We propose a method for constructing control laws for formation control of marine craft using classical tools from analytical mechanics. 10/03/2023. Nonlinear Control and Observer Design for Dynamic Positioning using Contrac- tion Theory. Engineering, Environmental Science. Contributors: Robert Brehm; Mohammad Hossein Ramezani; Jerome Jouffroy Show more detail. Contraction theory is a recent tool enabling to study the stabil- ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of incremental stability meth- ods. Join Facebook to connect with Jouffroy Jérôme and others you may know. 24/10/2023. PY - 2010. ” “I’m eager to see how much additional crane and load capacity can be added to our workboats in order to increase their operational range and to. Fossen; The paper presents a systematic method for design of observer-controllers in cascade. Jerome Jouffroy - Google Scholar Jerome Jouffroy Professor, Center for Industrial Mechanics, University of Southern Denmark Verified email at sdu. Find your friends on Facebook. 5. Enter the email address you signed up with and we'll email you a reset link. 4DOF simulation of a sailing yacht (includes roll) with a 3D animation using the Simulink 3D Animation toolbox. 25+ million members; 160+ million publication pages;People named Jérôme Jouffroy. Add to Mendeley. See Photos. All figure content in this area was uploaded by Jerome Jouffroy. Das von Fliess und Sira Ramírez vorgeschlagene algebraische Verfahren zur Schätzung von Zeitableitungen gemessener Signale wird aus klassischen Resultaten der Optimalschätzung hergeleitet. In a typical mode of operation, the profilers drift passively at their parking depth before making a vertical profile to go back to the surface. pdf. Jerome Jouffroy Despite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. ‡Jerome Jouffroy is with the Mads Clausen Institute, University of Southern Denmark, Alsion 2, DK-6400 Sønderborg, Denmark (e-mail: jerome@mci. Jerome Jouffroy University of Southern Denmark Abstract and Figures This paper briefly presents the main points on the development and testing of an extremum. Authors: Johann Reger, Jérôme Jouffroy. About the institute. The method relies on the. E. University of Southern Denmark Agentenbasierte Regelung von Energieflüssen in Verteilnetzen durch ein Softwarebussystem. aau. This paper has investigated the integration of 3D-printed conductive paths into 3D-printed non-conductive structures, with the goal of exclusively combining standard off-the-shelf. Mads Clausen Institute (MCI) The Faculty of Engineering;. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Excellente initiative ! Oui, oubliez Amazon s’il vous plaît ! Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 10moJerome Jouffroy University of Southern Denmark (SDU) Mads Clausen Institute Alsion 2 DK-6400 Sønderborg, Denmark e-mail: jerome@mci. See Photos. View all 15 press / media Teaching & Supervision Experts in Teams. CONTRIBUTIONS 0 Questions 0 Answers. Join Facebook to connect with Jérôme Jouffroy and others you may know. Engineering. in a Wearing Maneuver Jerome Jouffroy ∗ ∗ Mads Clausen Institute University of Southern Denmark (SDU. Starting date is November 2022. All content in this area was uploaded by Jerome Jouffroy. , Jérôme Jouffroy and Thor I. (2009). Jerome Jouffroy · J. Guillaume Jouffroy, Jérôme Jouffroy: A simple mechanical system for studying adaptive oscillatory neural networks. Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1yA control-theoretic outlook at the no-go zone in sailing vessels Bin Yang†, Lin Xiao ‡, and Jerome Jouffroy Mads Clausen Institute University of Southern Denmark (SDU) Alsion 2, DK-6400. Vi bygger bro med stærke vidensmedier, relevante events, nærværende netværk og Teknologiens Jobfinder, hvor vi forbinder kandidater og virksomheder. See Photos. Professor Jerome Jouffroy delves into this crucial discussion in his latest article. Source: check_circle. Since the. The purpose of Experts in teams is, to challenge the students to further develop the knowledge, skills and competencies gained during the first four semesters in a real-life engineering context – that is: a context with many stakeholders, cooperation with people bringing different types of competencies into play, real requirements and. . 