No description available.

The Swedish Government announced on June 15, 2022 that electric scooters will no longer be allowed to park on pedestrian and bicycle lanes starting from September 1, 2022, except at designated bicycle racks or other designated parking areas. This measure has been taken to improve accessibility and safety for pedestrians and cyclists. The purpose of this thesis is to examine the effects and opinions regarding the parking ban in Stockholms stad, with a focus on users, municipalities, and operators. The report combines quantitative and qualitative methods, including surveys, interviews, and data analysis, to analyze various effects and opinions regarding the parking ban. The results show that users, municipalities, and operators perceive the implementation of parking zones as positive for the urban environment bypromoting increased orderliness and cleanliness. However, there is a downside in terms of longer walking distances to destinations and reduced convenience, as door-to-door travel is no longer as feasible. Complaints about illegal parking have decreased among the general public, but there have been other requests from users and operators regarding the placement of parking zones.  The municipalities Stockholms stad and Göteborgs Stad agree that a well-developed infrastructure for privately owned bicycles and shared electric scooters is crucial for implementing the parking ban. This study ultimately demonstrates that the introduction of the parking ban has had a negative impact on the usage of electric scooters in Stockholm's inner city.

京都大学 / 新制・課程博士 / 博士(工学) / 甲第24217号 / 工博第5045号 / 新制||工||1788(附属図書館) / 京都大学大学院工学研究科都市社会工学専攻 / (主査)教授 山田 忠史, 教授 藤井 聡, 准教授 SCHMOECKER Jan-Dirk / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

No description available.

No description available.

No description available.

Die LH München wurde 2010 mit dem Wunsch von CarSharing-Unternehmen konfrontiert, eine Ausnahmegenehmigung für das Parken in Parklizenzgebieten zu gewähren. Eine Ausnahmegenehmigung ist grundsätzlich nur dann zu rechtfertigen, wenn sie im öffentlichen Interesse ist. Das öffentliche Interesse hat die LH München dann als gegeben definiert, wenn durch die Nutzung der Carsharing-Fahrzeuge mehr Stellplätze frei gemacht würden, als sie selbst benötigen und die gefahrenen Fahrzeugkilometer in der Stadt in der Gesamtsumme nicht zunehmen würden. Der Projektbericht beschreibt Methodik und Ergebnisse einer Evaluation des Münchner Carsharing-Angebotes. Dieser lagen im Wesentlichen Daten aus drei Quellen zugrunde: Daten aus bereits zum Thema vorliegenden Studien sowie vorliegende Kennzahlen, Daten zu Nutzern und Nutzung aus den Back-End-Systemen der Carsharing-Anbieter und Daten aus eigenen Befragungen.

Die LH München wurde 2010 mit dem Wunsch von CarSharing-Unternehmen konfrontiert, eine Ausnahmegenehmigung für das Parken in Parklizenzgebieten zu gewähren. Eine Ausnahmegenehmigung ist grundsätzlich nur dann zu rechtfertigen, wenn sie im öffentlichen Interesse ist. Das öffentliche Interesse hat die LH München dann als gegeben definiert, wenn durch die Nutzung der Carsharing-Fahrzeuge mehr Stellplätze frei gemacht würden, als sie selbst benötigen und die gefahrenen Fahrzeugkilometer in der Stadt in der Gesamtsumme nicht zunehmen würden. Der Projektbericht beschreibt Methodik und Ergebnisse einer Evaluation des Münchner Carsharing-Angebotes. Dieser lagen im Wesentlichen Daten aus drei Quellen zugrunde: Daten aus bereits zum Thema vorliegenden Studien sowie vorliegende Kennzahlen, Daten zu Nutzern und Nutzung aus den Back-End-Systemen der Carsharing-Anbieter und Daten aus eigenen Befragungen.

