O nordeste paulista é composto por um mosaico de ambientes fortemente antropizado, com predominância de plantios de cana-de-açúcar, além de florestas plantadas de eucalipto e fragmentos de Cerrado. Embora o veado-catingueiro (Mazama gouazoubira) seja uma espécie amplamente distribuída em diferentes biomas do Brasil, pouco é conhecido sobre a sua capacidade de adaptação em paisagens alteradas. Neste contexto, modelos de ocupação da paisagem e dados de armadilhas fotográficas foram utilizados para verificar quais fatores ambientais são importantes na escolha do uso e seleção de hábitat pelo veado-catingueiro. Foram amostradas quatro áreas em três cenas de paisagens, entre os meses de Abril e Setembro de 2013 e 2014, totalizando um esforço amostral de 6240 armadilhas/dia. Os resultados apontam que o veado-catingueiro está amplamente distribuído nos remanescentes de Cerrado do nordeste do estado de São Paulo, além de ocupar com a mesma intensidade tanto o interior como o entorno de unidades de conservação. Foi observado um efeito positivo dos plantios de silvicultura na ocupação da paisagem pela espécie. A distribuição temporal dos registros ao longo do ciclo de 24 horas também foi semelhante dentro e fora de unidades de conservação. Estes resultados sugerem que o veado-catingueiro é uma espécie ecologicamente plástica e que está se beneficiando da heterogeneidade ambiental presente no nordeste paulista. Estes hábitos generalistas lhe atribuem vantagens em comparação a outras espécies mais especialistas nesse cenário. / The northeast of São Paulo state is a region where Cerrado remants are immersed in a landscape with high human influence mediated by vast sugarcane and Eucalyptus plantations. Mammals survival in this landscape has been little explored. Brown brocket deer (Mazama gouazoubira, Fischer 1814) is a species with widespread distribution in different biomes of Brazil, however little is known about its capacity of adaptation in landscapes with intensive agriculture. We conducted a study based on occupancy modelling from camera trapping data in order to evaluate which environmental factors are important to habitat selection by brown brocket deer. The study was carried out in three agricultural landscapes at four study areas between April and September (2013 and 2014) with a total effort of 6240 traps-day. Our results show that brown brocket deer are well adapted to Cerrado/agricultural matrix in the state of Sao Paulo, showing high ecological flexibility. This deer used non-protected areas as much as protected areas. Silviculture represented the only landscape covariate with high relative importance for brown brocket deer. Also, brown brocket deer shows rhythm of activity similar in and out protected areas. Our results suggest that brown brocket deer is extremely plastic species that is benefiting from environmental heterogeneity present in São Paulo\'s northeast. The generalist habit of this deer gives it advantage when compared to other more specialist species in this scenario.

Made available in DSpace on 2016-07-18T17:46:22Z (GMT). No. of bitstreams: 1 Marcos Frois.pdf: 28403033 bytes, checksum: 330809c4ad68fd151d2d8d530cc5c603 (MD5) Previous issue date: 2015-11-10 / This research has the objective of verifying the environmental problems in Limoeiro s Stream basin generated by the urbanization of the area. Urbanization models that are commonly adopted for the occupation of the valley bottoms are not based on the valuation of the stream as an element to be incorporated into urban design. In the historical process of its formation, Brazilian cities are characterized by a lack of planning, since most often prevail the interests arising from real estate speculation, when the government should focus on the interests of the population in general. The study of this area makes it possible to understand how public policies influence the dynamics of occupation. This dynamic is influenced by the fact that the government be driven by neoliberalism, with the predominance of the reproduction of capital. To this end, a literature review of issues related to urban and environmental planning was carried out based on the Brazilian urbanization process, as well as a study of the environmental legislation that addresses the integration issues in an urban environment, the master plan analysis and zoning. Finally, an inventory of the basin was conducted in order to understand the physical aspects and geomorphological study area, making it possible to identify the main characteristics and uses of this river basin, as well as major environmental problems. Given this situation, this study which belongs to the program of the Mestrado de Meio Ambiente e Desenvolvimento Regional (MMADRE Environment and Regional Development Master), set out to assess the consequences of the environmental impacts of urban growth, using as a case of study the occupation of the banks of Limoeiro, appurtenant to the same watershed where it is located the Amizade s balneary. The systematization of studies culminated in the elaboration of a map of proposed general guidelines for zoning and land use, considering areas of environmental restrictions and values arising from urbanity. / Essa pesquisa tem por objetivo verificar os problemas ambientais na Bacia do Córrego do Limoeiro gerados em razão da urbanização dessa área. Os modelos de urbanização que são comumente adotados para a ocupação de fundos de vale não se baseiam na valorização do corpo d água, como elemento a ser incorporado ao desenho urbano. No processo histórico de sua formação, as cidades brasileiras são caracterizadas pela falta de planejamento, já que, na maioria das vezes, prevalecem os interesses decorrentes da especulação imobiliária, quando o poder público deveria privilegiar os interesses da população de um modo geral. O estudo dessa área possibilita compreender de que forma as políticas públicas influenciaram na dinâmica de ocupação. Essa dinâmica é condicionada pelo fato do governo ser conduzido pelo neoliberalismo, com a predominância da reprodução do capital. Para tanto, foi realizada uma revisão bibliográfica dos temas referentes ao planejamento urbano e ambiental, com base no processo de urbanização brasileiro, bem como um estudo da legislação ambiental que aborda as questões de intervenções em ambiente urbano, análise do plano diretor e do zoneamento urbano. Por fim, foi realizado um inventário da bacia, com o intuito de compreender os aspectos físicos e geomorfológicos da área de estudo, para que fosse possível identificar as principais características e usos dessa bacia hidrográfica, assim como os problemas ambientais decorrentes. Diante desse quadro, este estudo, que pertence ao programa de Mestrado em Meio Ambiente e Desenvolvimento Regional (MMADRE), se propôs a avaliar os impactos ambientais decorrentes do crescimento urbano, utilizando como estudo de caso a ocupação das margens do Córrego do Limoeiro, pertencente à mesma bacia onde está inserido o Balneário da Amizade. Por fim, a sistematização dos estudos realizados culminou na elaboração de um mapa de proposta de diretrizes gerais de zoneamento e uso do solo, considerando as áreas de restrição ambiental e os valores decorrentes da urbanidade.

