Ce travail porte sur la conception d’un système capable d’effectuer des manœuvres de parking automatique plus polyvalent que ceux actuellement commercialisés, tout en conservant une définition technique des capteurs extéroceptifs limités en prix et en gabarit. Un cas d’usage typique est de permettre au véhicule de se rendre automatiquement dans la zone de garage du domicile de son propriétaire, cette fonction est classiquement appelée voiturier autonome à domicile. Partant de l’existant et connaissant les performances attendues, une architecture système et une architecture fonctionnelle ont été tracées. Cela a permis de constituer un ensemble de fonctions interconnectées qui ont participé dans la création d’une architecture software modulaire ainsi que dans la création des interfaces de connexion au véhicule prototype. Dans un premier temps, nous explorons la problématique de la détection d’obstacles. Partant d’un système propriétaire fermé de capteurs ultrason, nous avons réussi à réaliser une carte d’obstacle à un niveau de précision supérieur au produit d’origine. Une augmentation de la limite de détection des capteurs ultrason a été réalisée utilisant une technique Structure from Motion. Ces informations d’occupation ont été exploitées par la suite pour traiter la problématique de détection du couloir de navigation. Dans un second temps, la fonction de localisation du véhicule est abordée. Trois techniques de localisation collaborent pour une robustesse de fonctionnement continu : la localisation odométrique, la localisation par appariement des grilles d’occupation et la localisation par appariement entre une image actuelle et une base d’images adaptée à notre besoin et améliorée en termes de temps de calcul. Enfin, nous nous sommes intéressés à la problématique de navigation du véhicule. Nous avons considéré résolue la problématique de contrôle des actionneurs pour le suivi d’une trajectoire donnée et nous nous sommes concentrés sur la création d’une trajectoire admissible. Nous avons développé une technique de planification locale pour l’évitement d’un d’obstacles non cartographiés. Pour la construction de trajectoire nous avons utilisé des courbes à géométrie connue et avons montré qu’en utilisant trois clothoïdes et éventuellement deux arcs de cercle (si le braquage maximal est atteint) il est possible de créer des trajectoires à courbure continue adaptées à notre situation. Nous avons montré que l’utilisation d’une carte d’obstacles nous permet de prédire plus en avance de la possibilité d’emprunter un certain couloir de navigation. Chacune des parties de ce travail a fait l’objet de validations en simulation mais aussi sur des données réelles démontrant la pertinence des approches proposées quant à l’application visée. / This work covers the conception of a system capable to do automatic parking maneuvers more versatile than those already commercialized, respecting the technical definition of exteroceptive sensors limited by costs and weight. A typical use case is to set a vehicle to park autonomously in the parking lot of a home, function generally called autonomous home valet parking. Taking from the existing and knowing the expected performances, a system architecture and a functional architecture were drawn. This allowed to compose an assembly of interconnected functions that participated in the creation of modular software architecture, as well as in the creation of connection interfaces with the prototype vehicle. First, we explored the obstacle detection problem. Having a closed property system with ultrasonic sensors, we managed to build an obstacle map with a higher precision level than the build-in product. An increasing limit detection of the ultrasonic sensors was developed using the Structure from Motion technique. This obstacle occupancy information was exploited afterwards in order to solve the detection problem of the navigation corridors. Second, the vehicle localization is addressed. Three localization techniques work for a continuous functioning robustness: the localization by odometry, the localization by occupancy grid map matching and the localization by comparing the current image with the images stored in a database adapted to our needs and improved by computing means. Last, we interested in the vehicle navigation problem. We considered solved the actuator control problem for the tracking of a given trajectory and we concentrated on an admissible trajectory planning. We developed a local path planning technique for avoiding the unmapped obstacles. In order to build the trajectory we used curves of known geometry and we proved that by using clothoides and eventually two circle arches (if maximum steering angle achieved) it is therefore be possible to create trajectories with continuous curves adapted to our situation. We confirmed that using an obstacle map will allow us to predict forehead the possibility to take a specific navigation corridor. Each part of this work was validated in simulation as well as on real data, proving the pertinence of the proposed approaches for the intended application.

