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Onderzoeksrapport naar de belemmeringen die mensen hebben om voor Collectief Particulier Opdrachtgeverschap te kiezen, bevattende een literatuurstudie naar collectief particulier opdrachtgeverschap, een literatuurstudie naar de beslissing om te verhuizen en een eigen veldonderzoek naar de belemmeringen die mensen hebben om voor collectief particulier opdrachtgeverschap te kiezen

De Vinex-locaties zijn tot stand gekomen als uitvloeisel van de vierde nota ruimtelijke ordening extra (VINEX), een traject dat loopt vanaf eind jaren tachtig. Inmiddels is de vijfde nota ruimtelijke ordening aangenomen, maar is de uitvoering van de VINEX nog niet ten einde. In dit onderzoek is de uitvoering van de VINEX geevalueerd. De relatie tussen de ruimtelijke ordening en de doelstelling ten aanzien van het terugdringen van de afgelegde kilometers per auto staat centraal. Hiertoe is nader onderzocht of de gerealiseerde Vinex-locaties voldoen aan de doelstellingen van balling, functie, mix en dichtheid. De relatie met de realisatie van hoogwaardig openbaar vervoer en de stedenbouwkundige opzet is in nadere ogenschouw genomen.

Since 1992 nearshore hydrodynamics and coastal morphology have been studied from ARGUS video images, collected every hour at eight beach locations worldwide. Identification of the waterline from these images would enable us to obtain an impression of the intertidal beach bathymetry, and hence to monitor intertidal beach morphodynamics. In this way structural shoreline retreat or advance can be monitored, which is of great importance to Coastal Zone Managers. Unfortunately, the waterline cannot always be identified easily from 12 minutes time averaged images. In this study a new technique has been developed, which estimates the location of the waterline froll both time averaged and standard deviation images. When considering the spatial correlation pattern between the two signals, a characteristic feature shows up around the waterline. In this way the position of the waterline can be determined with an accuracy of about 15 cm in vertical sense, and 5 10 m in the horizontal plane, values who satisfy well given the methods of field survey and comparec to traditional methods.

Foyers of Werkhotels bieden wonen, begeleiding en daarmee samenhangende voorzieningen op een locatie, bestemd voor jongeren in de leeftijdsgroep van 18 tot 25 jaar. Foyers kunnen varin in omvang van twintig tot een paar honderd bewoners, in het aanbod van voorzieningen en in de mate van openheid voor de omgeving. In Frankrijk en in het Verenigd Koninkrijk zijn in vijftig, respectievelijk twintig jaar honderden Foyers gerealiseerd, maar in Nederland komen Foyers moeizaam van de grond. Het onderzoek gaat in op de kenmerken van Foyers, de programmering van het bouwkundig ontwerp en de ontwikkeling en het beheer van Foyers en geeft de randvoorwaarden voor de Nederlandse situatie. Het programma van eisen valt uiteen in de woon- en gebruikswensen van de beoogde bewoners, van de begeleiders en beheerders, en van de externe betrokkenen zoals de omwonenden en de gemeente. Bij de ontwikkeling en het beheer zijn vele, soms tientallen partijen betrokken. Belangrijke onderscheidende aspecten van beheer zijn de organisatievorm, de wet-en regelgeving, het financieel beheer (inclusief de exploitatie) en het sociaal beheer. Tenslotte worden van de Nederlandse Foyers en de buitenlandse voorgangers succes- en faalfactoren benoemd. Dit onderzoek is een explorerend onderzoek. Allochtone jongeren zijn ruim vertegenwoordigd in de doelgroep, in de Nederlandse praktijk vormen Antilliaanse jongeren de grootste groep Foyerbewoners. De empirische dataverzameling is afkomstig van projecten in Nederland, Frankrijk, Engeland, Cura en Aruba. De grootste Nederlandse Foyer, Crabbehof in Dordrecht, is casestudy.

