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Title of the Dissertation Name of the Author Supervisor: Name of the Supervisor Co-Supervisor: Name of the Co-Supervisor Programa Doutoral em Engenharia Biomédica Month, Year

Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

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Page 1: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Title of the Dissertation

Name of the Author

Supervisor: Name of the Supervisor

Co-Supervisor: Name of the Co-Supervisor

Programa Doutoral em Engenharia Biomédica

Month, Year

Page 2: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

c© Name of the Author: Month, Year

Page 3: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Faculdade de Engenharia da Universidade do Porto

Title of the Dissertation

Name of the Author

Dissertation submitted to Faculdade de Engenharia da Universidade do Porto

to obtain the degree of

Doctor Philosophiae in Biomedical Engineering

President: Name of the PresidentReferee: Name of the RefereeReferee: Name of the RefereeReferee: Name of the Referee

Month, Year

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Page 5: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

To whom you wish to dedicate this thesis to.

Page 6: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the
Page 7: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Abstract

The abstract

Keywords: Keyword1. Keyword2. Keyword3.

iii

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Resumo

Abstract in Portuguese

Keywords: Keyword1. Keyword2. Keyword3.

v

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Acknowledgments

I’m sure there is more than one person you feel like thanking.

Name of the Author

vii

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Page 13: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Publications

M. S. Espinoza, J. Gonçalves, J.L. Sánchez, A. Herreros. Inverse Kinematics of a 10 DOFmodular hyper-redundant robot resorting to exhaustive and error-optimization methods: Acomparative study. In IEEE Brazilian Robotics Symposium & Latin American RoboticsSymposium (SBR–LARS). Fortaleza, Brasil, 2012.

M. S. Espinoza, A. Pereira, J. Gonçalves. Optimization methods for hyper-redundant robots’inverse kinematics in biomedical applications. AIP Conference Proceedings of ICNAAM 2012.Kos, Greece, 2012.

ix

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“If I have seen further it is by standing on the shoulders of giants”

Sir Isaac Newton

xi

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Page 17: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Contents

List of Figures xv

List of Tables xvii

List of Abbreviations xix

1 Introduction 11.1 Example of a Matlab figure (using matlab2tikx) . . . . . . . . . . . . . . . . . . 6

I Theoretical Background 7

2 Chapter Title 92.1 List of packages loaded by feupphdteses.sty . . . . . . . . . . . . . . . . . . . . 92.2 Loaded package by options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92.3 This is a section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.3.1 This is a subsection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

II Implemented Design 13

3 Chapter Title 153.1 This is a section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.1.1 This is a subsection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4 Conclusions and Future Work 17

Bibliography 19

Index 21

A Appendix A title 23

B Appendix B Title 27

xiii

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List of Figures

1.1 FEUP’s Logotype . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.2 Complete distance vs time for the cyan dataset . . . . . . . . . . . . . . . . . . . 6

xv

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List of Tables

1.1 Default Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.3 Longtable Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.2 Example Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

xvii

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List of Abbreviations

FEUP Faculdade de Engenharia da Universidade do Porto

xix

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Chapter 1

Introduction

This is the introduction. And this is how a Figure would look like (see Figure 1.1).

A quote should look like this:

“Like the Abstract, the Introduction should be written to engage the interest of the

reader. It should also give the reader an idea of how the dissertation is structured, and

in doing so, define the thread of the contents.” (Tham, 2001, chap. Introduction)

And a table should be written like Table 1.2, or even better, Table 1.1

• For code, set your preferences using the lstset option (see listings package documentation

on CTAN).

• For importing figures in Matlab, use Nico Schlömer’s matlab2tikz files provided in the Mat-

lab central http://www.mathworks.com/matlabcentral/fileexchange/22022-matlab2tikz

• If you see yourself in trouble, ask your question at http://tex.stackexchange.com.

