How to introduce connectance in a frame of an expression for diversity

Systems made of parts that are totally connected do not work, neither ecosys- tems nor artifacts. Relative connectance is inversely related to diversity, and both magnitudes can find a common frame of expression, in which some constant expressing the constraints of any organization might be embodied. If S is Simp- son's index, the expression (1 - S)IS as a measure of diversity offers some advantages or, at least, helps further reasoning. Such expression is the ratio between total interspecific possible interactions and possible intraspecific inter- actions.

Stratégies de communication au service de la formation: quelques outils pratiques [Effective communication strategies to frame the trainer-trainee dialogue in the clinical setting].

Communication between trainer and trainee plays a central role in teaching and learning in the clinical environment. There are various strategies to frame the dialogue between trainee and trainer. These strategies allow trainers to be more effective in their supervision, which is important in our busy clinical environment. Communication strategies are well adapted to both in- and out-patient settings, to both under- and postgraduate contexts. This article presents three strategies that we think are particularly useful. They are meant to give feedback, to ask questions and to present a case.

Analysis of translational errors in frame-based and frameless cranial radiosurgery using an anthropomorphic phantom

Abstract Objective: To evaluate three-dimensional translational setup errors and residual errors in image-guided radiosurgery, comparing frameless and frame-based techniques, using an anthropomorphic phantom. Materials and Methods: We initially used specific phantoms for the calibration and quality control of the image-guided system. For the hidden target test, we used an Alderson Radiation Therapy (ART)-210 anthropomorphic head phantom, into which we inserted four 5mm metal balls to simulate target treatment volumes. Computed tomography images were the taken with the head phantom properly positioned for frameless and frame-based radiosurgery. Results: For the frameless technique, the mean error magnitude was 0.22 ± 0.04 mm for setup errors and 0.14 ± 0.02 mm for residual errors, the combined uncertainty being 0.28 mm and 0.16 mm, respectively. For the frame-based technique, the mean error magnitude was 0.73 ± 0.14 mm for setup errors and 0.31 ± 0.04 mm for residual errors, the combined uncertainty being 1.15 mm and 0.63 mm, respectively. Conclusion: The mean values, standard deviations, and combined uncertainties showed no evidence of a significant differences between the two techniques when the head phantom ART-210 was used.

New design of the frame for a permanent magnet generator

This thesis introduces a search for a new design of the frame for a permanent magnet generator mounted at a windmill. The objective of this work is to offer new design ideas for the stator frame - new concepts for connecting stator core to stator frame in a generator. Desired aims of new design concepts are: simplification of the structure production; decrease of material use; use of standard components; light weight of construction and etc. Thesis contains several new possible designs for the stator frame structure. Also, it has a list of possible connection concepts, which can be used to join the stator to the frame. All new ideas are described and compared according to its match to the desired purposes of the work. New design concepts are modeled using modern software. The main part of the Thesis contains several approximate computer models of the current and new offered constructions, description of loads and stress in the current stator frame. It has evaluation of the most important stress and load characteristics. The final design is a result of all previous research. It has a description of a new frame structure and joining concept for it. This structure matched main aims of work, but it does not have detailed design with dimensions and check calculations of the frame and welds. Thesis gives representation about design search, evaluation and comparison of new concepts of generator structure. Also, it gives general representation of renewable energy technology, knowledge about windmill turbines and its contents.

Multiple scales analysis of nonlinear oscillations of a portal frame foundation for several machines

An analytical study of the nonlinear vibrations of a multiple machines portal frame foundation is presented. Two unbalanced rotating machines are considered, none of them resonant with the lower natural frequencies of the supporting structure. Their combined frequencies is set in such a way as to excite, due to nonlinear behavior of the frame, either the first anti-symmetrical mode (sway) or the first symmetrical mode. The physical and geometrical characteristics of the frame are chosen to tune the natural frequencies of these two modes into a 1:2 internal resonance. The problem is reduced to a two degrees of freedom model and its nonlinear equations of motions are derived via a Lagrangian approach. Asymptotic perturbation solutions of these equations are obtained via the Multiple Scales Method.

