Control of a line robot system with Embedded Linux

Many, if not all, aspects of our everyday lives are related to computers and control. Microprocessors and wireless communications are involved in our lives. Embedded systems are an attracting field because they combine three key factors, small size, low power consumption and high computing capabilities. The aim of this thesis is to study how Linux communicates with the hardware, to answer the question if it is possible to use an operating system like Debian for embedded systems and finally, to build a Mechatronic real time application. In the thesis a presentation of Linux and the Xenomai real time patch is given, the bootloader and communication with the hardware is analyzed. BeagleBone the evaluation board is presented along with the application project consisted of a robot cart with a driver circuit, a line sensor reading a black line and two Xbee antennas. It makes use of Xenomai threads, the real time kernel. According to the obtained results, Linux is able to operate as a real time operating system. The issue of future research is the area of embedded Linux is also discussed.

GIS-based approach for optimization of onshore wind park infrastructure alignment in Finland

Wind power is a rapidly developing, low-emission form of energy production. In Fin-land, the official objective is to increase wind power capacity from the current 1 005 MW up to 3 500–4 000 MW by 2025. By the end of April 2015, the total capacity of all wind power project being planned in Finland had surpassed 11 000 MW. As the amount of projects in Finland is record high, an increasing amount of infrastructure is also being planned and constructed. Traditionally, these planning operations are conducted using manual and labor-intensive work methods that are prone to subjectivity. This study introduces a GIS-based methodology for determining optimal paths to sup-port the planning of onshore wind park infrastructure alignment in Nordanå-Lövböle wind park located on the island of Kemiönsaari in Southwest Finland. The presented methodology utilizes a least-cost path (LCP) algorithm for searching of optimal paths within a high resolution real-world terrain dataset derived from airborne lidar scannings. In addition, planning data is used to provide a realistic planning framework for the anal-ysis. In order to produce realistic results, the physiographic and planning datasets are standardized and weighted according to qualitative suitability assessments by utilizing methods and practices offered by multi-criteria evaluation (MCE). The results are pre-sented as scenarios to correspond various different planning objectives. Finally, the methodology is documented by using tools of Business Process Management (BPM). The results show that the presented methodology can be effectively used to search and identify extensive, 20 to 35 kilometers long networks of paths that correspond to certain optimization objectives in the study area. The utilization of high-resolution terrain data produces a more objective and more detailed path alignment plan. This study demon-strates that the presented methodology can be practically applied to support a wind power infrastructure alignment planning process. The six-phase structure of the method-ology allows straightforward incorporation of different optimization objectives. The methodology responds well to combining quantitative and qualitative data. Additional-ly, the careful documentation presents an example of how the methodology can be eval-uated and developed as a business process. This thesis also shows that more emphasis on the research of algorithm-based, more objective methods for the planning of infrastruc-ture alignment is desirable, as technological development has only recently started to realize the potential of these computational methods.

Project Business: a quasi-experimental study of co- operative interaction between schools and industry

This project is a quasi-experimental study involving eight classrooms in two senior elementary schools in St. Catharines, Ontario which received a Project Business Program and were pre- and post-tested to determine the growth of knowledge acquisition in the area of business concepts. Four classrooms received a Project Business treatment while four classrooms acted as a control. The Project Business Program is sponsored by Junior Achievement of Canada; it occurred during a twelveweek period, February to May 1981, and is run by business consultants who, through Action, Dialogue and Career Exploration, teach children about economics and business related topics. The consultants were matched with teacher co-ordinators in whose classrooms they taught and with whom they discussed field trips, students, lesson planning, etc. The statistical analysis of pre- and post-test means revealed a significant statistical growth in the area of knowledge acquisition on the part of those students who received the Project Business Program. This confirms that Project Business makes a difference. A search of the literature appears to advocate economic programs like Project Business, whfch are broadly based, relevant and processoriented. This program recommends itself as a model for other areas of co-operative curricular interactions and as a bridge to future trends and as a result several fruitful areas of research are suggested.