Na een vooronderzoek naar de situatie van de konventionele stukgoedbedrijven in het oude Rotterdamse havengebied is als hoofdontwerp gekozen voor een terminal-layout van een konventioneel stukgoedbedrijf of een eventueel samenwerkingsverband tussen een aantal van hen. Om iets te kunnen zeggen over de layout cq. de buffergrootte van een dergelijke terminal zijn gegevens nodig omtrent de hoeveelheden lading die over de terminal heen gaan en over de verblijf tijden van die hoeveelheden. Deze gegevens zijn gehaald uit een nagespeelde situatie van zo'n terminal, ofwel een simulatiemodel. Het model is geschreven in prosim, een afgeleide taal van PLI, waarin de processen van de afzonderlijke componenten stapsgewijs beschreven worden. Hierin zijn componenten, elementen van het systeem, eventueel met eigenschappen, waarvan de werking beschreven kan worden. Als lokatie voor het onderzoek is gekozen voor het IJssel-Lekhaven gebied. Door het vertrek van Rotterdam Terminal kwam de pier tussen de IJssel- en de Lekhaven vrij. Deze ruimte zal worden opgevuld door een aantal stuwadoors uit het Spoorweg- en Binnenhavengebied, die moeten wijken voor stadsvernieuwing.

A study is performed analyzing the behavioral adaptation of pilots in skill based ramp tracking tasks performed with pursuit display. From data analyses of previous ramp tracking experiments an indication is found that pilots who repeatedly perform the same ramp tracking task show a high level of adaptation to characteristics of the control task in their behavior. From the theory of Successive Organization of Perception it is expected that this development progresses towards precognitive behavior. To get to a better understanding of the transition between pursuit behavior and precognitive behavior, a pursuit ramp tracking and disturbance rejection experiment is performed to further study this. For this four conditions with a different ramp steepness are used in blocks of ten runs, with eight similar ramps in each run. Two sessions are performed, one ordered session where the same condition is performed ten times consecutively and a random session, where conditions are presented in random order. After each block of ten ordered runs also a surprise run with a different condition is presented. The behavior is analyzed using performance metrics and by performing a time-domain parametric identification of a combined compensatory and feedforward pilot model. The behavior is analyzed in three ways: first by using the averaged data of the final five runs as steady-state behavior, then by using the data per run to investigate the development over the runs and finally the data per ramp is analyzed to investigate developments within a run. The surprise runs are analyzed over the entire run and per ramp. From performance and behavioral metrics no difference in ramp tracking behavior is shown when conditions are presented consecutively as opposed to randomly. From the model parameters though, it was found that the difference in behavior is predominantly visible in the feedforward pilot gain, and it is shown that the difference in behavior is mostly apparent in the first ramps of each tracking run. After the first two ramps, the pilots are found to already have adjusted their behavior towards their optimal control setting. From the surprise runs strong indications were found that pilots need more time to adjust after being conditioned in the previous ten runs to a different condition. This suggests that pilots use precognitive control strategies when they are more experienced in the task performed and think they know what to expect. Novel research should be performed to extend existing pilot models by modeling precognitive pilot behavior

“There is a saying in Korea: If you sleep for 3 hours a day, you will pass the exam. Sleep for 4 hours, you will fail.” Mckinsey & Company, Korea 2020 Community Learning Centre South Korea has gone through a period of rapid urbanization from 1960 to 1990, and currently 82% of the population lives in cities. This increase in urbanization has been accompanied by success like the 13th largest economy and a strong technology based industry. However, it also created social problems; having one of the highest suicide rates in OECD, high rates of alcoholism, plastic surgery and addiction to computer games and pornography. Furthermore the elderly population in Korea is growing rapidly, with an estimated percentage - in 2050 - of 38% against 52% of the working class. Embracing these social-economic problems, I designed a community that will allow for convenient distribution of shops, residences, amenities and prioritized walkability. This will allow for spaces where young and old get the occasion to integrate with each other and into their society. Experiencing Seoul I found that street life is extremely important and particularly dynamic, which generates an ambiance that is typical for Korea. Due to new developments this street life, and the public space in general, are replaced by ‘locked’ open spaces, residual space of high-rise buildings. Those areas are only accessible for the people who live there and as a result the city of soul is segregated. My urban design is concerned with both the need for density due to the urbanization and growing economic and the need for public space. By allowing areas in the community to be dens and high, but also creating an important low-rise pedestrian strip that can generate the community life that is so characteristic for this city and its culture. A predominant element in this urban design is the integration of the high-rise development, by transforming the ‘locked’ space into a public space. The location of my architectural design is precisely where the pedestrian strip is penetrating the high-rise area. This not only allows the design to mediate - in a volumetric way - between the low-rise building blocks and high-rise towers, but it also continues and reunites the two different kinds of public spaces. My design embodies a new roofed public space for community activities and will accommodate the place for a ‘Community Learning Centre’. In this way the design forms a new approach to experiencing street life. Moreover, is the design focuses on the broader social problems of Korea by combining space for study, leisure – like sports and karaoke - tutoring and creativity into one design. Every component in the design - the floor, the roof, the façade and the rooms - can be seen as isolated elements. Therefore the roofed public space creates a feeling of roughness and openness, wherein every room gets his own identity by way of materialisation. These materials have a natural impression – like stone, steel and wood – in order to create a differentiation in expressions but a feeling of coherency. Besides, it provides for a transition from the urban area to the park. The inside of the rooms are more sensitive and related to its specific program.

