Building Beyond Limits : Fantastic Collisions Between Bodies and Machines in French and English Fin-de-Siècle Literature

«Construire hors limite: collisions fantastiques entre corps et machines dans la littérature fin-de-siècle française et anglaise» explore un ensemble de textes qui ont surgi à la fin du dix-neuvième siècle en réponse et en réaction à la fulgurante évolution de l’environnement scientifique et technologique, et qui considèrent la relation entre l’homme et la machine en fantasmant sur la zone grise où ils s’intersectent. Les principaux textes étudiés comprennent L’Ève future de Villiers de l’Isle-Adam, Le Surmâle d’Alfred Jarry, Trilby de George Du Maurier, Le Château des Carpathes de Jules Verne, ainsi qu’une sélection de contes dont nous pouvons qualifier de «contes à appareils», notamment «La Machine à parler» de Marcel Schwob. Utilisant la théorie des systèmes comme base méthodologique, cette dissertation cherche à réinterpréter les textes de la fin du dix-neuvième siècle qui naviguent les limites de l’humain et du mécanique et les surfaces sensibles où ils se touchent et interagissent en les réinscrivant dans un projet plus vaste de construction d’identité qui défie le temps chronologique et les échelles mathématiques. Le lien entre la théorie des systèmes et l’architecture – comme méthode d’organisation d’espace blanc en espace habitable – est exploré dans le but de comprendre la manière dont nous façonnons et interprétons le néant à l’origine de l’identité individuelle, et par association collective, en pratiquant littéralement la schématisation et la construction du corps. Des auteurs tels Villiers et Jarry imaginent la construction du corps comme une entreprise scientifique nécessairement fondée et réalisée avec les matériaux et les technologies disponibles, pour ensuite démanteler cette proposition en condamnant le corps technologique à la destruction. La construction d’une identité amplifiée par la technologie prend donc des proportions prométhéennes perpétuellement redessinées dans des actes cycliques de rasage (destruction) et d’érection (édification), et reflétées dans l’écriture palimpsestique du texte. L’intégrité du corps organique étant mis en question, le noyau même de ce que signifie l’être (dans son sens de verbe infinitif) humain pourrait bien s’avérer, si l’on considère la correspondance entre perte de voix et état pathologique dans les textes de Du Maurier, Verne et Schwob, être une structure des plus précaires, distinctement hors sens (unsound).

A multiple-building diffraction attenuation function expressed in terms of UTD coefficients for microcellular communications

This work presents an explicit formulation for multiple- edge diffraction for mobile radiowave propagation in terms of uniform theory of diffraction (UTD) coefficients when a spherical incident wave is considered. This solution can be used in an UTD context and sharply reduces the computing time over existing formulation. Results can be applied in the planning of microcellular systems

Characterization of Selected Photonic Materials and Systems Using Photoacoustic Technique

