As a mega-city and the most populated city in Africa, Cairo is characterised by a high birth rate, escalating rural-urban migration and where the socio-economic services are centralized and overwhelmed, these generally poor migrants have no choice other than to create and develop their own informal shelter in the outer city areas that lay farthest from the reach of the authorities and from where they then search for better job opportunities. The expansion of these slum areas places an extra burden on the already deteriorated natural and unplanned urban environments. No government or public sector mass production housing units . inherited from the former socialist system . have been able to cope with the magnitude of housing demand nor is the private sector interested in investing in a non-profitable market. At this juncture there is an urgent requirement for new ways of thinking that address the realities of the situation and consider integrated socioeconomic long-term solutions for the informal settlements. Under the Egyptian-German Cooperation, GTZ (Deutsche Gesellschaft fur Technische Zusammenarbeit) proposed the Participatory Urban Upgrading Program as a possible means of addressing the problem which is based on stimulation, promotion and effective participation of local communities in the upgrading process. The Participatory Urban Upgrading Program operates at two levels, (i) the local level: through .Demonstration projects. to be applied to a limited geographical area. Ezbet Bekhit Demonstration Project is the case of the present study and (ii) the national level: the experiences gained through several .Demonstration Projects. will give substance, and thereby prominence to the participatory approach, so that the Program has an increasingly beneficial impact on the national policy. The experiences gained from Ezbet Bekhit Upgrading Project will offer the opportunity to examine the main concept expressed by the Program and increase the prospects of having an impact on the urban upgrading policy at the national level. The current study attempts to develop and assess the overall Participatory Upgrading Programme and Ezbet Bekhit Project within a framework of benchmarks extracted from the program concept. At the Project level, the focus of thesis analysis is based on aspects that explain the Project’s approach to solving basic problems. Attention is placed on the involvement of local inhabitants in the solutions at the planning and implementation levels. A Model of Community Participation is proposed for application in a selected upgrading component. The Model is based on the .Community Action Planning., which has been developed by Hamdi and Goethert as an appropriate planning tool that can stimulate and organize a non-cohesive community type. At the Program level, recommendations are presented in this study, which have been extracted from the main pillars of the Program concept and characterized the driving forces influencing the main objectives and orientating the goals of the upgrading projects. It is contended that an in-depth understanding and analysis of the specific socio-economic conditions and the community profile of the selected informal settlements; together with an explicit governmental policy supporting the Participatory Urban Upgrading Approach will enhance the success of Participatory Projects.