This work's aim is movement detection in the environment of a robot, that may move itself. A 2D occupancy grid representation is used, containing only the currently visible environment, without filtering in time. Motion detection is based on a grid-based particle filter introduced by Tanzmeister et al. in Grid-based Mapping and Tracking in Dynamic Environments using a Uniform Evidential Environment Representation. The system was implemented in the Robot Operating System, which allows for re-use of modules which the solution is composed of. The KITTI Visual Odometry dataset was chosen as a source~of LiDAR data for experiments, along with ground-truth pose information. Ground segmentation based on Loopy Belief Propagation was used to filter the point clouds. The implemeted motion detector is able to distiguish between static and dynamic vehicles in this dataset. Further tests in a simulated environment have shown some shortcomings in the detection of large continuous moving objects.

Radar map generation using binary Bayes filter or what is commonly known as Inverse Sensor Model; which translates the sensor measurements into grid cells occupancy estimation, is a classical problem in different fields. In this work, the focus will be on development of Inverse Sensor Model for parking space using 77 GHz FMCW (Frequency Modulated Continuous Wave) automotive radar, that can handle different environment geometrical complexity in a parking space. There are two main types of Inverse Sensor Models, where each has its own assumption about the sensor noise. One that is fixed and is similar to a lookup table, and constructed based on combination of sensor-specific characteristics, experimental data and empirically-determined parameters. The other one is learned by using ground truth labeling of the grid map cell, to capture the desired Inverse Sensor Model. In this work a new Inverse Sensor Model is proposed, that make use of the computational advantage of using fixed Inverse Sensor Model and capturing desired occupancy estimation based on ground truth labeling. A derivation of the occupancy grid mapping problem using binary Bayes filtering would be performed from the well known SLAM (Simultaneous Localization and Mapping) problem, followed by presenting the Adaptive Inverse Sensor Model, that uses fixed occupancy estimation but with adaptive occupancy shape estimation based on statistical analysis of the radar measurements distribution across the acquisition environment. A prestudy of the noise nature of the radar used in this work is performed, to have a common Inverse Sensor Model as a benchmark. Then the drawbacks of such Inverse Sensor Model would be addressed as sub steps of Adaptive Inverse Sensor Model, to be able to haven an optimal grid map occupancy estimator. Finally a comparison between the generated maps using the benchmark and the adaptive Inverse Sensor Model will take place, to show that under the fulfillment of the assumptions of the Adaptive Inverse Sensor Model, the Adaptive Inverse Sensor Model can offer a better visual appealing map to that of the benchmark.