The photoacoustic investigations carried out on different photonic materials are presented in this thesis. Photonic materials selected for the investigation are tape cast ceramics, muItilayer dielectric coatings, organic dye doped PVA films and PMMA matrix doped with dye mixtures. The studies are performed by the measurement of photoacoustic signal generated as a result of modulated cw laser irradiation of samples. The gas-microphone scheme is employed for the detection of photoacoustic signal. The different measurements reported here reveal the adaptability and utility of the PA technique for the characterization of photonic materials.Ceramics find applications in the field of microelectronics industry. Tape cast ceramics are the building blocks of many electronic components and certain ceramic tapes are used as thermal barriers. The thermal parameters of these tapes will not be the same as that of thin films of the same materials. Parameters are influenced by the presence of foreign bodies in the matrix and the sample preparation technique. Measurements are done on ceramic tapes of Zirconia, Zirconia-Alumina combination, barium titanate, barium tin titanate, silicon carbide, lead zirconate titanateil'Z'T) and lead magnesium niobate titanate(PMNPT). Various configurations viz. heat reflection geometry and heat transmission geometry of the photoacoustic technique have been used for the evaluation of different thermal parameters of the sample. Heat reflection geometry of the PA cell has been used for the evaluation of thermal effusivity and heat transmission geometry has been made use of in the evaluation of thermal diffusivity. From the thermal diffusivity and thermal effusivity values, thermal conductivity is also calculated. The calculated values are nearly the same as the values reported for pure materials. This shows the feasibility of photoacoustic technique for the thermal characterization of ceramic tapes.Organic dyes find applications as holographic recording medium and as active media for laser operations. Knowledge of the photochemical stability of the material is essential if it has to be used tor any of these applications. Mixing one dye with another can change the properties of the resulting system. Through careful mixing of the dyes in appropriate proportions and incorporating them in polymer matrices, media of required stability can be prepared. Investigations are carried out on Rhodamine 6GRhodamine B mixture doped PMMA samples. Addition of RhB in small amounts is found to stabilize Rh6G against photodegradation and addition of Rh6G into RhB increases the photosensitivity of the latter. The PA technique has been successfully employed for the monitoring of dye mixture doped PMMA sample. The same technique has been used for the monitoring of photodegradation ofa laser dye, cresyl violet doped polyvinyl alcohol also.Another important application of photoacoustic technique is in nondestructive evaluation of layered samples. Depth profiling capability of PA technique has been used for the non-destructive testing of multilayer dielectric films, which are highly reflecting in the wavelength range selected for investigations. Eventhough calculation of thickness of the film is not possible, number of layers present in the system can be found out using PA technique. The phase plot has clear step like discontinuities, the number of which coincides with the number of layers present in the multilayer stack. This shows the sensitivity of PA signal phase to boundaries in a layered structure. This aspect of PA signal can be utilized in non-destructive depth profiling of reflecting samples and for the identification of defects in layered structures.

Development and Evaluation of Blind Identification Techniques for Nonlinear Systems

Identification and Control of Non‐linear dynamical systems are challenging problems to the control engineers.The topic is equally relevant in communication,weather prediction ,bio medical systems and even in social systems,where nonlinearity is an integral part of the system behavior.Most of the real world systems are nonlinear in nature and wide applications are there for nonlinear system identification/modeling.The basic approach in analyzing the nonlinear systems is to build a model from known behavior manifest in the form of system output.The problem of modeling boils down to computing a suitably parameterized model,representing the process.The parameters of the model are adjusted to optimize a performanace function,based on error between the given process output and identified process/model output.While the linear system identification is well established with many classical approaches,most of those methods cannot be directly applied for nonlinear system identification.The problem becomes more complex if the system is completely unknown but only the output time series is available.Blind recognition problem is the direct consequence of such a situation.The thesis concentrates on such problems.Capability of Artificial Neural Networks to approximate many nonlinear input-output maps makes it predominantly suitable for building a function for the identification of nonlinear systems,where only the time series is available.The literature is rich with a variety of algorithms to train the Neural Network model.A comprehensive study of the computation of the model parameters,using the different algorithms and the comparison among them to choose the best technique is still a demanding requirement from practical system designers,which is not available in a concise form in the literature.The thesis is thus an attempt to develop and evaluate some of the well known algorithms and propose some new techniques,in the context of Blind recognition of nonlinear systems.It also attempts to establish the relative merits and demerits of the different approaches.comprehensiveness is achieved in utilizing the benefits of well known evaluation techniques from statistics. The study concludes by providing the results of implementation of the currently available and modified versions and newly introduced techniques for nonlinear blind system modeling followed by a comparison of their performance.It is expected that,such comprehensive study and the comparison process can be of great relevance in many fields including chemical,electrical,biological,financial and weather data analysis.Further the results reported would be of immense help for practical system designers and analysts in selecting the most appropriate method based on the goodness of the model for the particular context.

