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[pt] Esta dissertação tem por objetivo analisar a liberdade religiosa e a liberdade de expressão ambos como normas fundamentais, cláusulas pétreas do Estado Constitucional Democrático de Direito, em face da também constitucional laicização do Estado moderno, analisando os limites desta se suas respectivas efetividades partindo do princípio da liberdade religiosa, tendo em vista que tal relacionamento entre ambas é composta de colisões. A pesquisa mostrará a dimensão da experiência religiosa do homem como fundamento material e a função da religião como sistema social, um breve panorama histórico da relação entre Estado e religião no início da era cristã até o processo de laicização do Estado Moderno, liberdade religiosa e a liberdade de expressão na Constituinte de 1988, até onde pode ir um discurso de um líder religioso de matriz cristã revestido pela liberdade religiosa e da liberdade de expressão e também algumas propostas para estas situações problemáticas da prática jurídica contemporânea, refletindo sobre possíveis encaminhamentos no sentido da efetivação da liberdade religiosa em consonância com a laicização do Estado Democrático de Direito. / [en] This dissertation aims to analyze religious freedom and freedom of expression, both as fundamental norms, essential clauses of the Democratic Constitutional State of Law, in the face of the also constitutional secularization of the modern State, analyzing the limits of this and their respective effectiveness based on the principle of religious freedom, considering that such a relationship between the two is composed of collisions. The research will show the dimension of man s religious experience as a material foundation and the function of religion as a social system, a brief historical overview of the relationship between State and religion from the beginning of the Christian era to the secularization process of the Modern State, religious freedom and the freedom of expression in the 1988 Constituent Assembly, how far can a speech by a religious leader of a Christian matrix go, covered by religious freedom and freedom of expression and also some proposals for these problematic situations of contemporary legal practice, reflecting on possible referrals towards the realization of religious freedom in line with the secularization of the Democratic State of Law.

Autonomous robots have the potential to accomplisha wide variety of assignments. For this to work in reality, therobots need to be able to perform specific tasks while safety forboth them and their environment is ensured. Signal temporallogic (STL) was used to define timed tasks for the agents toperform and control barrier functions (CBFs) were used to designa controller for their movements. In this paper, a set of STL taskswere considered, which two robots were instructed to satisfy in asimulation of a warehouse environment. The two agents startednext to each other, then the set of tasks instructed them to move totwo separate areas, then meet up again and move in a formationback towards their starting area. Control barrier functions wereemployed to ensure the satisfaction of the set of STL tasks.The agents designed their actions towards satisfying the giventasks without considering a safety distance to the other robot atfirst. To later ensure safety, a collision avoidance mechanism wasintroduced. The scenario without collision avoidance proved moreeffective paths for the agents. They moved to satisfy the tasks withless disturbance than the scenario where collision avoidance wasconsidered. However, the scenario with the collision avoidancemechanism proved successful and the agents satisfied their taskswithout colliding with each other. / Autonoma robotar har potential att utföra en stor mängd olika uppgifter. För att detta ska fungera i verkligheten, behöver robotarna kunna genomföra specifika uppgifter medans både deras egen och omgivningens säkerhet är säkerställd. Signal temporal logic (STL) användes för att definiera tidsinställda uppgifter åt robotarna att utföra och control barrier functions (CBFs) användes för att designa en controller för deras rörelser. I den här rapporten betraktades en uppsättning av STL-uppgifter, vilka två robotar instruerades att uppfylla i en simulering av en lagermiljö. De två robotarna startade bredvid varandra, sen instruerade STL-uppgifterna dem att röra sig till två separata områden, sen mötas upp igen och röra sig i formation tillbaka mot sitt startområde. Control barrier functions användes för att garantera uppfyllandet av STL-uppgifterna. Robotarna anpassade sina rörelser till att uppfylla de givna uppgifterna, först utan hänsyn till någon säkerhetsmarginal till den andra roboten. För att senare garantera säkerhet introducerades en extra mekanism för att undvika kollision. Scenariot utan att undvika kollision visade på effektivare rörelsebanor hos robotarna. De rörde sig mot att uppfylla uppgifterna med färre störningar än scenariot då kollision aktivt undveks. Scenariot med mekanismen för att dock framgångsrikt och robotarna e sina uppgifter utan att kollidera med varandra. / Kandidatexjobb i elektroteknik 2021, KTH, Stockholm