Table 1.1: Default Specifications

Parameter Values

Area 3-20 pixelsT 0.65Number of frames 10Frames per second 1Define movement for 3 frames

Number of candidate vesiclesStrong: 10Ambiguous: 10

1

http://www.mathworks.com/matlabcentral/fileexchange/22022-matlab2tikz
http://tex.stackexchange.com
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2 Introduction

Figure 1.1: FEUP’s Logotype

For longtables check the one available on the Abbs.tex file, or Table 1.3

Table 1.3: Longtable Example

School Meaning

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

Page 27: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Introduction 3

Table 1.3 (Continue): Longtable Example

School Meaning

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

FEUP Faculdade de Engenharia da Universidade do Porto

Page 28: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

4 Introduction

Table 1.2: Example Table

Iteration k of f (xn)

k xk1 xk

2 xk3 Comments

0 -0.3 0.6 0.7 -1 0.47102965 0.04883157 -0.53345964 δ < ε

2 0.49988691 0.00228830 -0.52246185 δ < ε

3 0.49999976 0.00005380 -0.523656 N4 0.5 0.00000307 -0.52359743...

.... . .

...7 0.5 0.0 -0.52359878 δ < 10−8

Page 29: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Introduction5

Just to show you how to turn your page completely. If you just one to turn one figure, use the rotate option instead

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6 Introduction

1.1 Example of a Matlab figure (using matlab2tikx)

Here is the code obtained from the file in Matlab (just copy and paste it):

0 20 40 60 80 100 1200

20

40

60

80

100

120

Time [s]

Dis

tanc

e[m

]Distance vs Time for dataset

Figure 1.2: Complete distance vs time for the cyan dataset

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Part I

Theoretical Background

7

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Chapter 2

Chapter Title

2.1 List of packages loaded by feupphdteses.sty

\RequirePackage[T1]{fontenc}

\RequirePpackage[utf8]{inputenc}

\RequirePackage[english]{babel}

\RequirePackage[outer=25mm,inner=35mm,vmargin=20mm,includehead,includefoot,headheight=15pt]{geometry} % Geometry package

\RequirePackage{xcolor} % Different Colors

\RequirePackage{mathptmx} % Font:Times

\RequirePackage[scaled]{couriers} % Font: Courier

\RequirePackage[scaled]{helvet} % Font: Helvetica

\RequirePackage{graphicx} % Graphics

\RequirePackage{grffile} % larger range of file names (dots and spaces)

\RequirePackage{amsmath} % Math and equations

\RequirePackage{tikz} % To make graphics

\RequirePackage{pgfplots} % To import figures from Matlab

\RequirePackage{url} % To handle URLs

\RequirePackage{setspace} % Controls line spacing

\RequirePackage{makeidx} % Index

\RequirePackage[tableposition=top,figureposition=bottom]{caption} % Tables’ captions

\RequirePackage{multirow} % Tables with multiple rows

\RequirePackage{eurosym} % Currency: Euro

\RequirePackage{array} % Needed for ’tabularx’

\RequirePackage{tabularx} % Tables’ width can be set

\RequirePackage{tabulary} % Columns’ width can be set to length

\RequirePackage{longtable} % Tables can break into two pages

\RequirePackage[pagewise,switch*]{lineno} % Line numbers

\RequirePackage{siunitx} % SI units

\RequirePackage{float} % To be able to use the ’Here’ specification

\RequirePackage{subcaption} % Subcaptions in subfigures

\RequirePackage{adjustbox} % Alignment of cells in tables

\RequirePackage[inline]{enumitem} % Itemize, enumerate, lists, etc.