Design and study of self-assembled functional organic and hybrid systems for biological applications

The focus of self-assembly as a strategy for the synthesis has been confined largely to molecules, because of the importance of manipulating the structure of matter at the molecular scale. We have investigated the influence of temperature and pH, in addition to the concentration of the capping agent used for the formation of the nano-bio conjugates. For example, the formation of the narrower size distribution of the nanoparticles was observed with the increase in the concentration of the protein, which supports the fact that γ-globulin acts both as a controller of nucleation as well as stabiliser. As analyzed through various photophysical, biophysical and microscopic techniques such as TEM, AFM, C-AFM, SEM, DLS, OPM, CD and FTIR, we observed that the initial photoactivation of γ-globulin at pH 12 for 3 h resulted in small protein fibres of ca. Further irradiation for 24 h, led to the formation of selfassembled long fibres of the protein of ca. 5-6 nm and observation of surface plasmon resonance band at around 520 nm with the concomitant quenching of luminescence intensity at 680 nm. The observation of light triggered self-assembly of the protein and its effect on controlling the fate of the anchored nanoparticles can be compared with the naturally occurring process such as photomorphogenesis.Furthermore,our approach offers a way to understand the role played by the self-assembly of the protein in ordering and knock out of the metal nanoparticles and also in the design of nano-biohybrid materials for medicinal and optoelectronic applications. Investigation of the potential applications of NIR absorbing and water soluble squaraine dyes 1-3 for protein labeling and anti-amyloid agents forms the subject matter of the third chapter of the thesis. The study of their interactions with various proteins revealed that 1-3 showed unique interactions towards serum albumins as well as lysozyme. 69%, 71% and 49% in the absorption spectra as well as significant quenching in the fluorescence intensity of the dyes 1-3, respectively. Half-reciprocal analysis of the absorption data and isothermal titration calorimetric (ITC) analysis of the titration experiments gave a 1:1 stoichiometry for the complexes formed between the lysozyme and squaraine dyes with association constants (Kass) in the range 104-105 M-1. We have determined the changes in the free energy (ΔG) for the complex formation and the values are found to be -30.78, -32.31 and -28.58 kJmol-1, respectively for the dyes 1, 2 and 3. Furthermore, we have observed a strong induced CD (ICD) signal corresponding to the squaraine chromophore in the case of the halogenated squaraine dyes 2 and 3 at 636 and 637 nm confirming the complex formation in these cases. To understand the nature of interaction of the squaraine dyes 1-3 with lysozyme, we have investigated the interaction of dyes 1-3 with different amino acids. These results indicated that the dyes 1-3 showed significant interactions with cysteine and glutamic acid which are present in the side chains of lysozyme. In addition the temperature dependent studies have revealed that the interaction of the dye and the lysozyme are irreversible. Furthermore, we have investigated the interactions of these NIR dyes 1-3 with β- amyloid fibres derived from lysozyme to evaluate their potential as inhibitors of this biologically important protein aggregation. These β-amyloid fibrils were insoluble protein aggregates that have been associated with a range of neurodegenerative diseases, including Huntington, Alzheimer’s, Parkinson’s, and Creutzfeldt-Jakob diseases. We have synthesized amyloid fibres from lysozyme through its incubation in acidic solution below pH 4 and by allowing to form amyloid fibres at elevated temperature. To quantify the binding affinities of the squaraine dyes 1-3 with β-amyloids, we have carried out the isothermal titration calorimetric (ITC) measurements. The association constants were determined and are found to be 1.2 × 105, 3.6× 105 and 3.2 × 105 M-1 for the dyes, 1-3, respectively. To gain more insights into the amyloid inhibiting nature of the squaraine dyes under investigations, we have carried out thioflavin assay, CD, isothermal titration calorimetry and microscopic analysis. The addition of the dyes 1-3 (5μM) led to the complete quenching in the apparent thioflavin fluorescence, thereby indicating the destabilization of β-amyloid fibres in the presence of the squaraine dyes. Further, the inhibition of the amyloid fibres by the squaraine dyes 1-3, has been evidenced though the DLS, TEM AFM and SAED, wherein we observed the complete destabilization of the amyloid fibre and transformation of the fibre into spherical particles of ca. These results demonstrate the fact that the squaraine dyes 1-3 can act as protein labeling agents as well as the inhibitors of the protein amyloidogenesis. The last chapter of the thesis describes the synthesis and investigation of selfassembly as well as bio-imaging aspects of a few novel tetraphenylethene conjugates 4-6.Expectedly, these conjugates showed significant solvatochromism and exhibited a hypsochromic shift (negative solvatochromism) as the solvent polarity increased, and these observations were justified though theoretical studies employing the B3LYP/6-31g method. We have investigated the self-assembly properties of these D-A conjugates though variation in the percentage of water in acetonitrile solution due to the formation of nanoaggregates. Further the contour map of the observed fluorescence intensity as a function of the fluorescence excitation and emission wavelength confirmed the formation of J-type aggregates in these cases. To have a better understanding of the type of self-assemblies formed from the TPE conjugates 4-6, we have carried out the morphological analysis through various microscopic techniques such as DLS, SEM and TEM. 70%, we observed rod shape architectures having ~ 780 nm in diameter and ~ 12 μM in length as evidenced through TEM and SEM analysis. We have made similar observations with the dodecyl conjugate 5 at ca. 70% and 50% water/acetonitrile mixtures, the aggregates formed from 4 and 5 were found to be highly crystalline and such structures were transformed to amorphous nature as the water fraction was increased to 99%. To evaluate the potential of the conjugate as bio-imaging agents, we have carried out their in vitro cytotoxicity and cellular uptake studies though MTT assay, flow cytometric and confocal laser scanning microscopic techniques. Thus nanoparticle of these conjugates which exhibited efficient emission, large stoke shift, good stability, biocompatibility and excellent cellular imaging properties can have potential applications for tracking cells as well as in cell-based therapies. In summary we have synthesized novel functional organic chromophores and have studied systematic investigation of self-assembly of these synthetic and biological building blocks under a variety of conditions. The investigation of interaction of water soluble NIR squaraine dyes with lysozyme indicates that these dyes can act as the protein labeling agents and the efficiency of inhibition of β-amyloid indicate, thereby their potential as anti-amyloid agents.