This project focuses on the shear strength of Devonian sandstone cobbles that will protect the area between the sea-water breaker and the beach and will be used to construct a runway for a large crane for the new Maasvlakte 2. In rock slope design the shear strength of sliding interfaces is often based on Coulomb’s model in which shear strength (τ) is expressed as a function of cohesion (c), normal load (σ) and the friction angle (Ф). A specific model on shear strength behaviour of rockfill is proposed by Barton (Barton, 2008). Barton’s model can be used to predict shear strength of rock joints and rock fill when basic rock properties are known. One main factor of influence on shear strength of rockjoints and rock fill is the basic friction angle. A Golder direct shear box was used to obtain the basic friction angle of the Bremanger sandstone. First the basic friction angle was determined (using flat saw-cut surfaces). In the next phase fresh tensile cracked rock discontinuities were tested. Measured stresses were corrected using measured dilatancy to estimate the basic friction angle. The influence of different rock properties such as roughness, rock strength and visible layering was studied. Finally natural non-matching surfaces were researched to see how the shear strength changes due to the weathering and smoothening of the rock. The following main results and conclusions were drawn from the research project: Flat saw-cut surfaces: - The basic friction angle of the Bremanger (flat saw-cut surfaces) was not measured correctly. Since the sample halves were polished in order to make them match, the measured friction angle is rather an indication of the polishing process than the rock properties. Tensile-cracked surfaces: - For the tensile cracked samples, the average residual friction angle is 1111 degrees. The residual friction angle was used as the basic friction angle rather than the peak friction angle since high peak shear stress values are caused by asperities at the edges of the tested samples. The shear strength dropped massively as soon as these asperities broke off. - Residual friction angles do not depend on wet or dry test conditions. - There is a direct link between UCS and shear strength. The higher the UCS value, the higher the residual stress value. - The Bremanger sandstone is a Metasandstone. Layering is still macroscopically visible but cleavage does not occur along this layering. Natural non-matching surfaces: - These surfaces were weathered and smoothened. This caused the residual friction angle to drop to 1111degrees. 3D Leica pictures confirmed that the surface of this tested sample was smoother than the fresh tensile-cracked ones.

Het erosiegedrag onder invloed van een uniforme stroom van een bodemmengsel bestaande uit 80% fijn zand en 20% slib (hoofdzakelijk kaoliniet), wordt bestudeerd in een grote en een kleine retournerende goot. De resultaten van de erosieproeven in de kleine goot worden vergeleken met deze in de grote goot, gebruik makend van hetzelfde zand-slibmengsel. Om een idee te krijgen van de cohesiviteit van het bodemmengsel, wordt ook een vergelijking gemaakt met de resultaten van proeven op een zandbodem, uitgevoerd in dezelfde opstellingen, door andere onderzoekers. Uit deze vergelijkende studie kan men besluiten dat de kleine goot gebruikt kan worden voor een relatieve vergelijking tussen de mate van cohesie van verschillende mengsels, gebruik makend van de kritische schuifspanningen en de bedvormen (de afmetingen van de ribbels). Indien echter de absolute waarden voor de kritische schuifspanningen gezocht worden, maakt men beter gebruik van de grote goot, die een natuurlijker erosieproces te zien geeft. Ook de uitschuring onder pijpleidingen liggend op hetzelfde zand-slibbed wordt onderzocht, met behulp van modelpijpjes in de grote goot. Vermits de pijpjes op een initiële hoogte boven het bed gehangen worden, kan men geen ingravingsproces bestuderen. De grootse kuiltjes bevinden zich onder de stroomafwaartse helft van pijp. De secundaire kuiltjes afwaarts van de pijp zijn het gevolg van een georganiseerde zogstroming (een von Karman wervelstraat). Als de opening tussen de pijp en het bed groter wordt, neemt de lijerosie af, maar ze wordt niet onderdrukt voor kleine waarden van de opening. De resultaten van deze experimenten worden vergeleken met reeds uitgevoerde ontgrondingsproeven op een zandbodem. Het beeld van de ontgrondingskuilen in een zandbodem wordt echter vrij vlug verstoord door ribbels, die stroomafwaarts bewegegen en zelfs door de kuil trekken.