Neste trabalho, o equacionamento dinâmico de um manipulador espacial de base livre flutuante é descrito a partir do conceito do manipulador dinamicamente equivalente para que as técnicas de controle desenvolvidas sejam experimentalmente validadas em um manipulador convencional de base fixa. Dois tipos de controle de movimento são considerados. O primeiro foi desenvolvido no espaço das juntas e realiza o comando direto de posicionamento das juntas do manipulador; o segundo foi desenvolvido no espaço inercial e o controle é direcionado para o posicionamento do efetuador no espaço Cartesiano. Nos dois casos, o problema de acompanhamento de trajetória de um manipulador espacial com base livre flutuante sujeito a incertezas na planta e perturbações externas é proposto e solucionado sob o ponto de vista do critério de desempenho H \'INFINITO\'. Considerando métodos de controle para sistemas subatuados, três técnicas adaptativas foram desenvolvidas a partir de um controlador H \'INFINITO\' não-linear baseado na teoria dos jogos. A primeira técnica foi proposta considerando a estrutura do modelo bem definida, porém calculada com base em parâmetros incertos. Uma lei adaptativa foi aplicada para estimar esses parâmetros utilizando parametrização linear. Redes neurais artificiais são aplicadas nas outras duas abordagens adaptativas. A primeira utiliza uma rede neural para aprender o comportamento dinâmico do sistema robótico, considerado totalmente desconhecido. Nenhum dado cinemático ou dinâmico da base é utilizado neste caso. A segunda abordagem considera a estrutura do modelo nominal do manipulador bem definida e a rede neural é aplicada para estimar o comportamento das incertezas paramétricas e da dinâmica não-modelada da base. O critério H \'INFINITO\' é aplicado nas três técnicas para atenuar o efeito dos erros de estimativa. Resultados experimentais foram obtidos com um robô manipulador de base fixa subatuado (UArmII) e apresentaram melhor desempenho no acompanhamento da trajetória e no consumo de energia para as abordagens baseadas em redes neurais. / In the present work, the dynamics of a free-floating space manipulator is described through the dynamically equivalent manipulator approach in order to obtain experimental results in a planar fixed base manipulator. Control in joint and Cartesian spaces are considered. The first acts directly on joints positioning; the second control scheme acts on positioning the end-effector in some inertially fixed position. In both cases, the problem of tracking control with a guaranteed H-infinity performance for free-floating manipulator systems with plant uncertainties and external disturbances is proposed and solved. Considering control methods for underactuated systems, three adaptive techniques were developed from a nonlinear H-infinity controller based on game theory. The first approach was proposed considering a well defined structure for the plant, however it was computed based on uncertain parameters. An adaptive law was applied to estimate these parameters using linear parametrization. Artificial neural networks were applied in the two other approaches. The first one uses a neural network to learn the dynamic behavior from the robotic system, which is considered totally unknown. No kinematics or dynamics data from the spacecraft are necessary in this case. The second approach considers the nominal model structure well defined and the neural network is applied to estimate the behavior of the parametric uncertainties and of the spacecraft non-modeled dynamics. The H-infinity criterion was applied to attenuate the effect of estimation errors in the three techniques. Experimental results were obtained with an underactuated fixed-base planar manipulator (UArmII) and presented better performance in tracking and energy consumption for the neural based approaches.

Como tópico de fundamental importância na robótica, o planejamento de rotas tem encontrado excelentes resultados nos últimos anos através da utilização de algoritmos baseados no conceito de árvore de exploração rápida, RRT. No entanto, a aplicação desses métodos em sistemas robóticos espaciais revela um cenário ainda a ser explorado. O comportamento não-holonômico e a presença de singularidades dinâmicas são alguns fatores que dificultam a consideração de obstáculos no planejamento de rotas desses sistemas. Além disso, os trabalhos relacionados ao planejamento de movimento para manipuladores espaciais mostram-se concentrados na estratégia ponto-a-ponto, com interesse especial nos aspectos particulares da dinâmica desses sistemas. De modo geral, para manipuladores espaciais, o planejamento de trajetória envolvendo o desvio de obstáculos depende de uma rota previamente computada. Contudo, essa tarefa carece de formulações ou técnicas solidificadas, sobretudo para manipuladores espaciais de base livre flutuante. Com esta motivação, o trabalho proposto nesta dissertação de mestrado cria um planejador de rotas com suporte a desvio de obstáculos para um manipulador espacial planar de base livre flutuante. O modelo dinâmico utilizado é baseado no conceito de manipulador dinamicamente equivalente e incorporado a um algoritmo baseado no conceito de RRT. / As major challenge in the field of robotics, path planning has experienced successful results in recent years by means of the RRT algorithm. However, the application of such algorithms in space manipulators reveals a scenario yet to be explored. The non-holonomic behavior, added to the presence of dynamic singularities are only a few factors that make collision-avoidance path planning of these systems such a hard task. Besides, works in the field of motion planning of space manipulators often concentrate in the strategy pointto- point, with particular interest in the complex dynamics of such systems. As a rule of thumb, collision-avoidance for space manipulators depends on a previous computed path. However, this task still lacks robust formulations, specially in the case of free-floating manipulators. With this motivation, the proposed work creates a collision-avoiding path planning for a free-floating planar manipulator. The dynamic model is based on the Dynamically Equivalent Manipulator and the concept of Rapidly-Exploring Random Trees serves as a frame for the developed algorithm.