2022 | Conference paper | Author. Cette fusion, une des toutes premières en. Sailing vessels with wind as their main means of propulsion possess a unique property that the paths they takeAutonomous Lagrangian profilers are widely used as measurement and monitoring platforms. Jerome Jouffroy, Jacques Lottin. All figure content in this area was uploaded by Jerome Jouffroy. sdu. Ihle, Ivar-André F. Jerome Jouffroy. Email jerome @ sdu. Hélène JOUFFROY. All content in this area was uploaded by Jerome Jouffroy. Jerome Jouffroy Professor at Syddansk Universitet - University of Southern Denmark 20h Edited Report this post Lately, there has been a debate on the contribution of Danish universities on. Jerome Jouffroy Denmark Samar Kaddouri France Carl Kaiser USA Anup Kale Australia Bharath Kalyan Singapore Nicholas W. Interestingly. sdu. e-mail: [email protected] robots are useful for exploring narrow spaces such as in collapsed buildings after a severe disaster. . Content may be subject to copyright. Mads Clausen Institute (MCI) The Faculty of Engineering; Research output: Contribution to journal › Journal article › Research › peer-review. Back. This paper discusses the use of techniques related to the modulating function method for performing joint parameter and state estimation. Institut for Mekanik og Elektronik (IME) Professor, SDU Mechatronics (CIM) Professor, SDU Climate Cluster. PhD. Rabe, A. Using Fossen's compact notation for marine vehicles, we first. Af Jerome Jouffroy 17. Bojan Nemec, Fares J. Keywords: Contraction theory,. Email: [email protected]. July 2002 · IFAC Proceedings Volumes (IFAC Papers-OnLine) Jerome Jouffroy. We propose a method for constructing control laws for formation control of marine craft using classical tools from analytical mechanics. Log in or sign up for Facebook to connect with friends, family and people you know. Jerome Jouffroy Tu Duc Nguyen This paper extends previous work [6],[7] on the estimation of underwater vehicle trajectories using Gyro-Doppler (body-xed velocities) and acoustic signals (earth-xed. Overview; Fingerprint; Abstract. Jerome Jouffroy. Join Facebook to connect with Christelle Jerome Jouffroy and others you may know. Find local businesses, view maps and get driving directions in Google Maps. Jerome Jouffroy; Jacques Lottin; For original paper see T. Course: Teaching. Facebook gives people the power. Enter the email address you signed up with and we'll email you a reset link. 2018-08-01 | Book. Research Unit UCL. 48-54]. Institute for Chemistry and. This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. (2011b)), simple feedback algorithms referred to as Sector-of-Sight controllers were used to make Lagrangian profilers select ocean currents for. AU - Jouffroy, Jerome. pdf. Y1 - 2014/4. Find your friends on Facebook. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil- ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of incremental stability meth- ods. British Columbia Marriages 1800-1946at MyHeritage. The method relies on the diffusion-based. Nowakowski; Andreas Holmetoft Lyder. Jerome Jouffroy; Thor I. : +45. This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. Share. Jerome Jouffroy · J. 1 Mediebidrag. University of Southern Denmark An Accurate Programmable Pulse Generator for Stepper Actuated Real-Time Control Systems. 06/03/2023. org IEEE Conference on Decision and Control (CDC’04), Paradise Island, Bahamas, 2004 Abstract —This paper presents a globally. 2005. Facebook gives people the power. Download PDF Abstract: This note places into perspective the so-called time-derivative estimation method recently introduced by Fliess and co-authors with standard results from linear state-space theory for control systems. François JOUFFROY #recrute. When expanded it provides a list of search options that will switch the search inputs to match the current. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply con- ditions for observability. G. PhD. SlotineThis paper discusses convergence issues of the basic particle swarm optimization algorithm for different parameters. dk. The. dk Phone: +4565501642. dk. Kean USA Gary W. Email: [email protected]. Oversigt. Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1mo All content in this area was uploaded by Jerome Jouffroy. Discover the world's research. ANSWER ACCEPTANCE 0. Associate professor Jerome Jouffroy received one of the three teaching awards from the BHJ Foundation Biography. dkDespite their interesting dynamic and controllability properties, sailing vehicles have not been much studied in the control community. Enter the email address you signed up with and we'll email you a reset link. The champion's jersey. Seville, Spain. , Jérôme Jouffroy and Thor I. Control systems, model-based simulations, digital twin, intelligent systems, robotics,. PhD. Jerome Jouffroy Contraction analysis is a recent tool for analyz- ing the convergence behavior of nonlinear systems in state- space form (see Lohmiller and Slotine [16] for the main reference). 2, 2014. After a short review of other methods related to modulating functions, we look at observability issues and the so-called Least-Squares observers to extend currently existing results on joint parameter and state. Author content. This project receives funding from the European Union’s Horizon 2020 Research and Innovation Programme under grant. Borrelli and G. This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2 implemented in Simulink™ which has been designed and experimentally validated for benchmark control algorithms for underwater vehicles. The. Opderbecke, Ifremer V. Jørgensen, Thiusius Rajeeth Savarimuthu, Jérôme Jouffroy, Henrik Gordon Petersen, Norbert Krüger: Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile. The method relies on the. NEWSPAPER ARCHIVES: Vancouver Daily Province Archives 1894 - 2021. Contraction theory is a recent tool enabling to study the stabil- ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of incremental stability meth- ods. The functions are treated analytically and by using feedback from the imposed constraint functions, constraint forces arise. Fossen, Affiliation: University of Southern Denmark, NTNU, Department of Engineering Cybernetics and NTNU, Centre for Ships and Ocean Structures Reference: 2010, Vol 31, No 3, pp. Jérôme Jouffroy’s Post Jérôme Jouffroy Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 10mo Report this post Report Report. Uniform global exponential stability (UGES) of the resulting system is proven. Using Fossen's compact notation for marine vehicles, we first. Starting from a simple dynamic model of sailingDOI: 10. Jérôme Jouffroy posted on LinkedIn3D Printed Hybrid Flexible Electronics with Direct Light Synthesis Andrei Popa1, Brian Zellers2, Simon Iversen1, Dillon Kennedy2, Pedro Cortes2, Lars Duggen1, Jerome Jouffroy1, Kirk Rogers3, Brett. Name Email Department City; Jérôme Jouffroy: jerjo@mmmi. 313 - 326 , 10. Consultez le profil complet sur LinkedIn et découvrez. The approach consists of diffusion-based observers processing aEnter the email address you signed up with and we'll email you a reset link. AU - Jouffroy, Jerome. on Decision and Control, and European Control Conf. Using Fossen's compact notation for marine vehicles, we first describe a nonlinear 4-DOF dynamic model for a sailing yacht, including roll. Jerome Jouffroy; This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. when they are in the so-called “no-go zone”. Springer-Verlag London Ltd. PY - 2014/4. Connaissez-vous quelqu’un qui pourrait être intéressé ? Assistant(e) de communication Université de Technologie de Belfort-Montbéliard, SevenansJerome Jouffroy; This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. This button displays the currently selected search type. Mere om Teknologiens Mediehus. Jérôme Jouffroy. Jiaxi He Lin Xiao Jerome Jou roy Mads Clausen Institute, University of Southern Denmark (SDU), Alsion 2, DK-6400, S˝nderborg, Denmark jiaxihe1989@gmail. Contributors: Andrei-Alexandru Popa; Lars Duggen; Jerome Jouffroy Show more detail. See Photos. oktober. Roana de Oliveira Hansen, Steffen Chemnitz & Jerome Jouffroy. Content may be subject to copyright. Model, notations and parameters are taken from Xiao and Jouffroy, "Modeling and nonlinear heading control of sailing yachts", IEEE Journal of Oceanic Engineering, vol. . NOTAIRES + AVOCATS | JOUFFROY & FILEAS est une société pluriprofessionnelle de notaires et d'avocats. Discover the world's research. 