This thesis presents the design of a six degree of freedom micropositioning stage. It is a part of a research project on haptic tele‐operation, applied to micromanipulation, at the TU Delft. The micropositioning stage will be used as the fine range positioning stage of a slave robot, in a haptic tele‐operated control scheme. The technology used to build the stage is magnetic levitation. The stage has a movement range of 200 x 200 x 200 μm and rotations of about ±1°. The stage MIM (Minimum Incremental Motion) is designed to be 40 – 100 nm. The focus of this thesis is mainly on the modelling and design of the system and its components, the design of actuator and sensor electronics, and the mechanical design of the stage. Control aspects have been taken into account since the stage is open‐loop unstable, but do not constitute a main topic. The position sensors used in the micropositioning stage are infrared reflective sensors. These affordable sensors have previously been implemented in various projects at the TU Delft. Existing optical sensor readout electronics have been investigated; an improved version has been developed with lower noise levels. The achieved sensor noise is 14 – 28 nm, peak‐to‐peak over a measurement range of 200 μm. A three‐channel readout circuit board has been designed and tested. It can be used in other future applications as well as the current project. The actuators are a novel Lorentz type actuator. They consist of two fixed coils and a permanent magnet attached to the moving mass. One actuator can generate two independent force components, namely a vertical force and a horizontal force. The actuator characteristics have been extensively investigated using FEM modelling. These characteristics are position dependent, and exhibit crosstalk and parasitic forces. The overall system modelling and actuator FEM modelling has shown that these effects are manageable over the motion and force ranges of the stage. The actuator can generate an 80 mN vertical force and a 10 mN horizontal force, continuously. A threechannel current amplifier circuit board has been designed and tested. It is used to drive the Lorentz actuators, but can also be used in other future applications. Simulation diagrams have been developed of the mechanical system and its controller. The mechanical system is essentially a rigid free‐floating mass that has 6 degrees of freedom. The eigenmodes of this mass have been investigated using FEM based modal analysis. Its eigenfrequencies lie far above the closed‐loop system bandwidth, and are therefore not considered further. The control system is implemented as six independent SISO PD‐controllers. The closed loop system bandwidth is 100 Hz. Using the system model in a Monte Carlo‐type simulation, the effect of manufacturing and assembly tolerances on stage performance have been investigated. The results showed that the stage can be built with standard manufacturing technology, provided that extra care is taken during assembly of the actuators to reduce misalignment of the actuator components. An alignment tool has been developed for this purpose. A mechanical design has been made of the micropositioning stage. In this design the conclusions of the modelling phase and sensor and actuator characterisation have been taken into account. Fabrication drawings have been made, and all mechanical parts have been manufactured. The fine stage and its associated electronics have been fully assembled; the stage is currently in the test and characterisation phase.