\RequirePackage[section]{placeins} % To prevent floats going over different sections

\RequirePackage{booktabs} % To use toprule, midrule, bottomrule

\RequirePackage{pgfgantt} % Create Gantt diagrams

\RequirePackage{pdflscape} % Landscape mode

\RequirePackage{pdfpages} % To include .pdf (papers) at the end as appendix

\RequirePackage{listings} % To include code

\RequirePackage[pdfpagelabels,bookmarks,hyperindex,hyperfigures]{hyperref} % Hyper References

\RequirePackage{bookmark}

\RequirePackage{fancyhdr}

2.2 Loaded package by options

\RequirePackage[hyperpageref]{backref}

9

Page 34: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

10 Chapter Title

2.3 This is a section

This is how a section would look like (Espinoza et al., 2012a). Lorem ipsum dolor sit amet,

consectetur adipiscing elit. Donec pellentesque elit et turpis iaculis blandit. Nulla posuere ornare

pulvinar. Aenean at turpis sem. Nam adipiscing porta imperdiet. Pellentesque habitant morbi

tristique senectus et netus et malesuada fames ac turpis egestas. Suspendisse posuere mi quis

risus sagittis aliquam pulvinar orci vestibulum. Nullam sollicitudin adipiscing velit, quis lobortis

metus interdum eu. Cras quis elit nulla. Etiam accumsan, enim nec tincidunt aliquet, libero

augue fringilla ipsum, at scelerisque tortor est sit amet justo. Vestibulum dictum, dui et dignissim

facilisis, ipsum mauris condimentum quam, non mollis diam erat in risus. Morbi faucibus, velit

sed porttitor adipiscing, dui magna iaculis mi, non feugiat quam justo nec odio. In eleifend, arcu

id pellentesque venenatis, arcu turpis adipiscing leo, quis cursus metus nibh ac risus.

In felis purus, porttitor eu facilisis ut, tincidunt eu risus. Quisque dictum scelerisque elemen-

tum. Fusce volutpat erat quis felis commodo adipiscing. Aenean cursus ligula ac metus accumsan

commodo vitae vitae lacus. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Nunc quis

nunc diam. Vestibulum vehicula, justo ut eleifend lobortis, libero orci tempor erat, quis ultricies

lectus nunc nec nunc. Suspendisse tortor ligula, ornare eget accumsan et, semper a ante.

Nulla a purus ut elit luctus laoreet ac sed turpis. Proin diam urna, luctus sed sagittis nec, pul-

vinar non magna. Aliquam hendrerit, sem non malesuada accumsan, nisl nulla commodo turpis,

non semper lorem mi in quam. Aenean dolor nulla, eleifend et lacinia ut, ultricies ut ante. Sus-

pendisse potenti. Vestibulum porta blandit adipiscing. Curabitur nunc orci, sit amet, molestie vitae

lorem. Nunc quis commodo tellus. Suspendisse tristique metus vitae lectus luctus ac venenatis

lectus pretium. Curabitur sed tellus mi. Nam nisi purus, sagittis vitae lobortis quis, porta eu libero.

Cras elit mi, interdum a venenatis vitae, vulputate non erat Espinoza et al. (2012b).

Here is an equation:

CIF1 : F j0 (a) =

12πι

∮γ

F j0 (z)

z−adz (2.1)

CIF2 : F j1 (a) =

12πι

∮γ

F j0 (x)

x−adx (2.2)

2.3.1 This is a subsection

This is how a subsection would look like. Lorem ipsum dolor sit amet, consectetur adipiscing

elit. Donec pellentesque elit et turpis iaculis blandit. Nulla posuere ornare pulvinar. Aenean at

turpis sem. Nam adipiscing porta imperdiet. Pellentesque habitant morbi tristique senectus et

netus et malesuada fames ac turpis egestas. Suspendisse posuere mi quis risus sagittis aliquam

pulvinar orci vestibulum. Nullam sollicitudin adipiscing velit, quis lobortis metus interdum eu.