The investigation of edge effects within ragmented forest islands in Short Hills Provincial Park

It has been well documented, within the field of landscape ecology, that terrestrial fragmentation contributes to increased heterogeneity at the landscape level. It has also been observed that elevated areas of edge habitat occur within fragmented landscapes. Spatial and temporal edge effects were investigated in four areas designated as Nature Reserve Zones within Short Hills Provincial Park, near St. Catharines, Ontario. Random sampling along exposed edges was performed on trees and saplings, at 5 and 25 ill edge depths, using the point-centred quarter method. Diameter at breast height (dbh) and distance from point measurements were used to establish relative density, dominance, frequency and importance value. One-way analyses of variance were used on dbh measurements of tree species and Chi-Square contingency tables were used on size class distributions of saplings species to determine significant differences between 5 and 25 metres. Qualitative comparisons of importance values were also used to determine differences between 5 and 25 metres as well as between trees and saplings. These statistical and qualitative comparisons suggest that a significant overall spatial edge effect is currently exhibited by fragmented wooded islands within the park. The major species of the park, Acersaccharuln, may be exhibiting a temporal edge effect. The heterogeneous nature of the park may be of importance in understanding this area as a complex, ecological system. It is possible that the remaining forest tracts of the park have been affected, and continue to be affected by previous disturbances. Based on these findings, recommendations are made to the Ontario Ministry of Natural Resources concerning the management of Short Hills Provincial Park in accordance with their 1990 proposed Management Plan.

KAIRON PROJECT : assessing the role of expressive arts in community-based breast cancer support systems in the Niagara Region

Research Report Written for the Canadian Breast Cancer Foundation.

A Foucauldian Analysis of Power and Representation in an Attempt to Run a Photovoice Project with Youth

This project evolved out of a search for ways to conduct research on “others” in a way that does not exploit, stigmatize or misrepresent their experience. This thesis is an ethnographic study in leisure research and youth work and an experiment in running a photovoice project. Photovoice is a participatory visual method that embodies the emancipatory ideal of empowering others through self-representation. The literature on photovoice lacks a comprehensive discussion on the complexity of power and representation. Postmodern theorists have proposed that participatory methods are not benign and that initiatives are acts of power in themselves that produce effects (Cook & Kothari, 2001). A Foucauldian analysis of power is used to deconstruct the researcher’s practice and reflect on why and how youth are “engaged”. This project seeks to embrace the principle of working “with” others, but also work from a postmodern perspective that acknowledges power and representation as ongoing problems.

Province of Upper Canada Land Grant to Ann Cook, 1812

A grant of land to Ann Cook of the Township of Crowland. The land is situated in the township of Wainfleet, in the County of Lincoln, in the district of Niagara. Ann Cook is granted 200 acres in lot no. 32 in the 4th concession in Wainfleet. One of the signatures on the document is illegible but other signatures include: Prideaux Selby, auditor general on April 15, 1812. This is the date that the document was entered into the auditor’s office. Isaac Brock has signed in the upper left hand corner as “Isaac Brock President” which refers to the fact that he was President administering the Government of Upper Canada and Major General commanding the forces within the province. It is also signed on the left hand side by John Macdonell (who is buried at Brock’s Monument). At the time, he was the attorney general.

Indenture between Abraham Cook and Thomas Sheppard Smyth

Indenture of bargain and sale between Abraham Cook, son of the late Michael Cook of the Township of Williamsburgh in the County of Dundas and Thomas Sheppard Smyth of Drummondville regarding Lot no. 23 in the 3rd Concession in the Township of Nottawasaga. This is listed in folio 213, memorial no. 11365, August 17, 1852.

Province of Upper Canada Grant to Abraham Cook

Province of Upper Canada Grant (vellum) to Abraham Cook of Williamsburg in the County of Dundas. He was the son of Michael Cook, a United Empire Loyalist. He is granted 200 acres in the Township of Nottawasaga in the County of Simcoe, lot no. 23 in the 3rd Concession – Folio 547, Sept. 14, 1836.