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This masters thesis project, "Occupancy Sensor System", was conducted at Kungliga Tekniska Högskolan (KTH), Stockholm, Sweden, during the period 2007-04-24 – 2007-12-17. The goal of the project was to design an occupancy sensor system that determines if there exists more than one person in a defined region. The output of this system is for use in a context-aware system at the KTH Center for Wireless Systems (Wireless@KTH). The system is important because there is a need for specific input to context-aware systems concerning occupancy of spaces and because this thesis has focused on a problem that enables new complex and interesting services. Additionally, the specific problem of determining not only occupancy, but if this occupancy is zero, one, many has not been widely examined previously. The significance of zero occupants indicating an empty room has already been recognized as having economic and environmental value in terms of heating, ventilating, air-conditioning, and lighting. However, there has not been an effort to differentiate between a person being alone or if more than one person is present. A context-aware system might be able to use this later information to infer that a meeting is taking place in a meeting room, a class taking place in a classroom or that an individual is alone in a conference room, class room, etc. Thus enabling context-aware services to change their behavior based upon the differences in these situations. An occupancy sensor system prototype was designed to monitor a boundary by using a thermal detector, gumstix computer, an analog to digital converter prototype board, laptop computer, and a context broker. The testing and evaluation of the system, proved it to be sound. However, there are still further improvements and tests to be made. These improvements include: dynamic configuration of the system, communication between the different system entities, detection algorithms, and code improvements. Tests measuring accuracy of a detection algorithm and determining optimal detector placement need to be performed. The next step is to design applications that use the context information provided from the occupancy sensor system and expand the system to use multiple detectors. / Examensarbetet "Occupancy Sensor System" genomfördes på Kungliga Tekniska Högskolan (KTH), Stockholm, Sverige, under perioden 2007-04-24 – 2007-12-17. Målet med examensarbetet var att designa ett sensorsystem, som avgör om ett rum är befolkat med fler än en person i ett definierat område. Resultatet av detta system är till för användning i ett kontextmedvetet system som finns i KTH Center for Wireless Systems (Wireless@KTH). Systemet är viktigt eftersom det finns ett behov för specifik input till kontextmedvetna system som berör befolkning av rum och eftersom detta examensarbete har fokuserat på ett problem som möjliggör nya komplexa och intressanta tjänster. Dessutom har det inte tidigare undersökts i vidare bemärkelse hur man kan avgöra om ett rum befolkats av noll, en eller flera personer. Betydelsen av att ett rum är obefolkat har redan ansetts ha ekonomiskt och miljöbetingat värde vad gäller uppvärming, ventilation, luftkonditionering och belysning. Däremot har det inte gjorts ansträngningar att differentiera mellan att en ensam person eller flera är närvarande. Ett kontextmedvetet system skulle kunna använda den senare nämnda informationen för att dra slutsatsen att ett möte pågår i ett mötesrum, en lektion är igång i ett klassrum o.s.v. Detta möjliggör i sin tur för kontextmedvetna tjänster att ändra på sina beteenden baserat på skillnaderna i dessa situationer. En prototyp utvecklades för att övervaka en gräns genom användningen av en termisk detektor, gumstixdator, analog till digital signalkonverterare, bärbar dator och en context broker (kontextförmedlare). Testningar och utvärderingar av systemet visade att systemet var dugligt. Flera förbättringar och tester behöver dock göras i framtiden. Dessa förbättringar inkluderar: dynamisk konfiguration av systemet, kommunikation mellan de olika systementiteterna, detektionsalgoritmer och kodförbättringar. Återstående tester inkluderar mätning av en detektionsalgoritms tillförlitlighet samt optimal placering av detektorer. Nästa steg är att utveckla applikationer som använder kontextinformationen från systemet samt att utveckla systemet till att kunna använda flera detektorer.

1 Final inspection approval of construction programme de lege lata, de lege ferenda Abstract This master thesis aims on providing a comprehensive overview of an issue regarding the final inspection approval of construction programme and identification of errors associated with the current legal regulation of final inspection approval by Act No. 225/2017 Coll., and providing de lege ferenda proposals and answering question, whether the process is actually being simplified and accelerated, as declared the explanatory memorandum to the amendment to the Building Act No. 225/2017 Coll. compared to the state before. The master's thesis is composed of six chapters. Chapter one aims on legal sources governing the issue of construction law. The most important legislation concerning the issue is listed. Second chapter determines basic concepts contained in the Building Act associated with final inspection approval, which are necessary for understanding of this master thesis content. These concepts are structure, developer, part of the structure, temporary structure, change of the finished structure, or general conditions for construction. Chapter three contains an analysis of the organization of building offices and selected issues as an authorized inspector and the respective authorities. Fourth chapter, which is...