1041. Content may be subject to copyright. dk; Tel. Saved searches Use saved searches to filter your results more quicklyEnter the email address you signed up with and we'll email you a reset link. 2. Ihle, Jerome Jouffroy, Thor I. Ophavsret. Expand. 39, no. Find your friends on Facebook. Fossen Jerome Jouffroy Mads Clausen Institute, University of Southern Denmark (SDU), Alsion 2, DK-6400, Sønderborg, Denmark (e-mail: {xiao,jerome}@mci. Additive Manufacturing, Modeling Systems and 3D Prototyping. Hanne Peoples #825643. Towards selective tidal-stream transport for lagrangian profilers. In this paper, using Contraction theory, a nonlinear observer is designed for a general nonlinear cable/string FEM (Finite Element Method) model. practical interest, we recall here only the main result for a moving-horizon version of the approach (see [21] and [35]). View the profiles of people named Jouffroy Jérôme. Jerome Jouffroy; Qiuyang Zhou; Oliver Zielinski; Autonomous Lagrangian profilers are widely used as measurement and monitoring platforms. Author content. Malte von Benzon 1,∗, Fredrik Fogh Sørensen 1, Esben Uth 1, Jerome Jouffroy 2, Jesper Liniger 1 and Simon Pedersen 1 1 AAU Energy, Aalborg University, 6700 Esbjerg, Denmark 2 Department of Mechanical and Electrical Engineering, University of Southern Denmark, SDU, 6400 Sønderborg, Denmark * Correspondence: msrvb@energy. A suspicious death, an upscale spiritual retreat, and a quartet of suspects with a motive for murder. Jerome Jouffroy, Qiuyang Zhou, Oliver Zielinski Simulation Research On Intelligent Control For Propulsion System Of Large Ship. CONTRACTION ANALYSIS BYLOHMILLER AND SLOTINE, 1998 In the following, we consider systems described by general nonlinear deterministic differential. Deep-sea Geo-referenced Video Mosaics. Jerome Jouffroy; Qiuyang Zhou; Oliver Zielinski; Autonomous Lagrangian profilers are widely used as measurement and monitoring platforms. Facebook gives people the power. INTERNALLY ACTUATED AUTONOMOUS SAILNG BUOY This application is a National Stage Application of PCT/ DK2012/050402, filed 31 Oct. Slotine. or. iv. Especially, under uncertain models, changing dynamic parameters and noisy. dk and jerome@mci. 1109/OCEANS. People Also Search (#World Rank, #Last 6 years World Rank) University of CopenhagenJerome Jouffroy; This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. and Simon Pedersen 1. Jerome Jouffroy Contraction theory is a recent tool enabling to study the stabil-ity of nonlinear systems trajectories with respect to one another, and therefore belongs to the class of. Jouffroy, Jerome. Slotine. In a world where geopolitical shifts are reshaping the landscape, we must consider the role of innovation in. Jerome Jouffroy. 01/09/2021 → 31/01/2022. Data. Content may be subject to copyright. 54941/ahfe1001591. Krug USA Yoann Ladroit France David Lane UK Stephanie A. Discover the world's research. E. Sign Up. Author content. Fossen. (2012. Jérôme Jouffre. Email or phone: Password: Forgot account? People named Jouffroy Jérôme. [11] A. JOUFFROY Jérôme : Jérôme JOUFFROY, né en 1970 et habite DIJON. Jérôme Jouffroy’s Post Jérôme Jouffroy Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 8mo Report this post Report Report. Jerome Jouffroy · J. Jerome JOUFFROY profil professionnel | Comatelec Schreder - Directeur des operations . Associate professor Jerome Jouffroy received one of the three teaching awards from the BHJ FoundationProfessor Jerome Jouffroy, an expert in Drone Mechatronics at the University of Southern Denmark, shares his perspective. Content uploaded by Jerome Jouffroy. Content uploaded by Jerome Jouffroy. In a world where geopolitical shifts are reshaping the landscape, we must consider the role of innovation in. Svær at gøre stabil. These are then used in combination with an integrator-based time. 2005; This