O planejamento probabilístico de mapa de rotas tem se mostrado uma poderosa ferramenta para o planejamento de caminhos para robôs móveis, devido a sua eficiência computacional, simplicidade de implementação e escalabilidade em diferentes problemas. Este método de planejamento possui duas fases. Na fase de construção, um mapa de rotas é gerado de forma iterativa e incremental, e armazenado na forma de um grafo G, cujos vértices são configurações livres, amostradas no espaço de configurações do robô e cujas arestas correspondem a caminhos livres de colisão entre tais configurações. Na fase de questionamento, dadas quaisquer configurações de origem e destino, \'alfa\' e \'beta\' respectivamente, o planejador conecta \'alfa\' e \'beta\' à G inserindo arestas que correspondem a caminhos livres de colisão, para então procurar por um caminho entre \'alfa\' e \'beta\' em G. Neste trabalho o foco reside principalmente na fase de construção do mapa de rotas. O objetivo aqui consiste em efetuar uma análise comparativa de diversas combinações de diferentes técnicas de amostragem das configurações livres e de diferentes técnicas de seleção de vértices em G, todas implementadas em um único sistema e aplicadas aos mesmos cenários. Os resultados propiciam um valioso auxílio aos usuários do planejamento probabilístico de mapas de rotas na decisão da melhor combinação para suas aplicações. / The probabilistic roadmap planning has emerged as a powerful framework for path planning of mobile robots due to its computational efficiency, implementation simplicity, and scalability in different problems. This planning method proceeds in two phases. In the construction phase a roadmap is incrementally constructed and stored as a graph G whose nodes are free configurations sampled on the robot\'s configuration space and whose edges correspond to collision-free paths between these configurations. In the query phase, given any start and goal configurations, \'alfa\' and \'beta\' respectively, the planner first connects \'alfa\' and \'beta\' to G by adding edges that correspond to collision-free paths, and then searches for a path in G between \'alfa\' and \'beta\'. In this work, we address mainly the roadmap construction phase. The goal here is to provide a comparative analysis of a number of combinations of different techniques for sampling free configurations and different node adding techniques, all implemented in a single system and applied to the same test workspace. Results help probabilistic roadmap planning users to choose the best combination for their applications.

Esta pesquisa desenvolveu uma nova metodologia para dar apóio ao planejamento estratégico, utilizando o processo de elaboração de mapas tecnológicos (TRM Technological Roadmaps), associado com a aplicação do processo de detecção de frentes emergentes de pesquisa em bases de dados de artigos científicos e de patentes. A inovação introduzida nesta pesquisa é a customização do processo de TRM à radiofarmácia e, especificamente, a sua associação à técnica de detecção de frentes emergentes de pesquisa, a fim de comprovar resultados e estabelecer uma nova metodologia muito útil ao planejamento estratégico desta área de negócios. A unidade de negócios DIRF Diretoria de Radiofarmácia do IPEN CNEN/SP foi utilizada como base do estudo e implementação desta metodologia apresentada neste trabalho. / This research aims the development of a new methodology to support the strategic planning, using the process of elaboration of technological maps (TRM - Technological Roadmaps), associated with application of the detection process of emerging fronts of research in databases of scientific publications and patents. The innovation introduced in this research is the customization of the process of TRM to the radiopharmacy and, specifically, its association to the technique of detection of emerging fronts of research, in order to prove results and to establish a new and very useful methodology to the strategic planning of this area of businesses. The business unit DIRF - Diretoria de Radiofarmácia - of IPEN CNEN/SP was used as base of the study and implementation of this methodology presented in this work.

