abstract: Linear Temporal Logic is gaining increasing popularity as a high level specification language for robot motion planning due to its expressive power and scalability of LTL control synthesis algorithms. This formalism, however, requires expert knowledge and makes it inaccessible to non-expert users. This thesis introduces a graphical specification environment to create high level motion plans to control robots in the field by converting a visual representation of the motion/task plan into a Linear Temporal Logic (LTL) specification. The visual interface is built on the Android tablet platform and provides functionality to create task plans through a set of well defined gestures and on screen controls. It uses the notion of waypoints to quickly and efficiently describe the motion plan and enables a variety of complex Linear Temporal Logic specifications to be described succinctly and intuitively by the user without the need for the knowledge and understanding of LTL specification. Thus, it opens avenues for its use by personnel in military, warehouse management, and search and rescue missions. This thesis describes the construction of LTL for various scenarios used for robot navigation using the visual interface developed and leverages the use of existing LTL based motion planners to carry out the task plan by a robot. / Dissertation/Thesis / M.S. Computer Science 2013

Made available in DSpace on 2016-04-26T18:16:42Z (GMT). No. of bitstreams: 1 Lais Guaraldo.pdf: 94069379 bytes, checksum: e24b8828db2e271ff4247239e9458678 (MD5) Previous issue date: 2007-10-31 / This research is concerned about the process of creating illustrations in newspapers and magazines, and aims at analysing the factors that makes the process of creating this kind of illustration something unique in the editorial context. Here, our claim is the creation of journalistic illustrations is an intelligent act, which demands the use of different cognitive levels as well as political and aesthetic positioning. Besides it also demands the use of a number of expressive resources, which are somewhat, constrained by the demands of the industry.In this research, we analysed the creative process of three Brazilian artists: Carlos Matuck, Orlando Pedroso and Samuel Casal. These three artists were chosen due to their unique way of sealing (or not) with the digital support in pieces of art produced between 1989 and 2007.The analysis of the creative process followed the methods established by the genetic criticism at Semiotic approach, both developed by the Centre of Studies of Genetic Criticism of PUCSP (CECG), coordinated by Cecília Salles. The creative work is understood here in a context of both mobility and relational network. As such, it takes place in multiple spaces, in which a number of forces interact and recreate the environment. The aim of this research is the identification of the specificity of the network that builds and is built by the creative act.Journalistic illustration is a creative act inserted in a network made by industrial constrains, lack of time, relationship with text, technical choices, graphic procedures and a negotiation of what is innovation and what is cliché.So, this research is intended to contribute to the teaching of visual arts in the field of Communication Studies, studying and advocating in favour of the intelligent act on the visual production as well as the legitimacy of this means of expression / O processo de criação de ilustrações de jornais e revistas é o tema desse trabalho, que procura analisar os fatores que singularizam o processo de criação desse tipo de produção visual e sua contextualização no universo editorial. Defende-se aqui que a criação de ilustrações jornalísticas é uma ação inteligente, que mobiliza diferentes instâncias cognitivas, envolve posicionamento crítico e estético, e mobiliza recursos expressivos, em condições de trabalho marcadas por imperativos e constrangimentos industriais.Foram analisados nessa pesquisa os processos de criação dos trabalhos de três ilustradores brasileiros: Carlos Matuck, Orlando Pedroso e Samuel Casal. A escolha desses três nomes teve como critério suas diferentes formas de lidar (ou não) com as ferramentas digitais, com produções que ocorreram entre os anos de 1989 e 2007.A análise dos processos criativos foi feita com a metodologia da crítica genética com abordagem semiótica, nos moldes desenvolvidos pelo centro de estudos de crítica genética da PUCSP (CECG), coordenado por Cecília Salles. O trabalho criativo é compreendido aqui num contexto de mobilidade e rede relacional, ocorrendo em lugares múltiplos, onde forças interagem e reconfiguram o próprio meio. O objetivo central dessa pesquisa é a identificação da especificidade dessa rede, que constrói e é construída pela ação criativa.Trata-se de uma ação criativa inserida numa trama composta de circunstâncias industriais de produção, escassez de tempo, estratégias de construção de relações com o texto, escolhas técnicas, procedimentos compositivos gráficos e negociações entre a invenção e o clichê.Pretende-se com esse trabalho contribuir para o ensino da visualidade na área da comunicação, defendendo e investigando a ação inteligente envolvida na produção visual e a legitimidade desse tipo de expressão

L'objectif des travaux présentés dans ce mémoire concerne le développement d'un modèle global représentant le couplage de l'enveloppe du bâtiment avec les équipements énergétiques. Une approche systémique appelée les Bond Graphs, peu employée jusqu'ici dans la modélisation des systèmes thermiques, est utilisée. Le modèle global du bâtiment, regroupant sous le même environnement de simulation, les modèles de l'enveloppe du bâtiment, les apports solaires, les émetteurs de chauffage et de rafraîchissement et le système de ventilation, est développé pour reconstituer l'ensemble des articulations énergétiques entre l'enveloppe et les environnements intérieur et extérieur. A travers la modélisation d'un bâtiment multizone, le couplage systémique des modèles de l'enveloppe et des apports solaires est présenté. Par ailleurs, un système combinant un plancher chauffant et un plafond rafraîchissant est étudié à l'aide des modèles des émetteurs de chauffage et de rafraîchissement. Le renouvèlement d'air dans le bâtiment est également concerné par la modélisation Bond Graph. Enfin, des éléments de validation expérimentale sont présentés. Pour cela, la plateforme de tri-génération d'énergie ENERBAT est exploitée. L'objectif est d'étudier le couplage optimal enveloppe du bâtiment - équipements énergétiques pour lequel les modèles BG sont développés. Une étude paramétrique tenant compte des interactions entre les paramètres étudiés est menée sur un projet réel de rénovation. Finalement, une combinaison appropriée des paramètres étudiés a été retenue afin de réduire la consommation énergétique selon la réglementation thermique française (RT2012) / Our works focus on the setting of reliable tools able to analyze the interaction between the building envelope and HVAC systems. The developed approach is based on Bond Graphs methodology, a graphical modeling language which is particularly suitable for energy exchanges. A numerical model gathering, under the same simulation environment, sub-models representing the building envelope, the solar gains, the floor heating, the chilled ceiling and the ventilation system, is developed in order to predict the energy interactions between these sub-systems. The multi-zone building model is developed in order to simulate and analyze the overall building thermal behavior. Then, the solar gains model is also included to predict the solar radiation exchanges in a way close to reality. The model of the heating and cooling system, combining the floor heating and the chilled ceiling, is developed in order to improve the thermal comfort of the building. Afterwards, the ventilation system is modeled in order to represent the air exchange inside the building. The experimental validation is carried out on the tri-generation unit integrated with a thermal solar system (platform ENERBAT). Furthermore, the parametrical study was realized in order to gain a better understanding according to the impact of some factors in the energy performance of the single-family building located in Meurthe-et-Moselle region (France). Optimization of several measures, such as insulation of the building envelope, type of glazing, building orientation and ventilation system, is performed to respond to the requirements of the French thermal standard (RT2012)