Reliability Estimation of Open Source Software based Computational Systems

Software systems are progressively being deployed in many facets of human life. The implication of the failure of such systems, has an assorted impact on its customers. The fundamental aspect that supports a software system, is focus on quality. Reliability describes the ability of the system to function under specified environment for a specified period of time and is used to objectively measure the quality. Evaluation of reliability of a computing system involves computation of hardware and software reliability. Most of the earlier works were given focus on software reliability with no consideration for hardware parts or vice versa. However, a complete estimation of reliability of a computing system requires these two elements to be considered together, and thus demands a combined approach. The present work focuses on this and presents a model for evaluating the reliability of a computing system. The method involves identifying the failure data for hardware components, software components and building a model based on it, to predict the reliability. To develop such a model, focus is given to the systems based on Open Source Software, since there is an increasing trend towards its use and only a few studies were reported on the modeling and measurement of the reliability of such products. The present work includes a thorough study on the role of Free and Open Source Software, evaluation of reliability growth models, and is trying to present an integrated model for the prediction of reliability of a computational system. The developed model has been compared with existing models and its usefulness of is being discussed.

Smallholder pig production systems along a periurban-rural gradient in the Western provinces of the Democratic Republic of the Congo

In the Democratic Republic of the Congo (DRC), pigs are raised almost exclusively by smallholders either in periurban areas of major cities such as Kinshasa or in rural villages. Unfortunately, little information is available regarding pig production in the Western part of the DRC, wherefore a survey was carried out to characterize and compare 319 pig production systems in their management and feeding strategies, along a periurban - rural gradient inWestern provinces of the DRC. Pig breeding was the main source of income (43%) and half of respondents were active in mixed pig and crop production, mainly vegetable garden. Depending on the location, smallholders owned on average 18 pigs, including four sows. Piglet mortality rate varied from 9.5 to 21.8% while average weaned age ranged between 2.2 and 2.8 months. The major causes of mortality reported by the farmers were African swine fever 98 %, swine erysipelas (60 %), erysipelas trypanosomiasis (31 %), swine worm infection (17 %), and diarrhoea (12 %). The majority of the pigs were reared in pens without free roaming and fed essentially with locally available by-products and forage plants whose nature varied according with the location of the farm. The pig production systems depended on the local environment; particularly in terms of workforces, herd structure and characteristics, production parameters, pig building materials, selling price and in feed resources. It can be concluded that an improvement of Congolese pig production systems should consider (1) a reduction of inbreeding, (2) an improvement in biosafety to reduce the incidence of African swine fever and the spread of other diseases, and (3) an improvement in feeding practices.