Esta pesquisa desenvolveu uma nova metodologia para dar apóio ao planejamento estratégico, utilizando o processo de elaboração de mapas tecnológicos (TRM Technological Roadmaps), associado com a aplicação do processo de detecção de frentes emergentes de pesquisa em bases de dados de artigos científicos e de patentes. A inovação introduzida nesta pesquisa é a customização do processo de TRM à radiofarmácia e, especificamente, a sua associação à técnica de detecção de frentes emergentes de pesquisa, a fim de comprovar resultados e estabelecer uma nova metodologia muito útil ao planejamento estratégico desta área de negócios. A unidade de negócios DIRF Diretoria de Radiofarmácia do IPEN CNEN/SP foi utilizada como base do estudo e implementação desta metodologia apresentada neste trabalho. / This research aims the development of a new methodology to support the strategic planning, using the process of elaboration of technological maps (TRM - Technological Roadmaps), associated with application of the detection process of emerging fronts of research in databases of scientific publications and patents. The innovation introduced in this research is the customization of the process of TRM to the radiopharmacy and, specifically, its association to the technique of detection of emerging fronts of research, in order to prove results and to establish a new and very useful methodology to the strategic planning of this area of businesses. The business unit DIRF - Diretoria de Radiofarmácia - of IPEN CNEN/SP was used as base of the study and implementation of this methodology presented in this work.

The United States Securities and Exchange Commission (SEC) issued a Roadmap in 2008 regarding a change in the American accounting standards system. The Roadmap proposes a potential adoption from the United States Generally Accepted Accounting Principles (US GAAP) to the International Financial Reporting Standards (IFRS). The objective with the adoption is to enhance a one-set of accounting standards used in the world in order to increase comparability between public limited companies in different jurisdictions. With the adoption, the valuation of inventories for American companies will change, since the Last-In, First-Out (LIFO) method is allowed under US GAAP, but not under IFRS. A study from 2008 shows that approximately 36 per cent of American public limited companies is using LIFO. They would therefore be forced to use another inventory valuation method, such as First-In, First-Out (FIFO). The LIFO method is normally used by companies exposed to inflation and increases the cost of goods sold (COGS) and consequently lowers the net income and income tax provision. With the potential adoption, these companies would face large increases of income tax provisions, which would affect them severely. This thesis is a review study with the objective to connect recent research with the SEC Roadmap in order to answer the following research questions: How will US companies that are using LIFO be affected by the inventory valuation change to FIFO, from an economic and accounting-based approach? What are the positive and negative aspects with a removal of LIFO regarding the IFRS adoption? There is a clear benefit for the US companies using LIFO regarding the smaller income tax provisions. Opponents consider that LIFO will disappear with the US adoption to IFRS. At the same time, recent research considers or doubts that the LIFO method will not face its death with the adoption from US GAAP to IFRS. As a conclusion, the negative effect of removing LIFO as a consequence of this adoption, is the implementation time period, which is too optimistic. Even though, the credibility with a shift from LIFO to FIFO will grow stronger and create a more comparable business world.

Unternehmensvorstellung Parametric Technology und Roadmap PTC Mathcad Prime 3.0

The visibility-aware path planner addresses the problem of path planning for target visibility. It computes sequences of motions that afford a line of sight to a stationary visual target for sensors on a robotic platform. The visibility-aware planner uses a model of the visible region, namely, the region of the task space in which a line of sight exists to the target. The planner also takes the orientation of the sensor into account, utilizing a model of the field of view frustum. The planner applies a penalty to paths that cause the sensor to lose target visibility by exiting the visible region or rotating so the target is not in the field of view. The planner applies these penalties to the edges in a probabilistic roadmap, providing weights in the roadmap graph for graph-search based planning algorithms. This thesis presents two variants on the planner. The static multi-query planner precomputes penalties for all roadmap edges and performs a best-path search using Dijkstra's algorithm. The dynamic single-query planner uses an iterative test-and-reject search to find paths of acceptable penalty without the benefit of precomputation. Four experiments are presented which validate the planners and present examples of the path planning for visibility on 6-DOF robot manipulators. The algorithms are statistically tested with multiple queries. Results show that the planner finds paths with significantly lower losses of target visibility than existing shortest-path planners.

In diesem Vortrag wird Mathcad Prime 2.0 gezeigt. Es wird ein Ausblick auf die Anbindung zu anderen PTC Produkten gegeben und auch ein Blick auf die Mathcad Roadmap geworfen.