Cras quis elit nulla. Etiam accumsan, enim nec tincidunt aliquet, libero augue fringilla ipsum, at

scelerisque tortor est sit amet justo. Vestibulum dictum, dui et dignissim facilisis, ipsum mauris

condimentum quam, non mollis diam erat in risus. Morbi faucibus, velit sed porttitor adipiscing,

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2.3 This is a section 11

dui magna iaculis mi, non feugiat quam justo nec odio. In eleifend, arcu id pellentesque venenatis,

arcu turpis adipiscing leo, quis cursus metus nibh ac risus.

Sed aliquet mauris eu metus pulvinar hendrerit. Sed ac nisl id odio iaculis laoreet. Proin nisl

orci, gravida at mollis vel, pulvinar eu arcu. Praesent volutpat commodo magna, et euismod nisi

pellentesque sit amet. Proin felis orci, dignissim in sollicitudin sit amet, mattis sed arcu. Nam

quam magna, imperdiet ut tincidunt sed, fringilla sed ante. Vivamus bibendum ornare nibh, sit

amet mattis tellus luctus non.

In tempor varius adipiscing. Sed pulvinar massa non lorem gravida volutpat. Vivamus eu

vehicula leo. Ut tempus risus eu sem gravida suscipit nec ac augue. Aliquam sit amet quam

diam. Sed eget urna neque, vel bibendum ante. Phasellus porta pretium porttitor. Mauris pharetra

libero id tortor dignissim cursus. Proin at ligula sed lacus sodales sagittis. Cum sociis natoque

penatibus et magnis dis parturient montes, nascetur ridiculus mus. Nullam mauris sapien, interdum

at dapibus vel, commodo sit amet turpis. Sed dictum, mauris non consectetur iaculis, arcu turpis

lobortis enim, ut bibendum metus magna id orci. Pellentesque vel purus odio, a euismod velit.

Vestibulum ante ipsum primis in faucibus orci luctus et ultrices posuere cubilia Curae; Proin non

risus tellus. Proin interdum, mauris quis scelerisque consectetur, erat quam venenatis ante, eu

consectetur sem nulla nec ante .

Sed aliquet mauris eu metus pulvinar hendrerit. Sed ac nisl id odio iaculis laoreet. Proin nisl

orci, gravida at mollis vel, pulvinar eu arcu. Praesent volutpat commodo magna, et euismod nisi

pellentesque sit amet. Proin felis orci, dignissim in sollicitudin sit amet, mattis sed arcu. Nam

quam magna, imperdiet ut tincidunt sed, fringilla sed ante. Vivamus bibendum ornare nibh, sit

amet mattis tellus luctus non.

Lorem ipsum dolor sit amet, consectetur adipiscing elit. Integer accumsan imperdiet ante eget

pretium. Duis hendrerit sem gravida mi sodales sit amet iaculis elit euismod. Maecenas fermentum

semper quam id consectetur. Suspendisse potenti. Cras luctus bibendum placerat. Aliquam at leo

lectus. Proin diam nibh, iaculis vitae rutrum vitae, elementum eget orci. Donec ac ullamcorper

sapien. Praesent cursus, elit eget auctor faucibus, sapien justo interdum tellus, sit amet tincidunt

nibh sapien et orci. Donec adipiscing feugiat elit, tristique mollis neque convallis non. Quisque

non erat in purus porta commodo vitae eleifend diam. Donec dui quam, sagittis a varius aliquam,

facilisis vel nisi. Fusce cursus nisi sed tortor commodo fringilla. Nam elementum pulvinar aliquet.

Vivamus lectus orci, viverra ac porta in, commodo nec turpis.

Maecenas ut sapien a massa consequat blandit volutpat vel arcu. Mauris eros orci, bibendum

et congue eu, ultricies vitae neque. In convallis lorem ac nisi auctor tincidunt. Pellentesque ac erat

tellus, ac luctus quam. Aenean bibendum, mi nec tempus sagittis, justo diam commodo mauris,

vel fringilla sem sem non elit. Morbi feugiat dui malesuada turpis fringilla congue. Integer magna

leo, fermentum vitae placerat non, aliquet non sapien. Suspendisse potenti.