Building Grounded Abstractions for Artificial Intelligence Programming

Most Artificial Intelligence (AI) work can be characterized as either ``high-level'' (e.g., logical, symbolic) or ``low-level'' (e.g., connectionist networks, behavior-based robotics). Each approach suffers from particular drawbacks. High-level AI uses abstractions that often have no relation to the way real, biological brains work. Low-level AI, on the other hand, tends to lack the powerful abstractions that are needed to express complex structures and relationships. I have tried to combine the best features of both approaches, by building a set of programming abstractions defined in terms of simple, biologically plausible components. At the ``ground level'', I define a primitive, perceptron-like computational unit. I then show how more abstract computational units may be implemented in terms of the primitive units, and show the utility of the abstract units in sample networks. The new units make it possible to build networks using concepts such as long-term memories, short-term memories, and frames. As a demonstration of these abstractions, I have implemented a simulator for ``creatures'' controlled by a network of abstract units. The creatures exist in a simple 2D world, and exhibit behaviors such as catching mobile prey and sorting colored blocks into matching boxes. This program demonstrates that it is possible to build systems that can interact effectively with a dynamic physical environment, yet use symbolic representations to control aspects of their behavior.

Modelling stereoscopic vision systems for robotic applications

Aquesta tesi s'emmarca dins del projecte CICYT TAP 1999-0443-C05-01. L'objectiu d'aquest projecte és el disseny, implementació i avaluació de robots mòbils, amb un sistema de control distribuït, sistemes de sensorització i xarxa de comunicacions per realitzar tasques de vigilància. Els robots han de poder-se moure per un entorn reconeixent la posició i orientació dels diferents objectes que l'envolten. Aquesta informació ha de permetre al robot localitzar-se dins de l'entorn on es troba per poder-se moure evitant els possibles obstacles i dur a terme la tasca encomanada. El robot ha de generar un mapa dinàmic de l'entorn que serà utilitzat per localitzar la seva posició. L'objectiu principal d'aquest projecte és aconseguir que un robot explori i construeixi un mapa de l'entorn sense la necessitat de modificar el propi entorn. Aquesta tesi està enfocada en l'estudi de la geometria dels sistemes de visió estereoscòpics formats per dues càmeres amb l'objectiu d'obtenir informació geomètrica 3D de l'entorn d'un vehicle. Aquest objectiu tracta de l'estudi del modelatge i la calibració de càmeres i en la comprensió de la geometria epipolar. Aquesta geometria està continguda en el que s'anomena emph{matriu fonamental}. Cal realitzar un estudi del càlcul de la matriu fonamental d'un sistema estereoscòpic amb la finalitat de reduir el problema de la correspondència entre dos plans imatge. Un altre objectiu és estudiar els mètodes d'estimació del moviment basats en la geometria epipolar diferencial per tal de percebre el moviment del robot i obtenir-ne la posició. Els estudis de la geometria que envolta els sistemes de visió estereoscòpics ens permeten presentar un sistema de visió per computador muntat en un robot mòbil que navega en un entorn desconegut. El sistema fa que el robot sigui capaç de generar un mapa dinàmic de l'entorn a mesura que es desplaça i determinar quin ha estat el moviment del robot per tal de emph{localitzar-se} dins del mapa. La tesi presenta un estudi comparatiu dels mètodes de calibració de càmeres més utilitzats en les últimes dècades. Aquestes tècniques cobreixen un gran ventall dels mètodes de calibració clàssics. Aquest mètodes permeten estimar els paràmetres de la càmera a partir d'un conjunt de punts 3D i de les seves corresponents projeccions 2D en una imatge. Per tant, aquest estudi descriu un total de cinc tècniques de calibració diferents que inclouen la calibració implicita respecte l'explicita i calibració lineal respecte no lineal. Cal remarcar que s'ha fet un gran esforç en utilitzar la mateixa nomenclatura i s'ha estandaritzat la notació en totes les tècniques presentades. Aquesta és una de les dificultats principals a l'hora de poder comparar les tècniques de calibració ja què cada autor defineix diferents sistemes de coordenades i diferents conjunts de paràmetres. El lector és introduït a la calibració de càmeres amb la tècnica lineal i implícita proposada per Hall i amb la tècnica lineal i explicita proposada per Faugeras-Toscani. A continuació es passa a descriure el mètode a de Faugeras incloent el modelatge de la distorsió de les lents de forma radial. Seguidament es descriu el conegut mètode proposat per Tsai, i finalment es realitza una descripció detallada del mètode de calibració proposat per Weng. Tots els mètodes són comparats tant des del punt de vista de model de càmera utilitzat com de la precisió de la calibració. S'han implementat tots aquests mètodes i s'ha analitzat la precisió