In Alberta (Canada) bitumen is extracted from the mined oil sands ore by a process that uses hot water. This process produces large amounts of tailings, which is a mixture of water and sediment particles. These tailings are stored in large ponds to allow the sediments to settle out of suspension. The water is recycled in the hot-water process and the solids are used for land reclamation in the mine site areas that have been mined out. The fine particles in the tailings settle very slowly so companies are trying to find ways to accelerate the dewatering process. A dewatering process consists of three phases: sedimentation, consolidation and ripening when the sediment layer is exposed to air. Samples of the tailings were shipped to Delft University of Technology to perform dewatering experiments. From one of the first experiments it was suspected that the moisture content of the samples was already too low for the sedimentation phase to precede the consolidation phase. The goal of this project was to find out if there is a relation between the moisture content at the transition between the sedimentation and consolidation phases and the liquid limit and liquidity index of the soil. To be able to compare the results with another type of soil, the same tests were performed on river clay. Three sedimentation columns with different moisture contents were prepared for each of the materials and standard tests (BS 1377) were performed on the soils to determine the liquid and plastic limit from which the liquidity index was derived. To further characterize the materials, hydrometer tests were performed. From the British soil classification chart was deduced that the thickened tailings were to be classified as an intermediate plasticity clay and the river clay as a high plasticity clay. The major conclusion that may be drawn from the test results is that the liquidity index at the boundary between sedimentation and consolidation for both materials is around 18 and 19 for both soils. Furthermore the moisture content at the transition from the sedimentation phase to the consolidation phase is around ten times higher than the liquid limits of the materials. Another conclusion is that the consolidation phase shows no acceleration on a logarithmic time scale when it is preceded by the sedimentation phase, where this acceleration is visible when the sedimentation phase does not occur.

Background: Haptic guidance is a continuous form of haptic feedback where the driver obtains information through small corrective forces on control inputs, such as the steering wheel. Haptic guidance for automotive steering has shown promising results such as improved primary task performance, reduced visual workload and reduced control activity. Despite these promising results, it remains unknown how much information on curve negotiation is provided by haptic guidance when combined with full visual or reduced visual information. Objective: The goal of this research is to gather empirical data to investigate the capability of haptic guidance to present essential steering control information for curve negotiation to drivers when essential visual information is removed. Method: Previous research identified a far and near visual point for providing drivers with essential visual control information. This research removed essential visual control information while haptic guidance was presented to the subjects. The visual information was removed by occluding all visuals above 7.5o down from the true horizon for the near visual condition and all visuals beneath 1.68 down from the true horizon for the far visual condition. This corresponds to 0.34 seconds and 1.53 seconds look-ahead time respectively when driving at 20 ms-1 . It was hypothesized that the designed haptic guidance would be able to compensate for this loss of visual information. Results: While using haptic guidance, driving performance and control activity show a significant performance increase for all visual conditions. For the experimental conditions tested, control effort only increases for full visual and slightly for the far visual condition. The summed absolute lateral position is increased to better than baseline performance for all visual conditions, however time to line crossing performance is not increased to better than baseline performance for the near visual condition. Conclusion: Based on the empirical data it can be concluded that haptic guidance is capable of providing drivers with essential control information, although driving performance does not match that of full visual feedback without haptic guidance. It also appears that drivers are more likely to accept haptic guidance if essential visual information is removed. Application: With this empirical data new mathematical and cognitive driver models can be developed that incorporate haptic feedback which can be useful in the future development of autonomous systems based on human driving behavior.

Seismic vibrators are used to investigate the structure of the subsurface in the framework of soil and gas exploration, also to locate faults and rupture zones in earthquake investigations. Vibrators introduce seismic waves that propagate through the ground and are received by seismic sensors at some distance from the source. This enables interpretation of the sub-soil structure by inverse analysis. To analyze the behavior of the soil below a seismic vibrator, analytical models were developed in the past in which the behavior of the soil is simplified by linear elasticity. This assumption of linear elastic soil model does not describe real soil behaviors. In this research, a seismic vibrator standing on a homogeneous soil is simulated by means of an axisymmetric finite element model with an advanced soil model, i.e. Hardening Soil model with smallstrain stiffness, called HS-small model in which the non-linear, irreversible soil behaviors as well as small-strain stiffness effects below a seismic vibrator are taken into account. The sign and amplitude of displacements of the ground surface in the near field and the far field are observed for a homogeneous sand and homogeneous clay. A comparison between the linear elastic model and the HS-small model in simulation the soil response is made. The response of the sand and clay under delta-pulse load, minimum-phase-wavelet load, chirp load, and harmonic load with different frequencies (5Hz and 50Hz) and amplitudes (10kN/m2 and 20kN/m2) is simulated and evaluated. The influence of stress-strain dependent soil stiffness and porewater on seismic wave velocities is evaluated by means of seismograms.