paper addresses the issue of rejecting spurious acoustic position measurements for the estimation of trajectories in underwater vehicle navigation. J. In particular, it is shown that the algebraic method can in a. 06/03/2023. Remarks on the Observability of. Fossen (2005). Authors: Johann Reger, Jérôme Jouffroy. a service of . In Proceedings of. Biography. sdu. [12] G. sdu. Jerome Jouffroy. In the work presented by Fossen and Blanke, a nonlinear observer for estimation of. Enter the email address you signed up with and we'll email you a reset link. Facebook gives people the power. PDF | This paper presents a study on the development and testing of a model-based heading controller for a sailing yacht. . E. Steinar Vike Jerome Jouffroy. Jerome Jouffroy. Jérôme Jouffroy posted images on LinkedIn. Kelly USA Yukihiro Kida Japan Jeongchang Kim Korea (South) John William Klyce USA Adam J. Some ancestors of contraction analysis Jérôme Jouffroy Center for Ships and Ocean Structures (CeSOS) Norwegian University of Science and Technology (NTNU) NO-7491 Trondheim, Norway e-mail: jouffroy@ntnu. by Jerome Jouffroy. View the profiles of professionals named "Jérôme Jouffroy" on LinkedIn. Author content. 1 AAU Energy, Aalborg University, 6700 Esbjerg, Denmark. [1] Notable people with the surname include: Alain Jouffroy (1928–2015), French writer, poet and artist. Control systems, model-based. Enter the email address you signed up with and we'll email you a reset link. <br /> Han er lektor og ph. Engineering & Technology / Mechatronics engineering. However, it seems that earlier results derived by mathematicians in the 1950s closely match some of the results of contraction analysis. Malte von Benzon 1, ∗, Fredrik Fogh Sørensen 1, Esben Uth 1, Jerome Jouffroy 2, Jesper Liniger 1. Examination condition: The mandatory exercises and the project reports must be handed in on time and in accordance with requirements specified at the beginning of the semester. Content may be subject to copyright. See Photos. All content in this area was uploaded by Jerome Jouffroy on Sep 02, 2015 . JØrôme Jouffroy Center for Ships and Ocean Structures (CESOS) Norwegian University of Science and Technology (NTNU) NO-7491 Trondheim, Norway e-mail: jouffroy@ntnu. 201912 år. Real-Time Geo-Referenced Video Mosaicking with the MATISSE System . However, note that the results shown in the present paperJerome Jouffroy Denmark James B. Once communications are interrupted on a. Fossen is with the Centre for Ships and Ocean Structures (CeSOS) and the Department of Engineering Cybernetics, Norwegian. Opderbecke This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning signals (earth-fixed. 1405776 Corpus ID: 14138265; Towards on-line underwater vehicle trajectory estimation using diffusion-based observers @article{Jouffroy2004TowardsOU, title={Towards on-line underwater vehicle trajectory estimation using diffusion-based observers}, author={J{'e}r{^o}me Jouffroy and Tu Due. January 2005. A. Jerome Jouffroy J. Mads Clausen Institute. Download. Des mots justes pour un monde plus juste. Jérôme Jouffroy’s Post Jérôme Jouffroy Directeur Industriel chez COBHAM AEROSPACE COMMUNICATIONS 1y Report this post Report Report. On a historical perspective, note that results very closedAll figure content in this area was uploaded by Jerome Jouffroy. Hasan, L. Abstract. Jérôme a 11 postes sur son profil. People named Jouffroy Jérôme. degree in control systems from the University of Savoie, Annecy, France, in 1999 and 2002, respectively. I. Jouffroy, and T. This paper presents a simulation model environment for the popular and low-cost remotely operated vehicle (ROV) BlueROV2 implemented in Simulink™ which has been designed and experimentally validated for benchmark control algorithms for underwater vehicles. This also motivated a large amount of work to extend these structures to nonlinear plants, either by local or exact linearization, or by introducing robustness properties. REPUTATION 100. T1 - Methodological remarks on contraction theory. no, jerome. Jérôme Jouffroy posted a video on LinkedIn. This button displays the currently selected search type. All figure content in this area was uploaded by Jerome Jouffroy. 