presentant resultats obtinguts tant utilitzant dades sintètiques com càmeres reals. Calibrant cada una de les càmeres del sistema estereoscòpic es poden establir un conjunt de restriccions geomètri ques entre les dues imatges. Aquestes relacions són el que s'anomena geometria epipolar i estan contingudes en la matriu fonamental. Coneixent la geometria epipolar es pot: simplificar el problema de la correspondència reduint l'espai de cerca a llarg d'una línia epipolar; estimar el moviment d'una càmera quan aquesta està muntada sobre un robot mòbil per realitzar tasques de seguiment o de navegació; reconstruir una escena per aplicacions d'inspecció, propotipatge o generació de motlles. La matriu fonamental s'estima a partir d'un conjunt de punts en una imatges i les seves correspondències en una segona imatge. La tesi presenta un estat de l'art de les tècniques d'estimació de la matriu fonamental. Comença pels mètode lineals com el dels set punts o el mètode dels vuit punts, passa pels mètodes iteratius com el mètode basat en el gradient o el CFNS, fins arribar las mètodes robustos com el M-Estimators, el LMedS o el RANSAC. En aquest treball es descriuen fins a 15 mètodes amb 19 implementacions diferents. Aquestes tècniques són comparades tant des del punt de vista algorísmic com des del punt de vista de la precisió que obtenen. Es presenten el resultats obtinguts tant amb imatges reals com amb imatges sintètiques amb diferents nivells de soroll i amb diferent quantitat de falses correspondències. Tradicionalment, l'estimació del moviment d'una càmera està basada en l'aplicació de la geometria epipolar entre cada dues imatges consecutives. No obstant el cas tradicional de la geometria epipolar té algunes limitacions en el cas d'una càmera situada en un robot mòbil. Les diferencies entre dues imatges consecutives són molt petites cosa que provoca inexactituds en el càlcul de matriu fonamental. A més cal resoldre el problema de la correspondència, aquest procés és molt costós en quant a temps de computació i no és gaire efectiu per aplicacions de temps real. En aquestes circumstàncies les tècniques d'estimació del moviment d'una càmera solen basar-se en el flux òptic i en la geometria epipolar diferencial. En la tesi es realitza un recull de totes aquestes tècniques degudament classificades. Aquests mètodes són descrits unificant la notació emprada i es remarquen les semblances i les diferencies entre el cas discret i el cas diferencial de la geometria epipolar. Per tal de poder aplicar aquests mètodes a l'estimació de moviment d'un robot mòbil, aquest mètodes generals que estimen el moviment d'una càmera amb sis graus de llibertat, han estat adaptats al cas d'un robot mòbil que es desplaça en una superfície plana. Es presenten els resultats obtinguts tant amb el mètodes generals de sis graus de llibertat com amb els adaptats a un robot mòbil utilitzant dades sintètiques i seqüències d'imatges reals. Aquest tesi finalitza amb una proposta de sistema de localització i de construcció d'un mapa fent servir un sistema estereoscòpic situat en un robot mòbil. Diverses aplicacions de robòtica mòbil requereixen d'un sistema de localització amb l'objectiu de facilitar la navegació del vehicle i l'execució del les trajectòries planificades. La localització es sempre relativa al mapa de l'entorn on el robot s'està movent. La construcció de mapes en un entorn desconegut és una tasca important a realitzar per les futures generacions de robots mòbils. El sistema que es presenta realitza la localització i construeix el mapa de l'entorn de forma simultània. A la tesi es descriu el robot mòbil GRILL, que ha estat la plataforma de treball emprada per aquesta aplicació, amb el sistema de visió estereoscòpic que s'ha dissenyat i s'ha muntat en el robot. També es descriu tots el processos que intervenen en el sistema de localització i construcció del mapa. La implementació d'aquest processos ha estat possible gràcies als estudis realitzats i presentats prèviament (calibració de càmeres, estimació de la matriu fonamental, i estimació del moviment) sense els quals no s'hauria pogut plantejar aquest sistema. Finalment es presenten els mapes en diverses trajectòries realitzades pel robot GRILL en el laboratori. Les principals contribucions d'aquest treball són: ·Un estat de l'art sobre mètodes de calibració de càmeres. El mètodes són comparats tan des del punt de vista del model de càmera utilitzat com de la precisió dels mètodes. ·Un estudi dels mètodes d'estimació de la matriu fonamental. Totes les tècniques estudiades són classificades i descrites des d'un punt de vista algorísmic. ·Un recull de les tècniques d'estimació del moviment d'una càmera centrat en el mètodes basat en la geometria epipolar diferencial. Aquestes tècniques han estat adaptades per tal d'estimar el moviment d'un robot mòbil. ·Una aplicació de robòtica mòbil per tal de construir un mapa dinàmic de l'entorn i localitzar-se per mitja d'un sistema estereoscòpic. L'aplicació presentada es descriu tant des del punt de vista del maquinari com del programari que s'ha dissenyat i implementat.