Etiam sollicitudin dui id massa aliquet fringilla. Aenean diam magna, condimentum sed pul-

vinar vel, sagittis eget urna. Phasellus imperdiet pulvinar arcu, commodo suscipit nunc posuere

a. Maecenas laoreet, odio id tincidunt imperdiet, leo lorem tincidunt turpis, a egestas eros augue

sed augue. Proin eget nulla non felis consectetur rhoncus. Aenean blandit feugiat feugiat. Aenean

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12 Chapter Title

congue tempor dui eget varius. Etiam lectus nisl, lacinia quis dictum vitae, euismod in neque.

Etiam sollicitudin venenatis molestie. Nulla sed lacinia odio. Sed ac orci leo, pulvinar blandit

eros. Donec ac tristique erat.

Integer nulla ligula, elementum eu iaculis vel, gravida sit amet odio. Sed dictum diam sit amet

lacus egestas ornare. Donec scelerisque neque ut dolor hendrerit venenatis tristique purus biben-

dum. Integer porta dignissim est, quis eleifend est interdum id. Donec libero metus, consectetur

et fringilla at, auctor ac odio. Nullam enim dolor, placerat vitae eleifend eu, pretium sed metus.

Aenean eget felis nec neque sodales imperdiet. Ut mattis risus ultrices sem eleifend ut adipiscing

diam bibendum. Sed bibendum metus eget orci interdum volutpat. Donec et sapien eget turpis

luctus tincidunt. Quisque eget sapien non felis egestas cursus at ut magna. Class aptent taciti so-

ciosqu ad litora torquent per conubia nostra, per inceptos himenaeos. Curabitur dapibus interdum

neque, ut dapibus justo suscipit a. Donec consequat feugiat vestibulum. Curabitur id ipsum iaculis

est vehicula aliquet at quis nisi.

Proin bibendum velit in est luctus sit amet tristique libero feugiat. Praesent porttitor placerat

turpis, id mattis tellus vehicula vitae. Suspendisse lacinia laoreet iaculis. Maecenas cursus viverra

tortor in lobortis. Aenean et nulla id nisl dapibus venenatis. Aenean at sem ac dui pretium blandit.

Praesent sagittis neque vitae mauris tempor eleifend. Mauris rutrum fermentum ultrices.

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Part II

Implemented Design

13

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Page 39: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Chapter 3

Chapter Title

3.1 This is a section

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Donec pellentesque elit et turpis iaculis blandit. Nulla posuere ornare pulvinar. Aenean at turpis

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malesuada fames ac turpis egestas. Suspendisse posuere mi quis risus sagittis aliquam pulvinar

orci vestibulum. Nullam sollicitudin adipiscing velit, quis lobortis metus interdum eu. Cras quis

elit nulla. Etiam accumsan, enim nec tincidunt aliquet, libero augue fringilla ipsum, at scelerisque

tortor est sit amet justo. Vestibulum dictum, dui et dignissim facilisis, ipsum mauris condimentum

quam, non mollis diam erat in risus. Morbi faucibus, velit sed porttitor adipiscing, dui magna

iaculis mi, non feugiat quam justo nec odio. In eleifend, arcu id pellentesque venenatis, arcu

turpis adipiscing leo, quis cursus metus nibh ac risus.

In felis purus, porttitor eu facilisis ut, tincidunt eu risus. Quisque dictum scelerisque elemen-

tum. Fusce volutpat erat quis felis commodo adipiscing. Aenean cursus ligula ac metus accumsan

commodo vitae vitae lacus. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Nunc quis

nunc diam. Vestibulum vehicula, justo ut eleifend lobortis, libero orci tempor erat, quis ultricies

lectus nunc nec nunc. Suspendisse tortor ligula, ornare eget accumsan et, semper a ante.

