Use of Messaging Layer Security in a Military UAV Swarm

Forskning på flyvende dronesvermer har fått betydelig interesse de siste årene. En militær dronesverm kan utføre risikofylte oppdrag med lavere risiko for personellet, men introduserer en økt risiko for at fienden kompromitterer dronen. Svermens kommunikasjon krever beskyttelse som kan tåle kompromittering og fortsette å sørge for sikker kommunikasjon. Tidligere arbeid identifiserer Messaging Layer Security (MLS) som en løsning som sørger for at meldingenes fremtidige sikkerhet, og sikkerhet etter en kompromittering, er ivaretatt. Denne oppgaven har som mål å vise hvordan vi kan ta i bruk MLS i en fysisk dronesverm og dokumenterer utviklingen av et konseptbevis på Flamingo dronesvermen til FFI. Vi benytter Totem protokollen som en desentralisert leveringstjeneste for å gi MLS et pålitelig miljø for å kommunisere. Etter omfattende testing, fløy vi med en sverm bestående av to droner, noe som demonstrerer at MLS kan anvendes i en dronesverm. Så vidt vi vet er dette første gangen MLS har vært i luften noensinne. Vi identifiserer utfordringer som må adresseres før MLS kan benyttes i en større dronesverm. For eksempel er Cisco sitt MLS++ bibliotek sannsynligvis for ressurskrevende, spesielt for applikasjonsmeldinger. Dette er en konsekvens av at MLS ikke er utviklet for denne bruken, men for meldingstjenester.Research into Unmanned Aerial Vehicle (UAV) swarms has received significant interest over the last years. A military UAV swarm can perform high-risk missions with less risk to personnel but introduces a higher risk of an enemy compromising the drone. The swarm communication requires protection that can withstand compromise and continue providing secure communications. Previous work identifies Messaging Layer Security (MLS) as a promising solution that provides forward secrecy and post-compromise security for messages. This thesis aims to show how we can implement MLS in a real-world UAV swarm and documents the development of a proof-of-concept application on FFI’s Flamingo multi-UAV system. We implement the Totem protocol as a decentralized Delivery Service (DS) to provide a reliable communication environment for MLS. After extensive testing, we launch a swarm with two UAVs, demonstrating that MLS can be successfully employed in a UAV swarm. As far as we know, this is the first time MLS has ever taken flight. We identify challenges to address before launching MLS in a larger UAV swarm. For example, Cisco’s MLS++ library might be too resource-intensive, especially for application messages. This is a consequence of MLS not being developed for our specific use case but for messaging systems

Emergency evacuation system for all

Projecte del programa Erasmus EPSTreball desenvolupat dins el marc del programa 'European Project Semester'.A good emergency evacuation plan for buildings is a key factor for saving lives in the case of an emergency. Therefore, the purpose of the project “Emergency Evacuation System for All” is ensuring the appliance of evacuation methodology, being as efficient and effective as possible, in order to maintain a maximum amount of safety for able and disabled people. Major outcome of the project is a complete emergency evacuation system, taking all people into account for buildings with a special focus on public buildings such as university buildings. The project contains a general evacuation plan for all people, an applied evacuation plan for the main building at the Escola Politècnica Superior d'Enginyeria de Vilanova i la Geltrú, a new technical evacuation solution for buildings, a report on existing technical solutions, a training plan for emergency helpers and a business plan for La Càtedra d’Accessibilitat, a non porfit organization with the main goal to improve society standarts concering persons with disabilities

REMARKS ON SOLITARY WAVES IN EQUATIONS WITH NONLOCAL CUBIC TERMS

In this overview paper, we show existence of smooth solitary-wave solutions to the nonlinear, dispersive evolution equations of the form ∂tu +∂x(Λsu+uΛru2) = 0, where Λs,Λr are Bessel-type Fourier multipliers. The linear operator may be of low fractional order, s > 0, while the operator on the nonlinear part is assumed to act slightly smoother, r < s − 1. The problem is related to the mathematical theory of water waves; we build upon previous works on similar equations, extending them to allow for a nonlocal nonlinearity. Mathematical tools include constrained minimization, Lion’s concentration–compactness principle, spectral estimates, and product estimates in fractional Sobolev spaces.acceptedVersio

Solitary waves for dispersive equations with Coifman–Meyer nonlinearities

Using a modified version of Weinstein’s argument for constrained minimization in nonlinear dispersive equations, we prove existence of solitary waves in fully nonlocally nonlinear equations, as long as the linear multiplier is of positive and slightly higher order than the Coifman–Meyer nonlinear multiplier. It is therefore the relative order of the linear term over the nonlinear one that determines the method and existence for these types of equations. In analogy to KdV-type equations and water waves in the capillary regime, smooth solutions of all amplitudes can be found. We consider two structural types of symmetric Coifman–Meyer symbols n(ξ − η,η), and show that cyclical symmetry is necessary for the existence of a functional formulation. Estimates for the solution and wave speed are given as the solutions tend to the bifurcation point of solitary waves.acceptedVersio

OPC-UA Interface for Safety Instrumented Systems

This thesis explores the challenges and limitations of creating an OPC-UA (Open Platform Communications - Unified Architecture) server based on the OPC-UA information model for APOS developed in the autumn 2020 specialization project APOS OPC-UA[34]. The APOS[39] project at SINTEF defines a standard information model for safety instrumented systems, and the specialization project suggests how this can be realized in OPC-UA. Safety instrumented systems refer to instrumented systems in industrial settings that are exclusively used to prevent and detect dangerous events. OPC-UA is a modern standard for industrial communication and information modeling. In the field of safety instrumented systems it is important to contextualize and organize failure events in order to measure the failure rates of various field equipment types. The APOS model is developed with this in mind. Today, collecting this information involves a great deal of manual work, and so a part of APOS is also designing algorithms and standard procedures using the developed informationmodel to make this process more automatic. The specialization project suggests an OPC-UA implementation of the APOS model. This thesis is an extension of that project, and details the development of an OPC-UA server using the information model exposing industrial information from three information management systems at Aker BP: an LCI (Life Cycle Information) database running MS SQL Server, a SAP[17] (Systems, Applications, and Products in Data Processing) system, and a central repository for equipment named EqHub[12], managed by Sharecat[18]. Through this process, limitations and challenges in both the APOS project and the Aker BP source systems are identified. First, gaining automated access to the source systems is difficult, as they are in some cases not designed to be accessed in such a way. Secondly, fitting the data in the source systems to the APOS information model was generally difficult, and in some cases impossible due to inconsistent or missing data in the source systems. Finally, once access was obtained, accessing the data was slow enough that some applications of the server became impractical. Based on these challenges, concrete recommendations for the APOS project and Aker BP are suggested. The APOS project only applies to safety instrumented systems, whichmay make it more difficult to adapt in systems that structurally do not differentiate between safety functions and normal equipment; Both SAP and LCI are slow and difficult to access automatically; All three source systems have trouble with consistency, which makes automatic mapping to the OPC-UA model difficult; Finally, the information model is in some edge-cases potentially incompatible with the ISA-95 standard.Denne oppgaven identifiserer utfordringer og begrensninger i utviklingen av en OPC-UA (Open Platform Communications - Unified Architecture) server basert på OPC-UA informasjonsmodell for APOS utviklet høsten 2020 som en del av fordypningsprosjektet APOS OPC-UA. SINTEFs APOS prosjekt definerer en standard informasjonsmodell for instrumenterte sikkerhetssystemer, og fordypningsprosjektet foreslår en realisering av denne i OPC-UA. Instrumenterte sikkerhetssystemer er instrumenterte systemer i industriel sammenheng som kun brukes til deteksjon og prevansjon av farlige hendelser. OPC-UA er en moderne standard for industriell kommunikasjon og informasjonsmodellering. I sammenheng med instrumenterte sikkerhetssystemer er det viktig å kontekstualisere og organisere feil for å måle feilrater av ulike utstyrstyper. APOS-modellen er designet for dette formålet. I dag involverer innhenting av denne informasjonen mye manuelt arbeid, så deler av APOS omhandler design av algoritmer og prosedyrer for å bruke informasjonsmodellen til å automatisere denne prosessen. Fordypningsprosjketet foreslår en OPC-UA implementasjon av APOS-modellen. Denne oppgaven er en utvidelse av det prosjektet, og beskriver utviklingen av en OPC-UA server basert på denne informasjonsmodellen som henter industriell data fra tre underliggende systemer: En LCI (Life Cycle Information) database implementert med MS SQL Server, et SAP (Systems, Applications, and Products in Data Processing) system, og EqHub, et sentralt lager for utstyrsinformasjon styrt av Sharecat. Utviklingsprosessen identifiserer en rekke begrensninger og utfordringer i både APOS prosjektet og Aker BPs kildesystemer. Uthenting av informasjonen er vanskelig, siden de ofte ikke er designet for å bli lest automatisk. Videre, tilpassing av dataen i kildesystemene til APOS-modellen er generelt vanskelig, på grunn av manglende eller inkonsistent informasjon. Selv om informasjonen til slutt lot seg anskaffe var kildesystemene generelt så trege at praktisk bruk av serveren ikke var mulig. Basert på disse utfordringene foreslår oppgaven konkrete forbedringer til både APOS og Aker BP. APOS prosjektet gjelder kun for instrumenterte sikkerhetssystemer, som gjør det vanskeligere å bruke i systemer som ikke skiller klart mellom sikkerhetskritisk utstyr og vanlig utstyr. Både SAP og LCI er vanskelige å bruke og trege. Informasjonsmodellen viser seg å være potensielt inkompatibel med ISA-95 standarden i noen spesielle tilfeller

Solitary waves in equations with fully mixed nonlocal and nonlinear terms

Vi studerer eksistens av solitære bølger i to familier av pseudodifferensialligninger med ikkelokale ikkelineariteter. Ikkelineariteten er enten kubisk: $\partial_{t}u + \partial_{x}(Lu - uNu^{2})=0$ eller kvadratisk: $\partial_{t}u + \partial_{x}(Lu - T(u,u))=0$. Her er $L, N$ lineære Fourier-multiplikatorer, mens $T$ er en bilineær Fourier-multiplikator: $\widehat{T(u,u)}(\xi) =\int_{\R}p(\xi-\eta, \eta) \hat{u}(\xi-\eta)\hat{u}(\eta)\,d\eta$. Den dispersive operatoren $L$ har positiv orden, mens ordenen til $N, T$ (positiv eller negativ) er oppad begrenset av ordenen til $L$. Vi beviser at det finnes solitær-bølgeløsninger $u$ med små og store amplituder til disse ligningene ved hjelp av betinget minimering og konsentrasjons--kompakthetsprinsippet. Vi finner at løsningene er i $H^{\infty}(\mathbb{R})$ og har subkritisk bølgefart $c$. For små løsninger estimerer vi størrelsen til $|| u||_{L^{\infty}}$ og bølgefarten $c$.We study the existence of solitary waves in two classes of pseudo-differential evolution equations with fully mixed nonlinear and nonlocal terms. The nonlinearity is either cubic: $\partial_{t}u + \partial_{x}(Lu - uNu^{2})=0$ or quadratic: $\partial_{t}u + \partial_{x}(Lu - T(u,u))=0$. Here, $L, N$ are linear Fourier multipliers, while $T$ is a bilinear Fourier multiplier: $\widehat{T(u,u)}(\xi) =\int_{\R}p(\xi-\eta, \eta) \hat{u}(\xi-\eta)\hat{u}(\eta)\,d\eta$. The dispersive operator $L$ is of positive order, while the orders of $N, T$ (positive or negative) are restricted above by the order of $L$. We prove that there exist solitary-wave solutions $u$ of small and large amplitude to these equations using constrained minimization and the concentration--compactness principle. We find that the solutions are in $H^{\infty}(\mathbb{R})$ and have subcritical wave speed $c$. For small solutions, we estimate the size of \norm{u}_{L^{\infty}} and the wave speed $c$

Pedagogical reorientation and qualitative self-transformation - Teachers’ and students’ experiences with physical education informed by the Practising Model

The focus of this thesis is teaching and learning in Norwegian lower secondary school Physical Education (PE), which is informed by a pedagogical model known as the Practising Model. The overall aim of this study is to broaden our understanding of the phenomenon of practising in PE. To accomplish this task, the following overarching research question has guided the study: How do lower secondary school teachers and students experience the exploration of a PE practice informed by the Practising Model, and how can these experiences contribute to the further development of the model? Conducted as an Interactive Action Research study, this project involved close collaboration with PE teachers. As a joint venture, we have reflected upon previous practices and new possibilities, designed new teaching units, actioned them, observed the outcome, evaluated experiences, and refined our pedagogical approach before once again testing it in practice. Qualitative data were collected through the observation of 21 PE sessions, nine workshops with teachers, nine teacher interviews, 22 student interviews, and 21 student diaries. The theoretical perspectives applied comprise phenomenological philosophy, existential pedagogy, and the Joint Actions in Didactics framework. In Article 1, the most prominent finding connects to one of the teachers’ changed role enactment. The need for such a change was sparked by a reconceptualisation of established roles and teaching strategies. This led to epistemological breaches and task overload. We also identified the emergence of too many different didactic sub-milieus, each with a unique learning trajectory. This made it difficult for the teachers to provide adequate support to all students. On these grounds, we suggest that it is crucial to demarcate the overarching theme and clarify responsibility before putting such a pedagogical reform into play. The critical turning point for the teacher emerged as a conceptual shift, where he left the role of an organiser and instead pursued the role of a close, curious, and questioning teacher who drew on various teaching styles. In Article 2, we first discuss the relational aspect of practising and how three levels of intersubjectivity - primary, secondary, and narrative - affect students’ experiences. Secondly, we investigate the bodily aspect by discussing how a dialectic orientation between deliberation, conscious reflections, and embodied actions led to a creative and awakened goal-directedness that nurtured future-oriented and meaningful repetitions. This supported the development of new movement capabilities and helped students discover new ways of experiencing meaning in movement landscapes. Lastly, we address the emotional aspects, where we found that affective modes such as excitement, joy, and uncertainty worked as affordances that provided direction and meaning. Uncertainty turned out to be the essential mode to handle, where agency, just right challenges, in-depth reflections, creativity, problem-solving strategies, felt progress, and active repetitions over time emerged as crucial components for keeping uncertainty within the productive span. We conclude that educative and meaningful experiences can grow from the practising of movement capabilities. In Article 3, we show how pointing as appeal enabled teachers to relinquish control while still providing trust and responsible availability. Pointing as appeal is about appealing to, evoking, or (re)directing students’ attention, actions, or attitudes. This nurtured and supported students’ discontinuous experiences, allowing them to dwell on challenges, endure uncertainty, tensions, negativity, and discomfort and continue their search for answers. The second main finding concerns the students’ development of new movement capabilities and a patient attitude. Practising constantly threw students back onto themselves, forcing them to rethink the situation, take a stance, and continue from a different starting point. We argue that such experiences contribute to the development of a patient attitude. Furthermore, we conclude that practising appears to be able to expand the classic pedagogy of continuity by providing the conditions for discontinuity as a subjective and existential element of education. This can help students discover and develop new sides of themselves that hold significance within and beyond PE. In the narrative of this thesis, I demonstrate how our pedagogical collaboration challenges, disrupts, and changes existing practice architectures, that is, existing ways to think and talk about pedagogy, enact pedagogical ideas, and, not least, relate to each other in practical pedagogical scenarios. This shows that pedagogy informed by the Practising Model and transformed through Interactive Action Research holds the potential to provide a fresh design to the school subject of PE – a design that can break the mold of traditional practices by providing new and distinct sayings, doings, and relatings. Moreover, a revised version of the Practising Model is proposed, incorporating a fifth critical element of identifying and preserving challenges and tensions, two new experiential dimensions: patience and intersubjectivity, and suggestions concerning teachers’ operational forms. Here, I describe a tripartite division of the teachers’ possible role enactments, where pointing as appeal is considered the most appropriate for pedagogy informed by the Practising Model. Denne avhandlingens fokus er undervisning og læring i kroppsøving på en norsk ungdomsskole, informert av en pedagogisk modell kjent som Øvingsmodellen. Studiens overordnede mål har vært å utvide vår forståelse av fenomenet øving i kroppsøving og jeg har derfor stilt følgende forskningsspørsmål: Hvordan erfarer lærere og elever i ungdomsskolen å utforske en kroppsøvingspraksis informert av Øvingsmodellen, og hvordan kan disse erfaringene bidra til en videreutvikling av modellen? Studien er gjennomført som en interaktiv aksjonsforskningsstudie og har involvert et tett samarbeid med kroppsøvingslærere. Sammen har vi reflektert over tidligere praksiser og fremtidige muligheter, designet undervisningsperioder, gjennomført dem, observert utfallet, evaluert undervisnings- og læringserfaringer og finjustert vår pedagogiske tilnærming før vi igjen har testet den i praksis. Kvalitative data er samlet inn gjennom observasjon av 21 kroppsøvingsøkter, ni arbeidsmøter med lærere, ni lærerintervjuer, 22 elevintervjuer og 21 elevdagbøker. De teoretiske perspektivene som er anvendt i avhandlingen omfatter fenomenologisk filosofi, eksistensiell pedagogikk, og et didaktisk rammeverk kjent som The Joint Actions in Didactics framework. I Artikkel 1 er det mest fremtredende funnet knyttet til en av lærernes endrede rolleutøvelse. Behovet for en slik endring ble utløst av en rekonseptualisering av etablerte roller og undervisningsstrategier, noe som ledet til det vi identifiserte som epistemologiske brudd og oppgaveoverbelastning. Vi diskuterer deretter fremveksten av for mange forskjellige didaktiske submiljøer, hver og en med unike læringsløp. Et slikt pedagogisk landskap gjorde det vanskelig for læreren å gi tilstrekkelig støtte til alle elevene. På dette grunnlaget konkluderer vi med at det er avgjørende å avgrense det overordnede temaet og klargjøre ansvar før en slik pedagogisk reform settes i spill. Det kritiske vendepunktet for læreren fremsto som en konseptuell endring der han forlot rollen som organisator og i stedet inntok rollen som en nær, nysgjerrig og spørrende lærer som trakk på en rekke forskjellige undervisningsstiler. I Artikkel 2 diskuterer vi først det relasjonelle aspektet ved øving og hvordan tre nivåer av intersubjektivitet - primær, sekundær og narrativ - påvirket elevenes erfaringer. Deretter undersøker vi det kroppslige aspektet ved å diskutere hvordan en dialektisk orientering mellom grundige overveielser, bevisste refleksjoner og kroppsliggjorte handlinger førte til en kreativ og våken målrettethet. Dette støttet utviklingen av nye bevegelsesmuligheter og hjalp elevene med å oppdage nye måter å erfare mening i bevegelseslandskap. Til slutt tar vi opp de emosjonelle aspektene, der vi fant at affektive moduser som entusiasme, glede og usikkerhet fungerte som affordances (muligheter for handling) som ga retning og mening. Usikkerhet viste seg å være den viktigste følelsen å håndtere, hvor eierskap, adekvate utfordringer, dype refleksjoner, kreativitet, problemløsningsstrategier, følt fremgang og aktive repetisjoner over tid fremsto som avgjørende komponenter for å holde usikkerheten innenfor det produktive området. Vi konkluderer med at øving på ulike bevegelsesmuligheter ser ut til å skape grobunn for utdanningsmessig meningsfulle erfaringer. I Artikkel 3 viser vi hvordan peking som en appell gjør det mulig for lærere å gi fra seg kontrollen samtidig som de tilbyr en ansvarlig tilgjengelighet. Peking som en appell vil si å appellere til og (re)fokusere elevenes oppmerksomhet, handlinger eller holdninger. Dette står i kontrast til å demonstrere en “riktig” løsningen. En slik appellerende undervisningsstil næret og støttet elevenes diskontinuerlige erfaringer og tillot dem å dvele ved utfordringer, stå i usikkerhet, spenning og negativitet og fortsette å lete etter løsninger. Det andre hovedfunnet i denne artikkelen omhandler elevenes utvikling av nye bevegelsesmuligheter og en tålmodig holdning. Øvingsprosesser kastet elevene tilbake på seg selv, tvang dem til å tenke på nytt om en situasjon, ta et standpunkt og fortsette fra et annet utgangspunkt. Vi argumenterer for at dette bidrar til nye kroppslige holdninger hos elevene. Videre konkluderer vi med at øving ser ut til å kunne utvide den klassiske pedagogikken, tuftet på kontinuitet, ved å gi betingelsene for diskontinuitet som et subjektivt og eksistensielt element av elevenes utdanning. Dette kan støtte elever i å oppdage og utvikle nye sider ved seg selv som har betydning både innenfor og utenfor kroppsøvingsfaget. I avhandlingens kappe demonstrerer jeg hvordan vårt pedagogiske samarbeid utfordrer og endrer eksisterende praksisarkitekturer, det vil si eksisterende måter å tenke og snakke om pedagogikk, gjennomføre pedagogiske ideer og ikke minst forholde seg til hverandre i praktiskpedagogiske scenarier. Dette viser at pedagogikk, informert av Øvingsmodellen og transformert gjennom interaktiv aksjonsforskning, har potensialet til å bryte med de tradisjonelle praksisene i faget gjennom å tilføre nye og distinkte verdier, uttrykk, handlinger og relasjoner. Videre foreslås en revidert versjon av Øvingsmodellen, som inkluderer et femte kritisk element; å identifisere og bevare utfordringer og spenninger, to nye erfaringsdimensjoner: tålmodighet og intersubjektivitet, og forslag til lærernes undervisningsformer. Her beskriver jeg en tredelt inndeling av lærernes rolleutøvelse, der peking som en appell anses som den mest fruktbare for pedagogikk informert av Øvingsmodellen.publishedVersio

A Computational Method For The Analysis Of Magnetic Resonance Images Using Morphological Analysis

Neurodegenerative diseases are an increasingly significant source of health problems in recent years. The prevalence and severity of these diseases is only expected to grow with the aging of the population. There is a large and and growing research effort to understand, diagnose and develop treatments for this class of diseases. Many of these diseases are not well understood, and there is a dearth of approved biomarkers and other techniques to definitively diagnose these diseases. The field of computational neuroimaging has been developed as part of the effort to study and diagnose these diseases. This field has undergone explosive growth in recent years due to advances in magnetic resonance imaging techniques, high performance computation, image processing algorithms, and machine learning techniques. A wide variety of software packages have been created to analyze neurological images, with new packages being regularly added. Numerous analysis approaches have been employed, including traditional image processing techniques, statistical algorithms, machine learning techniques, morphological analysis, and various combinations of these approaches. This dissertation presents a new technique in the field of computational neuroimaging to perform morphological analysis of brain images. This new technique has been named Radial Fiber Atrophy (RFA), and is an extension to traditional Tensor Based Morphometry (TBM). Statistical analysis of the RFA metric has been performed using data sets from the Parkinson’s Progression Marker Initiative (PPMI). Results of this analysis have shown that the RFA metric is capable of indicating statistical differences related to the future progression of Parkinson’s Disease (PD). Progression of PD is a significant research area that has traditionally resisted solution. It is anticipated that this RFA metric should be highly applicable to research into many other neurodegenerative diseases, and may be potentially useful as part of the diagnosis processes in individual patients

Solitary waves for dispersive equations with Coifman-Meyer nonlinearities

Using a modified version of Weinstein's argument for constrained minimization in nonlinear dispersive equations, we prove existence of solitary waves in fully nonlocally nonlinear equations, as long as the linear multiplier is of positive and slightly higher order than the Coifman-Meyer nonlinear multiplier. It is therefore the relative order of the linear term over the nonlinear one that determines the method and existence for these types of equations. In analogy to KdV-type equations and water waves in the capillary regime, smooth solutions of all amplitudes can be found. We consider two structural types of symmetric Coifman-Meyer symbols $n(\xi-\eta,\eta)$, and show that cyclical symmetry is necessary for the existence of a functional formulation. Estimates for the solution and wave speed are given as the solutions tend to the bifurcation point of solitary waves.Comment: 39 page

Practising in physical education: A phenomenologically grounded study of student experiences

This is an Open Access article distributed under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives License (http://creativecommons.org/licenses/by-nc-nd/4.0/), which permits non-commercial re-use, distribution, and reproduction in any medium, provided the original work is properly cited, and is not altered, transformed, or built upon in any way. The terms on which this article has been published allow the posting of the Accepted Manuscript in a repository by the author(s) or with their consent.This study investigates 10th-grade students’ experiences with physical education (PE) units informed by a pedagogical model called the practising model (PM). We apply a theoretical framework that integrates core concepts from phenomenology with empirical investigations of experience by focusing on structures of human existence, such as embodiment, intentionality, intersubjectivity, affectivity, and temporality. Based on qualitative data from observations of 21 PE sessions, 22 student interviews, and the students’ diaries, we discuss three key findings: First, we look into the relational aspect of practising and discuss how three levels of intersubjectivity – primary, secondary, and narrative – affect students’ experiences. Second, we investigate the bodily aspect of practising by discussing how a dialectic orientation between deliberation, conscious reflections, and embodied actions led to a creative and awakened goal-directedness that nurtured future-oriented and meaningful repetitions. This supported the development of new movement capabilities and helped students discover new ways of experiencing meaning in movement landscapes. Lastly, we address the emotional aspects of practising, where we found that affective modes such as excitement, joy, and uncertainty worked as affordances that provided direction and meaning. Uncertainty turned out to be the essential mode to handle for both students and the teacher. Agency, just right challenges, in-depth reflections, creativity, problem-solving strategies, felt progress, and active repetitions over time emerged as crucial components for keeping uncertainty within the productive span. In short, the findings from this study qualify our knowledge of the experience of practising and throw new light on the process in which educative and meaningful experiences can grow from the practising of capabilities.publishedVersionInstitutt for lærerutdanning og friluftslivsstudier / Department of Teacher Education and Outdoor Studie