Abstract In this thesis, we consider autonomous environmental modelling, where robotic sensing platforms are utilized in environmental surveying. In order to allow a wide range of different environments, our models must be flexible to the data with some a prior assumptions. Respectively, in order to guide action planning, we need to have a unified sensing quality metric that depends on the prediction quality of our models. Finally, in order to be able to adapt to the observed information, at each iteration of the action planning algorithm, we must be able to provide solutions that aim at minimum travelling time needed to reach a certain level of sensing quality. These are the main topics in this thesis. At the center of our approaches are stationary and non-stationary Gaussian processes based on the assumption that the observed phenomenon is due to the diffusion of white noise, where diffusion kernel anisotropy and scale may vary between locations. For these models, we propose adaptation of diffusion kernels based on a structure tensor approach. Proposed methods are demonstrated with experiments that show, assuming sensor noise is not dominating, our iterative approach is able to return diffusion kernel values close to correct ones. In order to quantify how precise our models are, we propose a mutual information based sensing quality criterion, and prove that the optimal design using our sensing quality provides the best prediction quality for the model. To incorporate localization uncertainty in modelling, we also propose an approach where a posterior model is marginalized over sensing path distribution. The benefit is that this approach implicitly favors actions that result in previously visited or otherwise well-defined areas, meanwhile, maximizing the information gain. Experiments support our claims that our proposed approaches are best when considering predictive distribution quality. In action planning, our approach is to use graph-based approximation algorithms to obtain a certain level of model quality in an efficient way. In order account for spatial dependency and active localization, we propose adaptation methods that map sensing quality to vertex prices in a graph. Experiments demonstrate the benefit of our adaptation methods compared to the action planning algorithms that do not consider these specific features. / Tiivistelmä Tässä väitöskirjassa tarkastellaan autonomista ympäristön mallinnusta, missä ympäristön kartoitukseen hyödynnetään robottimittausalustoja. Erilaisia ympäristöjä varten, käytettävien mallien tulee olla joustavia datalle tietyillä a priori oletuksilla. Mittausalustojen ohjaus vaatii vastaavasti yhtenäisen, mallien ennustuslaadusta riippuvan, kartoituksen laatumetriikan. Mukautuakseen uuteen informaatioon, ohjausalgoritmin tulee lisäksi pyrkiä joka iteraatiolla minimoimaan tietyn kartoituksen laadun saavuttava kulkuaika. Nämä ovat tämän väitöskirjan pääaiheet. Tämän väitöskirjan keskiössä ovat sellaiset stationaariset ja ei-stationaariset Gaussin prosessit, jotka perustuvat oletukseen että havaittu ilmiö johtuu valkoisen kohinan diffuusiosta. Diffuusiokernelin anisotrooppisuudelle ja skaalalle sallitaan paikkariippuvaisuus. Tässä väitöskirjassa esitetään näiden mallien mukauttamiseen rakennetensoripohjaisia menetelmiä. Suoritetut kokeet osoittavat, että esitetyt iteratiiviset mukauttamismenetelmät tuottavat lähes oikeita diffuusiokernelien arvoja, olettaen, että sensorikohina ei dominoi mittauksia. Mallien ennustustarkkuuden määrittämiseen esitetään keskinäisinformaatioon perustuva kartoituksen laatumetriikka. Väitöskirjassa todistetaan, että optimaalinen ennustuslaatu saavutetaan käyttämällä esitettyä laatumetriikkaa. Väitöskirjassa esitetään lisäksi laatumetriikka, jossa posteriori malli on marginalisoitu kartoituspolkujen jakauman yli. Tämän avulla voidaan huomioida paikannusepävarmuuden vaikutukset mallinnuksessa. Tällöin etuna on se, että kyseinen laatumetriikka suosii implisiittisesti sellaisia mittausalustojen ohjauksia, jotka johtavat aeimmin kartoitetuille tai helposti ennustettaville alueille samalla maksimoiden informaatiohyödyn. Suoritetut kokeet tukevat väittämiä, että väitöskirjassa esitetyt menetelmät tuottavat parhaan ennustusjakauman laadun. Mittausalustojen ohjaus vaatii vastaavasti yhtenäisen, mallien ennustuslaadusta riippuvan, kartoituksen laatumetriikan. Väitöskirjassa esitetään mukautusmenetelmiä kartoituksen laadun kuvaukseksi graafin solmujen kustannuksiksi. Tämän avulla sallitaan sekä spatiaalinen riippuvuus että aktiivinen paikannus. Mittausalustojen ohjaus vaatii vastaavasti yhtenäisen, mallien ennustuslaadusta riippuvan, kartoituksen laatumetriikan.

An entity capable of assessing its and others action capabilities possess the power to predict how the involved entities may change their world. Through this knowledge and higher level of situation awareness, the assessing entity may choose the actions that have the most suitable effect, resulting in that entity’s desired world state. This thesis covers aspects and concepts of an arbitrary planning system and presents a threat analyzer architecture built on the novel planning system Goal-Oriented Action Planning (GOAP). This planning system has been suggested for an application for improved missile route planning and targeting, as well as being applied in contemporary computer games such as F.E.A.R. – First Encounter Assault Recon and S.T.A.L.K.E.R.: Shadow of Chernobyl. The GOAP architecture realized in this project is utilized by two agents that perform action planning to reach their desired world states. One of the agents employs a modified GOAP planner used as a threat analyzer in order to determine what threat level the adversary agent constitutes. This project does also introduce a conceptual schema of a general planning system that considers orders, doctrine and style; as well as a schema depicting an agent system using a blackboard in conjunction with the OODA-loop.

Current research indicates that the potential risks associated with human-induced climate change are likely to increase in frequency and intensity. Although there have been several attempts, no effective international treaty or policy has been enacted by the United States with the purpose of combating this global issue. In the past decade, local climate action plans (CAPs) have emerged as a planning solution designed to reduce greenhouse emissions (GHGs). Previous studies have examined CAP attributes, but no research has focused solely on climate planning in politically conservative jurisdictions. This research finds that of 245 CAPs completed to date nationally, approximately 90 percent are located in communities identified as politically Democratic based on county level 2012 Presidential Election data. In order to expand climate planning in politically conservative communities, it is important evaluate the characteristics of CAPs in these communities. This thesis aims to fill the current research gap by analyzing CAPs and conducting stakeholder interviews in seven conservative communities. The central hypothesis is: Climate action plans adopted in conservative communities differ in motivations, type, and political backing, when compared to climate action plans in general. The findings of this case study indicate that CAPs created in conservative communities do not differ substantially from CAPs in general. However, the findings suggest political opposition is heightened in these communities. In addition, the evidence shows that in conservative communities: economic co-benefits are stressed, cost-saving measures are over emphasized, CAP terminology is altered, business community involvement is crucial, and state mandates motivate CAP creation. The results of this research are distilled into 12 lessons and best practices for planning practitioners, and establish a basis for future research focusing on the political nature of climate action planning.

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