Nulla a purus ut elit luctus laoreet ac sed turpis. Proin diam urna, luctus sed sagittis nec, pul-

vinar non magna. Aliquam hendrerit, sem non malesuada accumsan, nisl nulla commodo turpis,

non semper lorem mi in quam. Aenean dolor nulla, eleifend et lacinia ut, ultricies ut ante. Sus-

pendisse potenti. Vestibulum porta blandit adipiscing. Curabitur nunc orci, euismod ut vehicula sit

amet, molestie vitae lorem. Nunc quis commodo tellus. Suspendisse tristique metus vitae lectus

luctus ac venenatis lectus pretium. Curabitur sed tellus mi. Nam nisi purus, sagittis vitae lobortis

quis, porta eu libero. Cras elit mi, interdum a venenatis vitae, vulputate non erat.

3.1.1 This is a subsection

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elit. Donec pellentesque elit et turpis iaculis blandit. Nulla posuere ornare pulvinar. Aenean at

15

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16 Chapter Title

turpis sem. Nam adipiscing porta imperdiet. Pellentesque habitant morbi tristique senectus et

netus et malesuada fames ac turpis egestas. Suspendisse posuere mi quis risus sagittis aliquam

pulvinar orci vestibulum. Nullam sollicitudin adipiscing velit, quis lobortis metus interdum eu.

Cras quis elit nulla. Etiam accumsan, enim nec tincidunt aliquet, libero augue fringilla ipsum, at

scelerisque tortor est sit amet justo. Vestibulum dictum, dui et dignissim facilisis, ipsum mauris

condimentum quam, non mollis diam erat in risus. Morbi faucibus, velit sed porttitor adipiscing,

dui magna iaculis mi, non feugiat quam justo nec odio. In eleifend, arcu id pellentesque venenatis,

arcu turpis adipiscing leo, quis cursus metus nibh ac risus.

Sed aliquet mauris eu metus pulvinar hendrerit. Sed ac nisl id odio iaculis laoreet. Proin nisl

orci, gravida at mollis vel, pulvinar eu arcu. Praesent volutpat commodo magna, et euismod nisi

pellentesque sit amet. Proin felis orci, dignissim in sollicitudin sit amet, mattis sed arcu. Nam

quam magna, imperdiet ut tincidunt sed, fringilla sed ante. Vivamus bibendum ornare nibh, sit

amet mattis tellus luctus non.

In tempor varius adipiscing. Sed pulvinar massa non lorem gravida volutpat. Vivamus eu

vehicula leo. Ut tempus risus eu sem gravida suscipit nec ac augue. Aliquam sit amet quam

diam. Sed eget urna neque, vel bibendum ante. Phasellus porta pretium porttitor. Mauris pharetra

libero id tortor dignissim cursus. Proin at ligula sed lacus sodales sagittis. Cum sociis natoque

penatibus et magnis dis parturient montes, nascetur ridiculus mus. Nullam mauris sapien, interdum

at dapibus vel, commodo sit amet turpis. Sed dictum, mauris non consectetur iaculis, arcu turpis

lobortis enim, ut bibendum metus magna id orci. Pellentesque vel purus odio, a euismod velit.

Vestibulum ante ipsum primis in faucibus orci luctus et ultrices posuere cubilia Curae; Proin non

risus tellus. Proin interdum, mauris quis scelerisque consectetur, erat quam venenatis ante, eu

consectetur sem nulla nec ante.

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Chapter 4

Conclusions and Future Work

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17

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Bibliography

M. S. Espinoza, J. Goncalves, P. Leitao, J. L. G. Sanchez, and A. Herreros, “Inverse kinematics ofa 10 dof modular hyper-redundant robot resorting to exhaustive and error-optimization methods:A comparative study,” in Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian. IEEE, 2012, pp. 125–130.