On non-ideal and non-linear portal frame dynamics analysis using bogoliubov averaging method

We apply the Bogoliubov Averaging Method to the study of the vibrations of an elastic foundation, forced by a Non-ideal energy source. The considered model consists of a portal plane frame with quadratic nonlinearities, with internal resonance 1:2, supporting a direct current motor with limited power. The non-ideal excitation is in primary resonance in the order of one-half with the second mode frequency. The results of the averaging method, plotted in time evolution curve and phase diagrams are compared to those obtained by numerically integrating of the original differential equations. The presence of the saturation phenomenon is verified by analytical procedures.

Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine

The assembly and maintenance of the International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. The VV is made of stainless steel, which has poor machinability and tends to work harden very rapidly, and all the machining operations need to be carried out from inside of the ITER VV. A general industrial robot cannot be used due to its poor stiffness in the heavy duty machining process, and this will cause many problems, such as poor surface quality, tool damage, low accuracy. Therefore, one of the most suitable options should be a light weight mobile robot which is able to move around inside of the VV and perform different machining tasks by replacing different cutting tools. Reducing the mass of the robot manipulators offers many advantages: reduced material costs, reduced power consumption, the possibility of using smaller actuators, and a higher payload-to-robot weight ratio. Offsetting these advantages, the lighter weight robot is more flexible, which makes it more difficult to control. To achieve good machining surface quality, the tracking of the end effector must be accurate, and an accurate model for a more flexible robot must be constructed. This thesis studies the dynamics and control of a 10 degree-of-freedom (DOF) redundant hybrid robot (4-DOF serial mechanism and 6-DOF 6-UPS hexapod parallel mechanisms) hydraulically driven with flexible rods under the influence of machining forces. Firstly, the flexibility of the bodies is described using the floating frame of reference method (FFRF). A finite element model (FEM) provided the Craig-Bampton (CB) modes needed for the FFRF. A dynamic model of the system of six closed loop mechanisms was assembled using the constrained Lagrange equations and the Lagrange multiplier method. Subsequently, the reaction forces between the parallel and serial parts were used to study the dynamics of the serial robot. A PID control based on position predictions was implemented independently to control the hydraulic cylinders of the robot. Secondly, in machining, to achieve greater end effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. This thesis investigates the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two schemes of intelligent control for a hydraulically driven parallel mechanism based on the dynamic model: (1) a fuzzy-PID self-tuning controller composed of the conventional PID control and with fuzzy logic, and (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self-tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel mechanism based on rod length predictions. The serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should be controlled to hold the hexa-element. Thirdly, a finite element approach of multibody systems using the Special Euclidean group SE(3) framework is presented for a parallel mechanism with flexible piston rods under the influence of machining forces. The flexibility of the bodies is described using the nonlinear interpolation method with an exponential map. The equations of motion take the form of a differential algebraic equation on a Lie group, which is solved using a Lie group time integration scheme. The method relies on the local description of motions, so that it provides a singularity-free formulation, and no parameterization of the nodal variables needs to be introduced. The flexible slider constraint is formulated using a Lie group and used for modeling a flexible rod sliding inside a cylinder. The dynamic model of the system of six closed loop mechanisms was assembled using Hamilton’s principle and the Lagrange multiplier method. A linearized hydraulic control system based on rod length predictions was implemented independently to control the hydraulic cylinders. Consequently, the results of the simulations demonstrating the behavior of the robot machine are presented for each case study. In conclusion, this thesis studies the dynamic analysis of a special hybrid (serialparallel) robot for the above-mentioned special task involving the ITER and investigates different control algorithms that can significantly improve machining performance. These analyses and results provide valuable insight into the design and control of the parallel robot with flexible rods.

Chassis frame design of a mobile platform equipped with robotic arms

The overall objective of the thesis is to design a robot chassis frame which is a bearing structure of a vehicle supporting all mechanical components and providing structure and stability. Various techniques and scientific principles were used to design a chassis frame.Design principles were applied throughout the process. By using Solid-Works software,virtual models was made for chassis frame. Chassis frame of overall dimension 1597* 800*950 mm3 was designed. Center of mass lieson 1/3 of the length from front wheel at height 338mm in the symmetry plane. Overall weight of the chassis frame is 80.12kg. Manufacturing drawing is also provided. Additionally,structural analysis was done in FEMAP which gives the busting result for chassis design by taking into consideration stress and deflection on different kind of loading resembling real life case. On the basis of simulated result, selected material was verified. Resulting design is expected to perform its intended function without failure. As a suggestion for further research, additional fatigue analysis and proper dynamic analysis can be conducted to make the study more robust.