L’impact de l’utilisation du traitement de texte sur la qualité de l’écriture d’élèves québécois du secondaire

Dans les dernières décennies, le présumé déclin de la compétence scripturale des élèves québécois a soulevé les passions. Force est d’admettre que leurs compétences sont lacunaires : tant les rapports du ministère de l’Éducation (Jalbert, 2006; Ouellet, 1984) que les études scientifiques ou gouvernementales (Bureau, 1985; Groupe DIEPE, 1995; Roberge, 1984) révèlent leur incapacité à s’approprier l’écriture. Les TIC pourraient bien faire partie de la solution : on sait pertinemment qu’elles favorisent la réussite scolaire dans certains contextes (Barayktar, 2001; Christmann & Badgett, 2003; Waxman, Lin, & Michko, 2003). Toutefois, modifient-elles le processus scriptural au point d’en faciliter l’apprentissage? Cette question constitue le cœur de l’actuel projet de recherche. Les modèles du processus d’écriture comme celui de Hayes et Flower (Flower & Hayes, 1981; Hayes, 1995; Hayes & Flower, 1980) rappellent que les TIC font partie du contexte de production; à ce titre, elles influencent autant la qualité des textes que les processus cognitifs et la motivation. Elles libèrent notamment des ressources cognitives, puisqu’elles prennent en charge certaines opérations, comme la calligraphie (Daiute, 1983). Partant, le scripteur peut se concentrer davantage sur des tâches plus complexes. Des méta-analyses (Bangert-Drowns, 1993; Goldberg, Russell, & Cook, 2003) attestent que le traitement de texte exerce un effet minime, mais statistiquement significatif sur la qualité de l’écriture. Toutefois, il est associé à des révisions en surface (Faigley & Witte, 1981; Figueredo & Varnhagen, 2006). Rares sont les projets de recherche qui explorent simultanément l’impact du traitement de texte sur plusieurs dimensions du processus scriptural; plus rares encore sont les travaux qui se sont intéressés à ce sujet depuis les années 1990. Pour pallier ce manque, cette thèse de doctorat vise à 1) mesurer l’effet des TIC sur la qualité de l’écriture; 2) décrire l’impact des TIC sur les processus cognitifs de révision et de traduction; 3) mesurer l’impact des TIC sur la motivation à écrire. Pour y arriver, nous recourons à une méthodologie mixte. D’une part, un devis de recherche quasi expérimental nous permet de comparer les scripteurs technologiques aux scripteurs traditionnels; d’autre part, une approche qualitative nous laisse accéder aux pensées et aux perceptions des utilisateurs de l’ordinateur. Les trois articles qui constituent le cœur de cette thèse rapportent les résultats relatifs à chacun des objectifs spécifiques de recherche. Dans le premier texte, nous avons mesuré les effets du traitement de texte sur la compétence scripturale. L’analyse statistique des données colligées nous a permis de dégager une amélioration des performances, strictement en orthographe d’usage. En comparaison, les élèves du groupe témoin se sont améliorés davantage en cohérence textuelle et ont mieux performé en orthographe grammaticale. Le deuxième article propose de faire la lumière sur ces résultats. Nous y étudions donc l’impact des TIC sur le processus cognitif de révision. Ce volet, basé sur une approche qualitative, recourt largement à l’observation vidéographiée. Nous y mettons d’abord en évidence le grand nombre d’erreurs commises lors des séances d’écriture technologiques; nous faisons également ressortir la sous-utilisation du vérificateur linguistique, qui pose peu de diagnostics appropriés ou qui est souvent ignoré des scripteurs. Toutefois, malgré cette sous-utilisation du traitement de texte, des entrevues de groupe font état de perceptions positives à l’égard des TIC; on leur prête des vertus certaines et elles sont jugées motivantes. Ce phénomène constitue le cœur du dernier article, au cours duquel nous tâchons de mesurer l’impact du mode d’écriture sur la motivation à écrire. Nous menons ce volet dans une perspective quantitative. La motivation des participants a été mesurée avec une échelle de motivation. L’analyse statistique des données montre que les élèves technologiques sont motivés intrinsèquement par les technologies, tandis que leurs pairs du groupe témoin sont amotivés. Lors du chapitre conclusif, nous mettons ces résultats en relation, tentant d’expliquer globalement l’impact des TIC dans le processus scriptural. Au terme de notre thèse, nous formulons des recommandations destinées aux praticiens et aux décideurs engagés dans le système éducatif.