M. S. Espinoza, A. I. Pereira, and J. Gonçalves, “Optimization methods for hyper-redundantrobots’ inverse kinematics in biomedical applications,” in AIP Conference Proceedings, vol.1479, 2012, p. 818.

M. Tham, “Writing research theses or dissertations,” May 2001, university of Newcastle UponTyne. [Online]. Available: http://lorien.ncl.ac.uk/ming/dept/Tips/writing/thesis/thesis-intro.htm

19

http://lorien.ncl.ac.uk/ming/dept/Tips/writing/thesis/thesis-intro.htm
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Index

Looks, 15Lorem Ipsum, 11

21

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Page 47: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Appendix A

Appendix A title

23

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Appendix A title 25

Sub Section

Lorem ipsum dolor sit amet, consectetur adipiscing elit. Donec pellentesque elit et turpis iaculis

blandit. Nulla posuere ornare pulvinar. Aenean at turpis sem. Nam adipiscing porta imperdiet.

Pellentesque habitant morbi tristique senectus et netus et malesuada fames ac turpis egestas. Sus-

pendisse posuere mi quis risus sagittis aliquam pulvinar orci vestibulum. Nullam sollicitudin

adipiscing velit, quis lobortis metus interdum eu. Cras quis elit nulla. Etiam accumsan, enim nec

tincidunt aliquet, libero augue fringilla ipsum, at scelerisque tortor est sit amet justo. Vestibulum

dictum, dui et dignissim facilisis, ipsum mauris condimentum quam, non mollis diam erat in risus.

Morbi faucibus, velit sed porttitor adipiscing, dui magna iaculis mi, non feugiat quam justo nec

odio. In eleifend, arcu id pellentesque venenatis, arcu turpis adipiscing leo, quis cursus metus nibh

ac risus.

In felis purus, porttitor eu facilisis ut, tincidunt eu risus. Quisque dictum scelerisque elemen-

tum. Fusce volutpat erat quis felis commodo adipiscing. Aenean cursus ligula ac metus accumsan

commodo vitae vitae lacus. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Nunc quis

nunc diam. Vestibulum vehicula, justo ut eleifend lobortis, libero orci tempor erat, quis ultricies

lectus nunc nec nunc. Suspendisse tortor ligula, ornare eget accumsan et, semper a ante.

Nulla a purus ut elit luctus laoreet ac sed turpis. Proin diam urna, luctus sed sagittis nec, pul-

vinar non magna. Aliquam hendrerit, sem non malesuada accumsan, nisl nulla commodo turpis,

non semper lorem mi in quam. Aenean dolor nulla, eleifend et lacinia ut, ultricies ut ante. Sus-

pendisse potenti. Vestibulum porta blandit adipiscing. Curabitur nunc orci, euismod ut vehicula sit

amet, molestie vitae lorem. Nunc quis commodo tellus. Suspendisse tristique metus vitae lectus

luctus ac venenatis lectus pretium. Curabitur sed tellus mi. Nam nisi purus, sagittis vitae lobortis

quis, porta eu libero. Cras elit mi, interdum a venenatis vitae, vulputate non erat.

Sed aliquet mauris eu metus pulvinar hendrerit. Sed ac nisl id odio iaculis laoreet. Proin nisl

orci, gravida at mollis vel, pulvinar eu arcu. Praesent volutpat commodo magna, et euismod nisi

pellentesque sit amet. Proin felis orci, dignissim in sollicitudin sit amet, mattis sed arcu. Nam

quam magna, imperdiet ut tincidunt sed, fringilla sed ante. Vivamus bibendum ornare nibh, sit

amet mattis tellus luctus non.