Standardized electrical tests for electrical equipment in road vehicles Case: Visedo Oy PowerMASTER M-frame

Electrical road vehicles were common at the begin of the 20th century but internal combustion engines took a victory from electrical motors in road vehicles. The acknowledgement of the environment, and the price and the availability of the crude oil are reasons for the comeback of the electrical vehicles. Advancement in industrial technology and political atmosphere in EU as the directive 20--20--20, which consists of reducing fossil emission, increasing renewable energy and increasing the energy efficiency, have made the electrification popular again. In this thesis tests based on standard ISO 16750--2 electrical loads for electrical equipment in road vehicles are made for Visedo Oy's PowerMASTER M-frame power electronics device. This device is designed for mainly drive trains in mobile work machines and marine vessels but can be used in other application in its power range which also includes road vehicles. The functionality of the device is tested with preliminary tests which act as a framework for the tests based on standards.

Photograph - Margaret Julia Woodruff Band in a Wedding Dress, in Silver Frame

Black and white photograph, 12 cm x 9 cm, of Margaret Julia Woodruff Band in a seated position, wearing a wedding dress and veil. The photo was taken by Dudley Hoyt of New York. The photo is encased within an ornate, silver frame which is engraved with the initials “M.J.W.”.

Photograph - Robert DeVeaux Woodruff Band as a child in floral frame

Black and white photograph, 4 cm x 3 ½ cm, of Robert Band as a young child. This photograph is encased in a floral frame with a brass back. The back of the photo is inscribed with “Robert D. W. Band”.

Análisis de los factores de retardo de red que afectan el transporte de la voz sobre redes públicas de frame relay [por] María Virginia Flores González

Tesis (Maestría en Ciencias Computacionales con Especialidad en Teleinformática) U.A.N.L.

Circuitos, perturbaciones y transformaciones de la modernidad/colonialidad : análisis discursivo en contextos chilenos y canadienses

La présente étude constitue une analyse comparative de discours qui articulent la problématique de l’héritage coloniale et des réclamations autochtones au Chili et au Canada : des livres de texte de sciences sociales, des discours d’opinion et des discours autochtones. Nous proposons que les similitudes surprenantes qui ont été révélées par les contextes nationaux canadiens et chiliens peuvent être expliquées, en partie, par leur articulation avec le discours globalisé de la modernité/colonialité. D’une part, les textes scolaires et les discours d’opinion font circuler des éléments discursifs de la modernité, tout en reproduisant des formes de savoir et de dire coloniaux. D’autre part, les discours autochtones se ressemblent entre eux dans la mesure où ils interpolent la modernité/colonialité transformant ainsi les termes d’engagement interculturel. Bien que les états canadiens et chiliens renforcent leur engagement à l’égard de la réconciliation avec les Autochtones durant les dernières décennies, les conflits interculturels continuent à se produire en impliquant toujours les mêmes acteurs : l’état, différents peuples autochtones, des entreprises privées, ainsi que des membres de l’élite intellectuelle, politique et patronale. En prenant en compte cette situation, l’objectif de cette thèse vise à mieux comprendre pourquoi ces conflits, loin d’être résolus, continuent à se reproduire. Dans ces deux pays, la problématique des conflits interculturels est fondamentalement mise en rapport avec la question des droits territoriaux et, par conséquent, sont inséparables de la question de l’héritage coloniale des états nationaux canadien et chilien. Pourtant cette dimension coloniale des conflits a tendance à être cachée autant par la rhétorique multiculturelle du discours national que par les polarisations produites par l’opinion publique, lesquelles ont l’habitude d’encadrer la problématique par des notions binaires, telles que « civilisation/barbarie » ou « authenticité/illégitimité ». De plus, on peut considérer l’ouest du Canada et le sud du Chili comme étant des contextes comparables, puisque ceux-ci ont été colonisés avec la base du discours moderne du progrès et de la civilisation, qui a servi à légitimer l’expansion de l’état national au dix-neuvième siècle. Cependant, il n’existe que très peu d’études qui comparent les productions discursives relatives aux relations interculturelles entre Autochtones et non Autochtones dans les contextes canadiens et chiliens, possiblement à cause des différences linguistiques, sociohistoriques et politiques qui paraissent insurmontables.