com isso, quantificar a energia produzida, bem como sua eficiência. Assim sendo, foi construído um concentrador parabólico e um rastreador solar com movimento tridimensional, que permite o alinhamento do equipamento com a incidência dos raios do Sol. Foi utilizado ainda, para circulação no interior do absorvedor, um sistema de bombeamento de fluido térmico de alto ponto de ebulição e que não sofria deformação a altas temperaturas. O balanço energético no dispositivo permitiu obter as curvas de potência útil e da eficiência do sistema. O experimento foi dividido em duas partes. Na primeira parte, foi obtida a temperatura de estagnação e na outra parte, foi medida a eficiência energética sobre o fluido térmico em circulação. A temperatura de estagnação medida em dezembro foi de 476,5 °C, às 4:25 PM. A segunda parte dos testes mostrou uma eficiência de 33% no primeiro ensaio. No entanto, quando se utilizou uma outra forma de medir a irradiação solar (abordagem teórica), a eficiência aumentou, permanecendo entre 45% a 55%, considerando regime permanente. Além disso, possibilitou a discussão de formas de incrementar a sua eficiência. / Capes: 2012/2014

Lab measurements and Monte Carlo simulations have been carried out for the evaluation of the Straw-type detectors used in the NA62 experiment at CERN. In addition, analyses of experiment data was used in corrections to improve the reconstruction of particle tracks, ultimately leading to improved resolution of the detector system as a whole. 97.7 percent of the Straws were aligned to within 30 microns, quantified as the deviation from zero of the mean of the inherent residual distribution of each Straw. A drift time dependence on where along the Straw the particle ionized have been corrected for; before the correction the dependence was as big as 6 ns. A radius-drift time relation based on the leading edge timing distribution has been deduced and implemented. Upon implementation artifacts from the piecewise fits used became evident. An alternative approach using residuals has been put forward.

閱讀是吸收知識的途徑，不同的閱讀模式所帶來的閱讀成效也會不同。如何透過機器學習的方式，從凝視點找出閱讀行為的關聯性，將是本研究的目標。實驗選擇低成本眼動儀紀錄讀者閱讀過程中的眼動資料，採用dispersion-based演算法找出凝視點，以計算凝視點特徵，包含凝視時間、凝視距離、凝視位置以及凝視方向。 本研究將閱讀模式分成五種類別，包含快讀、慢讀、精讀、跳讀與關鍵字識別，透過不同文章的呈現，引導30位測試者遵循其內容進行閱讀，藉此收集不同行為模式的眼動資料。實驗流程中所有的眼動資料會隨機被分成為兩份，依序建立不同維度的訓練資料，由交叉驗證的分類結果找出理想之特徵與維度。以每次挑選6位測試者的眼動數據為測試資料進行5次分類驗證，其平均正確率為78.24%、74.19%、93.75%、87.96%以及96.20%，均達到不錯的分類結果。 / Reading is one of the paths to acquire knowledge. The efficiency is different when different reading patterns are involved. It is the objective of this research to classify reading patterns from fixation data using machine learning techniques. In our experiment, a low-cost eye tracker is employed to record the eye movements during the reading process. A dispersion-based algorithm is implemented to identify fixation from the recorded data. Features pertaining to fixation including duration, path length, landing position and fixation direction are extracted for classification purposes. Five categories of reading pattern are defined and investigated in this study, namely, speed reading, slow reading, in-depth reading, skim-and-skip, and keyword spotting. We have recruited thirty subjects to participate in our experiment. The participants are instructed to read different articles using specific styles designated by the experimenter in order to assign label to the collected data. Feature selection is achieved by analyzing the predictive results of cross-validation from the training data obtained from all subjects. The average classification accuracies in five-fold cross-validation are 78.24%, 74.19%, 93.75%, 87.96% and 96.20% using the eye movements of the six randomly selected subjects as test data.