Abstract The process of the Israeli-Palestinian negotiation was influenced by the Al Aqsa Intifada. After the "9-11", the American Bush Administration has changed the initial non-involvement policy and proposed the "Roadmap for peace¡¨ with the Quartet to resolve the Israeli-Palestinian conflict. Therefore, this research is based on realism to analyze whether American ¡§Roadmap for peace¡¨ policy does facilitate the peace between Israeli and Palestine or not, and explore how the United States formulates its Israeli-Palestine policy and strategies. Although United States utilizes its superior status and resources to implement the ¡§Roadmap for peace¡¨ , be it the political reform, the security reform, and the economic and humanitarian assistance. The "Roadmap for peace¡¨ is currently worked in the first stage. The reason why is that Israeli and Palestine have different positions on the right of Palestinian refugees back to home, the Jerusalem status, the Jews settlement and border. Besides, both sides inact to fulfill the responsibilities, and still strike each other violently. There are also resistances from within. However, Abbas, who represents the moderate line, has become the new Palestinian President. Israeli Premier Minister Sharon has made compromise in significant issues recently. So long as United States has influence on Israeli and Palestine, and grasps the opportunity to promote ¡§Roadmap for peace¡¨, United States may put into effect the vision, namely peace between Israeli and Palestine.

<p>The United States Securities and Exchange Commission (SEC) issued a Roadmap in 2008 regarding a change in the American accounting standards system. The Roadmap proposes a potential adoption from the United States Generally Accepted Accounting Principles (US GAAP) to the International Financial Reporting Standards (IFRS). The objective with the adoption is to enhance a one-set of accounting standards used in the world in order to increase comparability between public limited companies in different jurisdictions. With the adoption, the valuation of inventories for American companies will change, since the Last-In, First-Out (LIFO) method is allowed under US GAAP, but not under IFRS. A study from 2008 shows that approximately 36 per cent of American public limited companies is using LIFO. They would therefore be forced to use another inventory valuation method, such as First-In, First-Out (FIFO). The LIFO method is normally used by companies exposed to inflation and increases the cost of goods sold (COGS) and consequently lowers the net income and income tax provision. With the potential adoption, these companies would face large increases of income tax provisions, which would affect them severely.</p><p>This thesis is a review study with the objective to connect recent research with the SEC Roadmap in order to answer the following research questions: How will US companies that are using LIFO be affected by the inventory valuation change to FIFO, from an economic and accounting-based approach? What are the positive and negative aspects with a removal of LIFO regarding the IFRS adoption?</p><p>There is a clear benefit for the US companies using LIFO regarding the smaller income tax provisions. Opponents consider that LIFO will disappear with the US adoption to IFRS. At the same time, recent research considers or doubts that the LIFO method will not face its death with the adoption from US GAAP to IFRS. As a conclusion, the negative effect of removing LIFO as a consequence of this adoption, is the implementation time period, which is too optimistic. Even though, the credibility with a shift from LIFO to FIFO will grow stronger and create a more comparable business world.</p>

Protein folding is considered to be one of the grand challenge problems in biology. Protein folding refers to how a protein's amino acid sequence, under certain physiological conditions, folds into a stable close-packed three-dimensional structure known as the native state. There are two major problems in protein folding. One, usually called protein structure prediction, is to predict the structure of the protein's native state given only the amino acid sequence. Another important and strongly related problem, often called protein folding, is to study how the amino acid sequence dynamically transitions from an unstructured state to the native state. In this dissertation, we concentrate on the second problem. There are several approaches that have been applied to the protein folding problem, including molecular dynamics, Monte Carlo methods, statistical mechanical models, and lattice models. However, most of these approaches suffer from either overly-detailed simulations, requiring impractical computation times, or overly-simplified models, resulting in unrealistic solutions. In this work, we present a novel motion planning based framework for studying protein folding. We describe how it can be used to approximately map a protein's energy landscape, and then discuss how to find approximate folding pathways and kinetics on this approximate energy landscape. In particular, our technique can produce potential energy landscapes, free energy landscapes, and many folding pathways all from a single roadmap. The roadmap can be computed in a few hours on a desktop PC using a coarse potential energy function. In addition, our motion planning based approach is the first simulation method that enables the study of protein folding kinetics at a level of detail that is appropriate (i.e., not too detailed or too coarse) for capturing possible 2-state and 3-state folding kinetics that may coexist in one protein. Indeed, the unique ability of our method to produce large sets of unrelated folding pathways may potentially provide crucial insight into some aspects of folding kinetics that are not available to other theoretical techniques.