In tempor varius adipiscing. Sed pulvinar massa non lorem gravida volutpat. Vivamus eu

vehicula leo. Ut tempus risus eu sem gravida suscipit nec ac augue. Aliquam sit amet quam

diam. Sed eget urna neque, vel bibendum ante. Phasellus porta pretium porttitor. Mauris pharetra

libero id tortor dignissim cursus. Proin at ligula sed lacus sodales sagittis. Cum sociis natoque

penatibus et magnis dis parturient montes, nascetur ridiculus mus. Nullam mauris sapien, interdum

at dapibus vel, commodo sit amet turpis. Sed dictum, mauris non consectetur iaculis, arcu turpis

lobortis enim, ut bibendum metus magna id orci. Pellentesque vel purus odio, a euismod velit.

Vestibulum ante ipsum primis in faucibus orci luctus et ultrices posuere cubilia Curae; Proin non

risus tellus. Proin interdum, mauris quis scelerisque consectetur, erat quam venenatis ante, eu

consectetur sem nulla nec ante.

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Page 51: Title of the Dissertation · Chapter 1 Introduction This is the introduction. And this is how a Figure would look like (see Figure1.1). A quote should look like this: “Like the

Appendix B

Appendix B Title

27

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Appendix B Title 29

Sub Section 2

Lorem ipsum dolor sit amet, consectetur adipiscing elit. Donec pellentesque elit et turpis iaculis

blandit. Nulla posuere ornare pulvinar. Aenean at turpis sem. Nam adipiscing porta imperdiet.

Pellentesque habitant morbi tristique senectus et netus et malesuada fames ac turpis egestas. Sus-

pendisse posuere mi quis risus sagittis aliquam pulvinar orci vestibulum. Nullam sollicitudin

adipiscing velit, quis lobortis metus interdum eu. Cras quis elit nulla. Etiam accumsan, enim nec

tincidunt aliquet, libero augue fringilla ipsum, at scelerisque tortor est sit amet justo. Vestibulum

dictum, dui et dignissim facilisis, ipsum mauris condimentum quam, non mollis diam erat in risus.

Morbi faucibus, velit sed porttitor adipiscing, dui magna iaculis mi, non feugiat quam justo nec

odio. In eleifend, arcu id pellentesque venenatis, arcu turpis adipiscing leo, quis cursus metus nibh

ac risus.

In felis purus, porttitor eu facilisis ut, tincidunt eu risus. Quisque dictum scelerisque elemen-

tum. Fusce volutpat erat quis felis commodo adipiscing. Aenean cursus ligula ac metus accumsan

commodo vitae vitae lacus. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Nunc quis

nunc diam. Vestibulum vehicula, justo ut eleifend lobortis, libero orci tempor erat, quis ultricies

lectus nunc nec nunc. Suspendisse tortor ligula, ornare eget accumsan et, semper a ante.

Nulla a purus ut elit luctus laoreet ac sed turpis. Proin diam urna, luctus sed sagittis nec, pul-

vinar non magna. Aliquam hendrerit, sem non malesuada accumsan, nisl nulla commodo turpis,

non semper lorem mi in quam. Aenean dolor nulla, eleifend et lacinia ut, ultricies ut ante. Sus-

pendisse potenti. Vestibulum porta blandit adipiscing. Curabitur nunc orci, euismod ut vehicula sit

amet, molestie vitae lorem. Nunc quis commodo tellus. Suspendisse tristique metus vitae lectus

luctus ac venenatis lectus pretium. Curabitur sed tellus mi. Nam nisi purus, sagittis vitae lobortis

quis, porta eu libero. Cras elit mi, interdum a venenatis vitae, vulputate non erat.

Sed aliquet mauris eu metus pulvinar hendrerit. Sed ac nisl id odio iaculis laoreet. Proin nisl

orci, gravida at mollis vel, pulvinar eu arcu. Praesent volutpat commodo magna, et euismod nisi

pellentesque sit amet. Proin felis orci, dignissim in sollicitudin sit amet, mattis sed arcu. Nam

quam magna, imperdiet ut tincidunt sed, fringilla sed ante. Vivamus bibendum ornare nibh, sit

amet mattis tellus luctus non.

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