Increased growth of the mid-continent population of Lesser Snow Geese (LSGO) has led to the degradation of coastal salt marsh and sedge meadow habitats across Canadian Arctic and sub-Arctic ecosystems. It is believed that a human-induced trophic cascade caused by agricultural habitat modification along migratory routes and wintering grounds has contributed to the increase in LSGO numbers, which has resulted in the alteration of habitat quality and connectivity along northern breeding and stopover sites used by various avian species. This habitat degradation has been shown to decrease the presence and temporal persistence of ground-nesting passerine and shorebird species at a local level and may lead to decreases of Arctic / sub-Arctic breeding avian species across landscapes that LSGO utilize and degrade. In 1999, four paired study plots were established, and used in conjunction with a single study plot from 1976, in order to measure the composition of habitat parameters (barren ground extent; graminoid and shrub cover) and to estimate the number of avian nests found in these plots. Using this historical data along with our findings from 2010 and 2011, our main objectives were to: 1) document the change in the aforementioned habitat parameters over time; 2) estimate the local nesting occupancy rates of the common Savannah Sparrow (SAVS), a robust and adaptable ground nester; and 3) determine which habitat variables are indicative of the rates of change and occurrence of nesting by SAVS within the study plots. By using ANOVA, linear mixed effects, and multi-state occupancy models, results suggest that an increase in barren ground, decreases in shrub and graminoid cover, and a loss of connectivity between suitable nesting patches has led to a 10% (λ = 0.90) annual decline in the probability that SAVS nesting occurred across the study plots from 1999 to 2010. These model results may be used to estimate long-term trends in persistence of breeding SAVS and other similar ground-nesting avian species that share habitats with LSGO along Arctic and sub-Arctic ecosystems. (93 pages)

The Localization and Map building module is a core building block for designing an autonomous vehicle. It describes the vehicle ability to create an accurate model of its surroundings and maintain its position in the environment at the same time. In this thesis work, we contribute to the autonomous driving research area by providing a proof-of-concept of integrating SLAM solutions into commercial vehicles; improving the robustness of the Localization and Map building module. The proposed system applies Bayesian inference theory within the occupancy grid mapping framework and utilizes Rao-Blackwellized Particle Filter for estimating the vehicle trajectory. The work has been done at Scania CV where a heavy duty vehicle equipped with multiple-Lidar sensory architecture was used. Low level sensor fusion of the different Lidars was performed and a parallelized implementation of the algorithm was achieved using a GPU. When tested on the frequently used datasets in the community, the implemented algorithm outperformed the scan-matching technique and showed acceptable performance in comparison to another state-of-art RBPF implementation that adapts some improvements on the algorithm. The performance of the complete system was evaluated under a designed set of real scenarios. The proposed system showed a significant improvement in terms of the estimated trajectory and provided accurate occupancy representations of the vehicle surroundings. The fusion module was found to build more informative occupancy grids than the grids obtained form individual sensors. / Modulen som har hand om både lokalisering och byggandet av karta är en av huvudorganen i ett system för autonom körning. Den beskriver bilens förmåga att skapa en modell av omgivningen och att hålla en position i förhållande till omgivningen. I detta examensarbete bidrar vi till forskningen inom autonom bilkörning med ett valideringskoncept genom att integrera SLAM-lösningar i kommersiella fordon, vilket förbättrar robustheten hos lokaliserings-kartbyggarmodulen. Det föreslagna systemet använder sig utav Bayesiansk statistik applicerat i ett ramverk som har hand om att skapa en karta, som består av ett rutnät som används för att beskriva ockuperingsgraden. För att estimera den bana som fordonet kommer att färdas använder ramverket RBPF(Rao-Blackwellized particle filter). Examensarbetet har genomförts hos Scania CV, där ett tungt fordon utrustat med flera lidarsensorer har använts. En lägre nivå av sensor fusion applicerades för de olika lidarsensorerna och en parallelliserad implementation av algoritmen implementerades på GPU. När algoritmen kördes mot data som ofta används av ”allmänheten” kan vi konstatera att den implementerade algoritmen ger ett väldigt mycket bättre resultat än ”scan-matchnings”-tekniken och visar på ett acceptabelt resultat i jämförelse med en annan högpresterande RBPFimplementation, vilken tillför några förbättringar på algoritmen. Prestandan av hela systemet utvärderas med ett antal egendesignade realistiska scenarion. Det föreslagna systemet visar på en tydlig förbättring av uppskattningen av körbanan och bidrar även med en exakt representation av omgivningen. Sensor Fusionen visar på en bättre och mer informativ representation än när man endast utgår från de individuella lidarsensorerna.

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