Étude de l’expression de la molécule d’adhérence CD146 dans les lymphocytes T

Les tumeurs solides sont infiltrées par des cellules immunes (TIIC) dont la nature, la fonction et la composition varient d’un patient à l'autre. Ces cellules inflammatoires influencent l'invasion tumorale en contrôlant la croissance et le potentiel métastatique d’une tumeur. Ainsi, il est proposé d’utiliser cette infiltration comme outil diagnostic et pronostic de routine. Certaines cellules sont bien connues pour jouer un rôle important dans le contrôle de la progression tumorale, comme c’est le cas des lymphocytes T cytotoxiques CD8+ alors que d’autres possèdent un rôle contradictoire. Étant donné la dépendance des tumeurs sur l’équilibre entre ces différentes cellules, il est important d’identifier les fonctions précises des cellules immunes au sein de la tumeur. De nombreuses études sont réalisées afin d’identifier des marqueurs descriptifs du phénotype et la fonction des cellules immunes dans la tumeur. Ce projet de doctorat se divise en deux parties : 1- Identifier la méthode de désagrégation des tissus tumoraux altérant le moins la biologie des TIIC pour leur caractérisation. 2- Caractériser l’expression de la molécule d’adhérence CD146 dans les TIIC et en identifier l’origine. L’identification de marqueurs pour la caractérisation phénotypique et fonctionnelle des TIIC a été réalisée, entre autres, par la détection de protéines exprimées par la cellule. Dans la première partie de ce projet, nous avons démontré que les méthodes utilisées pour désagréger les tissus tumoraux dans le but d’isoler les TIIC induisent des changements dans la biologie de ces cellules ce qui peut fausser les conclusions qui en dérivent. Nous avons donc comparé l'impact de trois méthodes de désagrégation : une dissociation mécanique utilisant la MédimachineTM et deux digestions enzymatiques utilisant une collagénase de type I seule ou combinée à de la collagénase de type IV et de la DNase I de type II. Nous nous sommes intéressés à l'effet de ces méthodes sur des paramètres tels que la viabilité cellulaire, l’altération des protéines de surface et la capacité des cellules à proliférer. Nous avons démontré que ces méthodes affectent la viabilité des cellules de manière comparable, alors que la détection de certaines protéines de surface et la capacité de proliférer est réduite/inhibée par les traitements enzymatiques. Nous concluons qu’une méthode mécanique utilisant la MédimachineTM est mieux adaptée à la caractérisation des TIIC afin de conserver leurs propriétés. Dans la deuxième partie de notre projet, nous avons adapté cette méthode à la caractérisation des TIIC. Nous avons porté une attention particulière à la molécule d’adhérence CD146 dont l’implication dans la migration des cellules immunes à travers l’endothélium vers les sites d’inflammation est de plus en plus étudiée dans les maladies autoimmunes. Nous avons mis en évidence une augmentation des proportions de cellules immunes exprimant CD146 dans les tumeurs comparativement au sang de patients de cancers. Cette expression est induite par les cellules tumorales tout en étant accrue par la nécrose de celles-ci. Nous démontrons que ces cellules sont majoritairement des lymphocytes T CD4+ présentant un profil immunosuppressif. En conclusion, nos résultats suggèrent que CD146 participe à la mise en place du contexte immunitaire dans la tumeur et augmente la capacité de migration des lymphocytes T CD4+. L’induction par les cellules tumorales de cette molécule d’adhérence dans les cellules suppressives pourrait contribuer aux mécanismes immunorégulateurs mis en place par la tumeur. CD146 pourrait être un marqueur d’intérêt pour l’identification des cellules immunosuppressives et pour le développement de nouvelles thérapies.

A critical study of major construction projects in kerala vis-a-vis effectiveness in project implementation