The aim of this thesis is to examine the spatial effects of city regulations and practices upon one urban function - parking and the parking garage. This follows the conviction that the study of urban structure can be best achieved through a spatial analysis of the individual sites that create urban structure rather than through the creation of generalized urban land use models. The study is organized around one central hypothesis: (i) The external and internal spatial arrangements of automobile parking garages are effectively regulated by city planning decisions and city by-law provisions. A review of existing city regulatory methods concerning automobile parking garages showed that external site features of parking garages are regulated through zoning by-law provisions, and transportation and redevelopment or renewal planning decisions; that internal site features, in addition to the above, were subjected to city building by-laws; and that both the external and internal site features were indirectly regulated through city approaches to the administrative and financial aspects of a parking program. The analysis of regulations showed one area in which regulations were particularly stringent. This is the sale of gasoline and oil products and the provision of service and repair facilities inside automobile parking garages. Two subsidiary-hypotheses were therefore considered: (ii) The sale of gasoline and oil products and the provision of automobile service and repair facilities inside automobile parking garages are both a desirable and a safe use of space within these structures. (iii) The sale of gasoline and oil products and the provision of automobile service and repair facilities inside automobile parking garages leads to a conflict between actors at the municipal and industrial levels that can only be resolved by the adoption of similar planning goals by city decision-makers. The analysis of sections of National building and fire codes for Canada and the United States and various city building by-laws revealed that there exists differences between the two countries’ national codes as well as differences between building by-laws for various cities. American codes and by-laws permit inside gasoline dispensing units and service and repair facilities within parking garages, whereas Canadian codes and by-laws do not. All three hypotheses were tested in a case study of Vancouver, B.C. An examination of relevant sections of the building and zoning by-laws revealed that the City has many restrictions on parking garages, specifically in regard to the inside location of gasoline pumps and repair facilities. These regulations create a contentious issue between industry and City officials, because the industry recognizes that a demand exists for various automobile-oriented products and services, yet the City’s building and zoning by-law prohibits many of them. This conflict can only be resolved through availability of common information and continuing dialogue. This study has endeavored to provide this in a systematic form. A dialogue between municipal and industrial officials may lead to diverse and conflicting regulations, however, the ultimate goal should be the creation of an urban environment which accomodates the variety of requirements of an increasing urbanized population. / Arts, Faculty of / Geography, Department of / Graduate

The aim of this thesis Cycling in the Central Bohemia Region is to analyse the state of cycling in selected microregion, to analyse preconditions for further development of cycling and to assess the state of cyclepaths in the microregion. The emphasis is put on the development of cycling as an equivalent means of transport. The other aim is to identify the key problems of cycling and to propose own solutions, which would lead to elimination of problems, which have been found. This thesis also includes a detailed analysis of parking cycling infrastructure and proposals for adequate measures for its improvement.

The transition to a zero emissions society has already begun. A big effort should be done in the energy area and as engineers we have the power and the responsibility of using all our knowledge to look for the best and optimal solutions to achieve it.   The aim of this project is to study the new technologies that are appearing in the field of electric cars vehicles as well as try to develop a way of integrating this into a project of a real long-term parking. The study will be focused on the use of the technologies known as V2X. This technology has been designed for a bidirectional flow of energy between the EV and the charging points in where the vehicles are connected. This opens new doors to the V2G (Vehicle to grid) and to the V2H (Vehicle to home), giving the opportunity not only to charge the vehicles but also use the energy stored in these vehicles for the situations needed, such as improve the grid stability, the use of microgrids and the money saving for the vehicle’s owners. The study was conducted in AirSon a company found in Ängelholm, Sweden. For the study, several parts were developed. First data acquisition for detailed knowledge of the electrical consumes of the company was done. Then a simulation of production of a photovoltaic installation was done in order to integrate this system into the company and help to feed the charge of the long-term parking with renewable energies. In third place a discussion of how the parking could be developed was held as well as the study of the viability of this.  In the results some interesting data has been obtained. In first place from the analysis of the consumes of AirSon the figures representing the electricity usage of each building have been obtained. In second place the calculous of three different photovoltaic installations in different areas is made, obtaining the production per month and hour in each area. Obtaining a total production during June of 37.1 MWh being the month with most production and 2.6 MWh in December being this the month with least production rate. Finally in the results the estimation of the SoC (State of charge) of the cars that arrive to AirSon is found, obtaining an average of 5.37 kWh less energy than the total capacity of the battery at the arrival moment, this means that for completely charge the car the installation needs to provide this 5.37 kWh to each car. Once the energy is delivered into the cars, the parking will be able to take back electricity from the cars in case of necessity of the grid. However, the system will never take more energy from the cars than the one delivered for charging them, due to the parking statement of ensure at least the same energy to the vehicles than the one at the arrival moment. After analysing the results, the key issues are found, such as the weather dependence, the early stage of the technologies and the battery degradation as well as the big investment that needs to be done for having enough energy for the parking to work. Concluding this work with the idea that there is a big potential for the job to work but there are big barriers that need to be overcome first.

How does one appropriately design a selfsufficient building in the existing urban fabric without damaging historical urban centres? The role of architecture is to adapt, to not only serve and support people but, also to support its context and surrounding architectures. Thus a new typology needs to be created, by designing the architecture of ‘giving’. By looking at how resources travel between and through buildings, one could start to re-address the nature of services within architecture, starting with the outer workings of infrastructure. Through experimenting with the potential of creating space&place as an architectural expression via the re-imaginative design of infrastructure, the existing urban fabric can be served in a sustaining manner. The design is of a services building housing a parkade for conventional and electrical cars and bicycles which generates its own energy, harvests and stores water for itself and surrounds, process waste and sewage and cycle on site resources. / Dissertation (MArch(Prof))--University of Pretoria, 2010. / Architecture / unrestricted

Thesis (M. Arch.)--Massachusetts Institute of Technology, Dept. of Architecture; and, (M.S.)--Massachusetts Institute of Technology, Dept. of Civil Engineering, 1981. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND ROTCH. / Includes bibliographical references (leaves 84-86). / Because of the decreasing use of private automobiles in city centers and because of usual development pressures, some urban parking garages will become available for replacement or recycling. The choice between replacement or recycling of an abandoned garage is based on cost, but many other factors influence this decision. The suitability of a garage for recycling can often be determined by the consideration of three simple indicators: the type of garage, the horizontal depth of the building, and the typical floor-to-ceiling height. Following the determination of basic suitability, several architectural and structural issues must be considered in order to identify potential problems in the intended recycling and in order to discover practical solutions to these problems. The determination of suitability and the consideration of architectural and structural problems are discussed generally, and are demonstrated in the study of the West Garage. / by Michael Johannes Paul. / M.S. / M.Arch.