Private industrial project management: a systems-based case study

The technique of linear responsibility analysis is used for a retrospective case study of a private industrial development consisting of an extension to existing buildings to provide a warehouse, services block and packing line. The organizational structure adopted on the project is analysed using concepts from systems theory which are included in Walker's theoretical model of the structure of building project organizations (Walker, 1981). This model proposes that the process of building provision can be viewed as systems and subsystems which are differentiated from each other at decision points. Further to this, the subsystems can be viewed as the interaction of managing system and operating system. Using Walker's model, a systematic analysis of the relationships between the contributors gives a quantitative assessment of the efficacy of the organizational structure used. The causes of the client's dissatisfaction with the outcome of the project were lack of integration and complexity of the managing system. However, there was a high level of satisfaction with the completed project and this is reflected by the way in which the organization structure corresponded to the model's propositions.

A conventionally managed project: a systems based case study

The technique of linear responsibility analysis is used for a retrospective case study of a private development consisting of an extension to an existing building to provide a wholesale butchery facility. The project used a conventionally organized management process. The organization structure adopted on the project is analysed using concepts from the systems theory, which are included in Walkers theoretical model of the structure of building project organizations. This model proposes that the process of building provision can be viewed as systems and sub-systems that are differentiated from each other at decision points. Further to this, the sub-systems can be viewed as the interaction of managing system and operating system. Using Walkers model, a systematic analysis of the relationships between the contributors gives a quantitative assessment of the efficiency of the organizational structure used. The project's organization structure diverged from the models propositions resulting in delay to the project's completion and cost overrun but the client was satisfied with the project functionally.

A project managed by a multi disciplinary practice: a systems based case study.