Chapter 1 presents a brief note on the state at which the construction industry stands at present, bringing into focus the significance of the critical study. Relevance of the study, area of investigation and objectives of the study are outlined in this chapter. The 2nd chapter presents a review of the literature on the relevant areas. In the third chapter an analysis on time and cost overrun in construction highlighting the major factors responsible for it has been done. A couple of case studies to estimate loss to the nation on account of delay in construction have been presented in the chapter. The need for an appropriate estimate and a competent contractor has been emphasised for improving effectiveness in the project implementation. Certain useful equations and thoughts have been formulated on this area in this chapter that can be followed in State PWD and other Govt. organisations. Case studies on project implementation of major projects undertaken by Government sponsored/supported organizations in Kerala have been dealt with in Chapter 4. A detailed description of the project of Kerala Legislature Complex with a critical analysis has been given in this chapter. A detailed account of the investigations carried out on the construction of International Stadium, a sports project of Greater Cochin Development Authority is included here. The project details of Cochin International Airport at Nedumbassery, its promoters and contractors are also discussed in Chapter 4. Various aspects of implementation which led the above projects successful have been discussed in chapter 5. The data collected were analysed through discussion and perceptions to arrive at certain conclusions. The emergence of front-loaded contract and its impact on economics of the project execution are dealt with in this chapter. Analysis of delays in respect of the various project narrated in chapter 3 has been done here. The root causes of the project time and overrun and its remedial measures are also enlisted in this chapter. Study of cost and time overrun of any construction project IS a part of construction management. Under the present environment of heavy investment on construction activities in India, the consequences of mismanagement many a time lead to excessive expenditure which are not be avoidable. Cost consciousness, therefore has to be keener than ever before. Optimization in investment can be achieved by improved dynamism in construction management. The successful completion of coristruction projects within the specified programme, optimizing three major attributes of the process - quality, schedule and costs - has become the most valuable and challenging task for the engineer - managers to perform. So, the various aspects of construction management such as cost control, schedule control, quality assurance, management techniques etc. have also been discussed in this fifth chapter. Chapter 6 summarises the conclusions drawn from the above criticalr1 of rhajor construction projects in Kerala.

Environomics - A Financial Estimate of Environmental Pollution Control and Abatement Schemes in Eloor-Edayar Industrial Belt

The present study consists of nine chapters including the introductory chapter. Chapter II makes a brief review of environmental literature and examines various measures adopted at the global level to protect the environment. The environmental problems often transgress national sovereignity and geographical boundaries. Therefore, attempts must be made at the national and international levels to protect the environment, the resources of which are the common property of mankind. The protection of the national environment from the ancient till the present forms the content of Chapter III. These chapters together provide a background to understand the issues analysed in the subsequent chapters. Carefully worked out theoretical framework is a pre-requisite for the successful study of a complex subject. Some of the theoretical issues of ‘environomics’ are examined in Chapter IV. The theoretical issues involved in estimating the costs and benefits of environmental protection constitute the theme of Chapter V. The state of environment in Eloor-Edayar Industrial belt andthe impact analysis of pollution of the area are discussed in Chapter VI and VII respectively. Chapter VIII makes the financial estimate of environmental protection of the project And finally, Chapter IX presents the findings of the study

Sensor-based Control of Chewing and Rumination Behavior of Dairy Cows

The measurement of feed intake, feeding time and rumination time, summarized by the term feeding behavior, are helpful indicators for early recognition of animals which show deviations in their behavior. The overall objective of this work was the development of an early warning system for inadequate feeding rations and digestive and metabolic disorders, which prevention constitutes the basis for health, performance, and reproduction. In a literature review, the current state of the art and the suitability of different measurement tools to determine feeding behavior of ruminants was discussed. Five measurement methods based on different methodological approaches (visual observance, pressure transducer, electrical switches, electrical deformation sensors and acoustic biotelemetry), and three selected measurement techniques (the IGER Behavior Recorder, the Hi-Tag rumination monitoring system and RumiWatchSystem) were described, assessed and compared to each other within this review. In the second study, the new system for measuring feeding behavior of dairy cows was evaluated. The measurement of feeding behavior ensues through electromyography (EMG). For validation, the feeding behavior of 14 cows was determined by both the EMG system and by visual observation. The high correlation coefficients indicate that the current system is a reliable and suitable tool for monitoring the feeding behavior of dairy cows. The aim of a further study was to compare the DairyCheck (DC) system and two additional measurement systems for measuring rumination behavior in relation to efficiency, reliability and reproducibility, with respect to each other. The two additional systems were labeled as the Lely Qwes HR (HR) sensor, and the RumiWatchSystem (RW). Results of accordance of RW and DC to each other were high. The last study examined whether rumination time (RT) is affected by the onset of calving and if it might be a useful indicator for the prediction of imminent birth. Data analysis referred to the final 72h before the onset of calving, which were divided into twelve 6h-blocks. The results showed that RT was significantly reduced in the final 6h before imminent birth.

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields