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Inertial Measurement Unit (IMU) and Global Positioning System (GPS) receivers are sensors that are widely used for land vehicle navigation. GPS receivers provide position and/or velocity data to any user on the Earth&rsquo / s surface independent of his position. Yet, there are some conditions that the receiver encounters difficulties, such as weather conditions and some blockage problems due to buildings, trees etc. Due to these difficulties, GPS receivers&rsquo / errors increase. On the other hand, IMU works with respect to Newton&rsquo / s laws. Thus, in stark contrast with other navigation sensors (i.e. radar, ultrasonic sensors etc.), it is not corrupted by external signals. Owing to this feature, IMU is used in almost all navigation applications. However, it has some disadvantages such as possible alignment errors, computational errors and instrumentation errors (e.g., bias, scale factor, random noise, nonlinearity etc.). Therefore, a fusion or integration of GPS and IMU provides a more accurate navigation data compared to only GPS or only IMU navigation data. v In this thesis, loosely coupled GPS/IMU integration systems are implemented using feed forward and feedback configurations. The mechanization equations, which convert the IMU navigation data (i.e. acceleration and angular velocity components) with respect to an inertial reference frame to position, velocity and orientation data with respect to any desired frame, are derived for the geographical frame. In other words, the mechanization equations convert the IMU data to the Inertial Navigation System (INS) data. Concerning this conversion, error model of INS is developed using the perturbation of the mechanization equations and adding the IMU&rsquo / s sensor&rsquo / s error model to the perturbed mechanization equation. Based on this error model, a Kalman filter is constructed. Finally, current navigation data is calculated using IMU data with the help of the mechanization equations. GPS receiver supplies external measurement data to Kalman filter. Kalman filter estimates the error of INS using the error mathematical model and current navigation data is updated using Kalman filter error estimates. Within the scope of this study, some real experimental tests are carried out using the software developed as a part of this study. The test results verify that feedback GPS/INS integration is more accurate and reliable than feed forward GPS/INS. In addition, some tests are carried out to observe the results when the GPS receiver&rsquo / s data lost. In these tests also, the feedback GPS/INS integration is observed to have better performance than the feed forward GPS/INS integration.

In this study, a parametric model for a main battle tank electric gun turret drive system stabilization controller has been developed. Main scope was the study of the muzzle deviation due to barrel flexibility. Traverse and elevation dynamics has been modeled to include the drive-line and barrel flexibilities. Order of the models has been kept large enough to cover the frequencies dominant in the interest scope but at the same time low enough to create a parametric model which can be used in real-time fire control computers. Therefore a 5-dof elevation and a 7-dof traverse models have been implemented. These models have been used to design a classical feedback and feedforward controllers which performed good enough to meet 0.5mrad stabilization accuracies. After satisfactory results have been obtained from the stabilization controller, a special coincidence algorithm has been implemented by time-series analysis of the disturbance signal which is constantly being measured by the feedforward gyro. Necessity of predicting the future muzzle angular orientation due to the latency in fire is discussed and by using autoregressive modeling of the disturbance signal, future values of the disturbance signal has been entered into the observer model. The prediction horizon has been set to the time delay value between the trigger is pulled by the gunner and the ammunition exit from the muzzle. By checking the future coincidence within a very narrow windowing (0.05mrad) a 100% first round hit probability in theory has been achieved. This is assured since the coincidence inhibited the fire signals which were to miss the aiming point with a large error.

This doctoral study aims to develop a methodology for use in determining aerodynamic models and parameters from actual flight test data for different types of autonomous flight vehicles. The stepwise regression method and equation error method are utilized for the aerodynamic model identification and parameter estimation. A closed loop aerodynamic parameter estimation approach is also applied in this study which can be used to fine tune the model parameters. Genetic algorithm is used as the optimization kernel for this purpose. In the optimization scheme, an input error cost function is used together with a final position penalty as opposed to widely utilized output error cost function. Available methods in the literature are developed for and mostly applied to the aerodynamic system identification problem of piloted aircraft / a very limited number of studies on autonomous vehicles are available in the open literature. This doctoral study shows the applicability of the existing methods to aerodynamic model identification and parameter estimation problem of autonomous vehicles. Also practical considerations for the application of model structure determination methods to autonomous vehicles are not well defined in the literature and this study serves as a guide to these considerations.

This dissertation argues that Paul’s apostolic mission to the Gentiles was the definitive expression of his divine vocation as an Israelite, and thus of his Jewish identity. For many of Paul’s Jewish contemporaries, Israel’s divine vocation was to keep and to teach the precepts of the Law of Moses as an exemplary witness to God’s power and wisdom. For Paul, however, Jewish identity was expressed primarily by preaching the gospel of Christ, as the fulfilment of the Law of Moses, to the Gentiles. This is seen most clearly in Paul’s letter to the Romans. In chapter 1, we summarize our methodology: we are seeking to examine Paul’s Jewish identity by reading Paul’s letters (especially Romans), in light of other second-temple Jewish texts, using certain insights from social identity theory. We show that the concept of vocation is an important dimension of Jewish identity, especially in Paul’s letters. We also discuss some prior approaches to the question of Paul’s Jewishness, demonstrating both their value and also their limitations for our purposes. In chapter 2, we survey three key aspects of Paul’s explicit language of Jewish identity in his letters: Jewish distinctiveness, divine revelation and divine vocation. In chapter 3, we demonstrate that Paul deliberately frames his letter to the Romans (Rom 1:1–15, 15:14–33) by presenting his apostolic ministry as the fulfilment of positive scripturally-based eschatological expectations concerning Israel’s divine vocation with respect to the nations. We also compare Paul’s self-presentation in the outer frame of Romans with other first-century expressions of Jewish vocation. In chapter 4, we concentrate on Rom 2:17–29. Contrary to most interpretations which read this passage as a discussion about the nature of (Jewish or Christian) salvation, we argue that Paul deliberately sets this passage in the context of the mainstream Jewish synagogue, in order to contest the nature of Jewish vocation. In chapter 5, we examine Rom 9–11 from the perspective of Jewish vocation. We demonstrate that in Rom 9–11, Paul presents his own apostolic vocation, in various ways, as a contrast to, a fulfilment of, and a means of hope for Israel’s place and role in God’s worldwide purposes.

Véritable théologoumène, l’imago Dei apparait comme un thème majeur de la théologie qui permet d’élaborer une anthropologie théologique. Aussi l’imago Dei a pu connaitre plusieurs interprétations dans l’histoire. Ainsi est-il est possible d’identifier deux grandes catégories d’anthropologies théologiques dans le christianisme contemporain : une anthropologie dite « substantialiste » et une anthropologie dite« relationnelle ». Selon l’anthropologie théologique que l’on rencontre le plus fréquemment, l’homme est défini par une propriété qui lui est commune avec Dieu comme l’intelligence ou la faculté d’aimer. Le but de cette thèse est de montrer, à travers le prisme de l’anthropologie relationnelle sans concession de Jean Ansaldi qui interroge sans cesse la légitimité même de l’imago Dei comme fondement biblique d’une anthropologie chrétienne, que cette anthropologie qui semble la plus classique n’est en fait qu’une parenthèse dans l’histoire du christianisme qui, de l’écriture de la Bible jusqu’à la théologie contemporaine, perçoit l’être humain avant tout comme vis-à-vis de Dieu, altérité représentant le Tout Autre, être qui est relation comme Dieu est en lui-même relation. / Theologoumenon true, imago Dei appears as a major theme of theology that allows to develop a theologica anthropology. Imago Dei also could know several interpretations in history. Thus it is possible to identify two broad categories of theological anthropology in contemporary Christianity : a so-called "substantialist" anthropology and called "relational" anthropology. According to theological anthropology that the most frequently encountered, man is defined by a property that is common with God as the intelligence or the ability to love. The aim of this thesis is to show, through the prism of relational anthropology uncompromising Jean Ansaldi who constantly questions the legitimacy of imago Dei as a biblical foundation of a Christian anthropology, anthropology seems that the classic is actually a parenthesis in the history of Christianity, writing of the Bible to contemporary theology sees the human being as primarily vis-à-vis God alterity while representing the Other, which is being relationship as God is in himself relationship.

Projektet utforskar rådande maktbalans mellan staden och landsbygden, och riktar kritik åt den dominerande urbana normen. Ur en sarkastisk vinkel implementeras kasinot som medel för landsbygden att hävda sig mot staden i en värld styrd av kapital. Kasinot används som en symbol för den kapitaldrivna och ofta moraliskt ifrågasättbara världsutvecklingen, och genom denna allusion söker projektet ifrågasätta i vilken utsträckning målet om tillväxt kan tillåtas helga de allt mer extrema medel som används för att nå dit. Projektets tematik utvecklades som ett svar på det av skolan ställda kravet att rita en hybridbyggnad innehållandes ett folkets hus och ett egenvalt plusprogram omfattande totalt 2000 kvadratmeter på landsbygden i Nynäshamns kommun. Då den största delen av produktraffineringen som tidigare skedde i Sorunda, där projektet tar plats, har tvingats lägga ner på grund av centralisering uppstod en svårighet att finna ett trovärdigt plusprogram som kunde ge skäl för ett folkets hus. Då orten dessutom drabbas kraftigt av av den ökade lastbilstrafiken som Stockholm stads omläggning av Frihamnen till Nynäshamn har gett upphov till kom frågan om urban norm att hamna i fokus, och projektet att kretsa kring landsbygdens möjligheter att parasitera på samma maktförhållanden som den förtrycks av. / This project explores the current power dynamic between urban and rural, and aims to critique the domineering urban norm. From a sarcastic point of view the casino is implemented as a means for the countryside to assert power over the city in a world ruled by capital. The casino is used as a symbol for the capital-driven and often morally questionable world development. Through this allusion the project seeks to question to what extent the goal of growth should be allowed to justify the ever more extreme means used to achieve this end. The thematic of the project was developed as an answer to the schools requirement to design a hybrid building containing a peoples house and a self chosen plus-programme to an extent of 2000 metres squared in Nynäshamn municipality. As most of the product refinement that used to exist in Sorunda, where the project takes place, har been forced to shut down due to centralisation there was an issue with finding a feasible plus-programme that could support the peoples house-function. Further, as the region has been heavily affected by the increasing heavy traffic caused by Stockholm Stads relocation of Frihamnen to Nynäshamn, the question of urban norm came into focus, and the project was oriented towards the possibility for the countryside to parasitize on the same power structures that oppress it.

No description available.

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