The technique of linear responsibility analysis is used for a retrospective case study of a private industrial development consisting of an engineering factory and offices. A multi-disciplinary professional practice was used to manage and design the project. The organizational structure adopted on the project is analysed using concepts from systems theory which are included in Walker's theoretical model of the structure of building project organizations (Walker, 1981). This model proposes that the process of buildings provision can be viewed as systems and sub-systems which are differentiated form each other at decision points. Further to this, the sub-systematic analysis of the relationship between the contributors gives a quantitative assessment of the efficiency of the organizational structure used. There was a high level of satisfaction with the completed project and this is reflected by the way in which the organization structure corresponded to the model's proposition. However, the project was subject to string environmental forces which the project organization was not capable of entirely overcoming.

Designing flexible procurement systems

The systems used for the procurement of buildings are organizational systems. They involve people in a series of strategic decisions, and a pattern of roles, responsibilities and relationships that combine to form the organizational structure of the project. To ensure effectiveness of the building team, this organizational structure needs to be contingent upon the environment within which the construction project takes place. In addition, a changing environment means that the organizational structure within a project needs to be responsive, and dynamic. These needs are often not satisfied in the construction industry, due to the lack of analytical tools with which to analyse the environment and to design appropriate temporary organizations. This paper presents two techniques. First is the technique of "Environmental Complexity Analysis", which identifies the key variables in the environment of the construction project. These are classified as Financial, Legal, Technological, Aesthetic and Policy. It is proposed that their identification will set the parameters within which the project has to be managed. This provides a basis for the project managers to define the relevant set of decision points that will be required for the project. The Environmental Complexity Analysis also identifies the project's requirements for control systems concerning Budget, Contractual, Functional, Quality and Time control. The process of environmental scanning needs to be done at regular points during the procurement process to ensure that the organizational structure is adaptive to the changing environment. The second technique introduced is the technique of "3R analysis", being a graphical technique for describing and modelling Roles, Responsibilities and Relationships. A list of steps is introduced that explains the procedure recommended for setting up a flexible organizational structure that is responsive to the environment of the project. This is by contrast with the current trend towards predetermined procurement paths that may not always be in the best interests of the client.

Typification of farming systems for constructing representative farm models: two illustrations of the application of multi-variate analyses in Chile and Pakistan

If the fundamental precepts of Farming Systems Research were to be taken literally then it would imply that for each farm 'unique' solutions should be sought. This is an unrealistic expectation, but it has led to the idea of a recommendation domain, implying creating a taxonomy of farms, in order to increase the general applicability of recommendations. Mathematical programming models are an established means of generating recommended solutions, but for such models to be effective they have to be constructed for 'truly' typical or representative situations. The multi-variate statistical techniques provide a means of creating the required typologies, particularly when an exhaustive database is available. This paper illustrates the application of this methodology in two different studies that shared the common purpose of identifying types of farming systems in their respective study areas. The issues related with the use of factor and cluster analyses for farm typification prior to building representative mathematical programming models for Chile and Pakistan are highlighted. (C) 2003 Elsevier Science Ltd. All rights reserved.

Self-organisation in the assembly of gels from mixtures of different dendritic peptide building blocks

This paper investigates dendritic peptides capable of assembling into nanostructured gels, and explores the effect on self-assembly of mixing different molecular building blocks. Thermal measurements, small angle Xray scattering (SAXS) and circular dichroism (CD) spectroscopy are used to probe these materials on macroscopic, nanoscopic and molecular length scales. The results from these investigations demonstrate that in this case, systems with different "size" and "chirality" factors can self-organise, whilst systems with different "shape" factors cannot. The "size" and "chirality" factors are directly connected with the molecular information programmed into the dendritic peptides, whilst the shape factor depends on the group linking these peptides together-this is consistent with molecular recognition hydrogen bond pathways between the peptidic building blocks controlling the ability of these systems to self-recognise. These results demonstrate that mixtures of relatively complex peptides, with only subtle differences on the molecular scale, can self-organise into nanoscale structures, an important step in the spontaneous assembly of ordered systems from complex mixtures.