1041. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply con- ditions for observability. Two people are usually required for operating serpentine robot, one for pushing and twisting, and the other for controlling the tip. On a historical perspective, note that results very closedAll figure content in this area was uploaded by Jerome Jouffroy. If you love a cozy, comedic mystery, you'll love this 'whodunit' adventure. Facebook. compass is mounted on the vehicle, there is an. This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning signals (earth-fixed positions) with results of contraction theory used to prove that the observers. Agus Hasan and Jerome Jouffroy / Energy Procedia 00 (2017) 000–000 [10] F. pdf. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply con- ditions for observability. “A Tutorial on Incremental Stability Analysis using Contraction Theory” Authors: Jerome Jouffroy and Thor I. at tidevandet vender, forklarer Jerome Jouffroy. Y1 - 2004. This paper presents a globally contracting con- troller for regulation and dynamic positioning of ships, using only position measurements. Ihle, Jerome Jouffroy, Thor I. practical interest, we recall here only the main result for a moving-horizon version of the approach (see [21] and [35]). no, fossen@ieee. 0. Jerome Jouffroy. Joffroy is a surname. Jerome Jouffroy; This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. 2013. Press/Media: Press / Media. C. Data. Formation control for a fleet of. | Underwater, Observer and Motion. Fossen; This paper presents a formation modelling scheme based on a set of inter-body constraint functions and Lagrangian multipliers. Jerome Jouffroy - Google Scholar Jerome Jouffroy Professor, Center for Industrial Mechanics, University of Southern Denmark Verified email at sdu. This article presents a method for formation control of marine surface vessels inspired by Lagrangian mechanics. dk Abstract —This paper presents an accurate programmable pulse generator implementable on low-cost embedded. The proposed approach consists of a diffusion-based trajectory observer (Jouffroy and Opderbecke, 2004) processing whole segments of a trajectory. Report this post Report Report 8th IFAC Conference on Control Applications in Marine Systems Rostock-Warnemünde, Germany September 15-17, 2010 Reflexions on Feedforward Control Strategies for a Class of Sailing Vehicles Lin Xiao and Jerome Jouffroy Mads Clausen Institute University of Southern Denmark (SDU) Alsion 2, DK-6400, Sønderborg, Denmark e-mail: {xiao,jerome}@mci. Department of Mechanical and Electrical Engineering (DME) Professor, SDU Mechatronics (CIM) VIP, SDU Climate Centre. The control law. “A lot of our ProZero work- and crewboat customers will benefit from an even more safe and stable platform to work from. Petit, †Backstepping Stabilization of an Underactuated 3x3 Linear Hyperbolic System of Fluid Flow Equations†, American Control Conference, Montreal, Canada, 2012. Decentralized receding horizon control for large scale. This paper addresses the issue of estimating underwater vehicle trajectories using Gyro-Doppler (body-fixed velocities) and acoustic signals (earth-fixed positions). sdu. The methodology includes four distinct steps: the descriptions of two systems to be compared (the plant and the observer in the case of. After a short review of other methods related to modulating functions, we look at observability issues and the so-called Least-Squares observers to extend currently existing results on joint parameter and state estimation using modulating functions. dk Mechatronics control engineering. Proceedings of OCEANS 2005 MTS/IEEE. Report this post Report Report8th IFAC Conference on Control Applications in Marine Systems Rostock-Warnemünde, Germany September 15-17, 2010 Reflexions on Feedforward Control Strategies for a Class of Sailing Vehicles Lin Xiao and Jerome Jouffroy Mads Clausen Institute University of Southern Denmark (SDU) Alsion 2, DK-6400, Sønderborg,. 1 Mediebidrag. In this paper, we extend the original definition of contrac- tion theory to incorporate in an explicit manner the.