The aim of diploma thesis is to design and create a project documentation of a multifunctional building. The building is situated in Banská Bystrica in a slightly sloping terrain. The building is divided into 3 parts - A, B, C, that are connected by 2 floors of underground garages and the first floor, where are situated commercial premises. There are apartments located on the next 5 floors, 18 of them in each part, with a layout of 2+kk and 3+kk. The load-bearing system of this building consists of a reinforced concrete skeleton, supplemented by reinforced concrete and masonry perimeter walls. The roof is flat and rugged, partly walkable and partly covered with gravel and vegetation. The overall character of the building fits into the surrounding buildings.

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Cars and other automobiles are used for transportation every single day all over the world. Almost ninety percent of the households have access to at least one car. Along with this, the chance of getting into an accident has also risen. Our objective is to deal with the case of parking. Everyone must have felt anxiety about the distances while sitting inside the car. Oneway or the other way, it always leads to property damage, etc. It will be difficult for people who spend lavish money on their vehicles to see the damage. In our project, we designed a system that aids drivers with information about distances between the vehicle and a wall or obstacle. It will be even more helpful if the driver has an idea of the distance between the wall and the vehicle by visual representation not as a text because of natural instinct. A hardware setup is fixed to the walls of the garage after analyzing all the possible scenarios including skewed parking which only guides the driver. This system uses sensors like ultrasonic to get information about the distances and an LED strip to guide the driver about the distances. Depending on the distances the LED will indicate either red or green and also the number of glowing LEDs. The two signals to the LED are pre-calibrated after considering the garage spacing. This system can effectively remove the chance of accidents while parking a vehicle in the garage.

I detta kandidatexamensarbete undersöker jag den demokratiska hållbarheten i kommunpolitiska beslut om sänkta krav på parkering (så kallade ”flexibla parkeringsnormer”). Den tidigare forskningen på ämnet har fokuserat på huruvida den önskade beteendeförändringen kan uppnås, varför användarnas uppfattningar kring beslutet inte studerats. Jag undersöker dessa med en kvantitativ fallstudie, där jag samtidigt diskuterar de politiska konsekvenser som uppfattningarna skulle kunna leda till och om beslutet uppfattas som demokratiskt legitimt. Fallstudien är baserad på en enkätundersökning i två flerbostadshus i Malmö som fått ett parkeringstal på ungefär 0,5 parkeringsplatser per lägenhet som följd av ett beslut om flexibel parkeringsnorm. Resultatet visar att många av de boende upplever det som svårt att få en egen parkeringsplats i bostadshuset och att månadsavgifterna upplevs som dyra. Få av de boende uppger att de känner till det politiska beslutet, och när de får veta om det uppger två tredjedelar att de är negativt inställda till det. Fyra femtedelar uttrycker dock att frågan inte är viktig nog för att få dem att rösta på ett annat parti i lokalpolitiken. En slutsats av detta är att inget omedelbart tryck på partierna för att ändra sin syn på frågan finns. Den andra slutsatsen är att ifall kommuner önskar fortsätta med denna typ av parkeringsnorm på ett hållbart sätt, eller ifall de önskar hitta politiskt stöd för att utöka sänkningen ytterligare, kommer de att behöva hitta sätt att utöka acceptansen hos de som påverkas av beslutet. / In this bachelor’s degree thesis, I explore the democratic sustainability of Swedish municipal policies reducing minimum parking requirements (so called “flexible parking requirements”). Past research into such policies has focused on their effectiveness in achieving behavioural change, while leaving the attitudes of the affected users unexamined. I examine these attitudes using a quantitative case study, while discussing the political consequences they might lead to and whether the users might find the policies democratically legitimate or not. The case study is based on a survey of residents in two blocks of flats in Malmö affected by a flexible parking requirement policy requiring about 0.5 parking spaces per flat.  The results show that many residents experience difficulty in getting a lease for a parking space within their own building and find the monthly fees to be expensive. Few of the residents report being aware of the municipal policy and two thirds state that they dislike its content when told about it. However, four fifths of the residents state that the matter is not important enough to them to affect which political party they would vote for. I conclude first that there is no imminent pressure upon the local political parties to change their stances. Secondly, if the municipalities wish to sustainably continue using such policies or to find political support for increasing the reduction further, they need to find measures to improve the acceptance among the affected users.