The ocean, especially the deep ocean, dominates this world; it is the largest single habitat on the planet, a habitat whose inhabitants constitute the most common forms of life on this planet. By its immense influence on the global climate systems, this vast realm continually shapes life on the land. It is the least understood realm on the planet, home to a system of life that we did not know existed ? nor was it one we could even have imagined - only found by accident in the late twentieth century. We are tampering blindly with this vast realm, destroying segments of the intricate and complex systems of life within it. We plunder its riches and only return our waste. We need to know the ocean; it just may control our fate. <br /><br /> Presently, there is a gap in our ability to study this realm: we can no longer only sit on the surface, peering in from time to time; we need to look beneath the ocean's obscuring surface, at any point, for extended periods. Small research submersibles and self-contained diving gear only become available in the later half of the twentieth century, allowing us to venture beneath the ocean's surface. However, these have severe limitations, in their endurance (usually measured in hours) and operational conditions. The heyday for underwater research was the late nineteen-sixties; at that time there were, around the world, over fifty fixed undersea habitats operated by half a dozen countries. Their complexity, and their large on- and off- shore support requirements, eventually lead their sponsors to abandon of most of these habitats. There are only two left operating today, both of which are just off the coast of Florida, with one converted to a dive-access hotel in a coastal lagoon and the other anchored well offshore, the last remaining active undersea research habitat in the world. <br /><br /> We need a new type of ocean-going research vessel that will operate as an observation post on the deep ocean. Scientists need to collect a variety of data, over scales ranging from millimetres to kilometres and time spans ranging from seconds to days, years, and even decades; do this through a continuous, comprehensive, long-term, manned presence on and in the ocean, down to the seafloor, instead of trying to piece together processes by taking intermittent snapshots of a relatively few places and events; and keep this whole endeavour open and accessible to the entire world. A vessel that bridges the surface that isolates the two separate but intricately linked worlds, above and below, would enable researchers to be in both places at once. What such a vessel would be like, how it would function, and what challenges it would deal with; such a vessel is the focus of this thesis.

The ocean, especially the deep ocean, dominates this world; it is the largest single habitat on the planet, a habitat whose inhabitants constitute the most common forms of life on this planet. By its immense influence on the global climate systems, this vast realm continually shapes life on the land. It is the least understood realm on the planet, home to a system of life that we did not know existed ? nor was it one we could even have imagined - only found by accident in the late twentieth century. We are tampering blindly with this vast realm, destroying segments of the intricate and complex systems of life within it. We plunder its riches and only return our waste. We need to know the ocean; it just may control our fate. <br /><br /> Presently, there is a gap in our ability to study this realm: we can no longer only sit on the surface, peering in from time to time; we need to look beneath the ocean's obscuring surface, at any point, for extended periods. Small research submersibles and self-contained diving gear only become available in the later half of the twentieth century, allowing us to venture beneath the ocean's surface. However, these have severe limitations, in their endurance (usually measured in hours) and operational conditions. The heyday for underwater research was the late nineteen-sixties; at that time there were, around the world, over fifty fixed undersea habitats operated by half a dozen countries. Their complexity, and their large on- and off- shore support requirements, eventually lead their sponsors to abandon of most of these habitats. There are only two left operating today, both of which are just off the coast of Florida, with one converted to a dive-access hotel in a coastal lagoon and the other anchored well offshore, the last remaining active undersea research habitat in the world. <br /><br /> We need a new type of ocean-going research vessel that will operate as an observation post on the deep ocean. Scientists need to collect a variety of data, over scales ranging from millimetres to kilometres and time spans ranging from seconds to days, years, and even decades; do this through a continuous, comprehensive, long-term, manned presence on and in the ocean, down to the seafloor, instead of trying to piece together processes by taking intermittent snapshots of a relatively few places and events; and keep this whole endeavour open and accessible to the entire world. A vessel that bridges the surface that isolates the two separate but intricately linked worlds, above and below, would enable researchers to be in both places at once. What such a vessel would be like, how it would function, and what challenges it would deal with; such a vessel is the focus of this thesis.

Denna studie är en analys av romanen Heart of Darkness (1902) och novellen An outpost ofprogress (1898) av Joseph Conrad (1857-1924) i syfte att undersöka berättelsernashuvudsakliga tematik ur en postkolonial infallsvinkel samt vad Conrads avsikt tycks ha varitmed porträtteringen av elfenbensagenten Kurtz. För att genomföra denna analys har jag gjorten närläsning av Heart of Darkness samt An outpost of progress och samtidigt tolkathändelseförloppen.Tolkningarna är delvis mina egna samt delvis baserat på tidigare forskning. Efter att hagenomfört dessa närläsningar är min slutsats att Conrads huvudsakliga avsikt var att skildaden mänskliga moralens förfall genom den ondskefulla girigheten. Det är denna girighet somhan definierar som det mörka i en människas hjärta. Genom framställningen av Kurtz visarhan exempel på detta samt hur farlig en skicklig retoriker kan vara.

This study aims to highlight the consequences on outposts in Afghanistan in the context of COIN and ISAF during 2003-2012. Previous research in this area is more oriented towards the perspective of COIN at the strategic and operational level and not at the tactical and local level. For example, previous research has written about how important military presence and adaptation are, but not what consequences the company that is deployed to an area and conducts the COIN operation receives. The study was designed with Kilcullen’s theory about COIN and his 28 articles as a basis, and the study was conducted with in-depth interviews as the main empirical material, with officers who served in the Swedish Armed Forces, and the British Army during 2005-2012 in Afghanistan. The study finds that one consequence at one of the outposts was from the terrain, which was that the local infrastructure couldn’t support heavy military vehicles that came to the outpost, which resulted in the roads and irrigation ditches being destroyed by the vehicles' weight. The study also found interesting patterns amongst the informants that had the same consequences, which was that the roads leading towards the outposts were often very few, which led to a predictability for the enemy to use against the units stationed at the outpost. Another interesting find in this study is that there was a difference in how open each outpost was. For example, the British Army’s outposts were more open to civilians than the Swedish outposts, although the British Army had more fighting in their area than their Swedish counterpart.

This dissertation details the design and development of a mobile autonomous platform from which to conduct a 3D ground-penetrating radar survey. The system uses a three-rover multiagent team to perform a site-selection activity during a lunar analog mission. The work took place beginning in 2008 and culminated in a final field test on Mauna Kea in Hawaii. This demonstration of autonomous acquisition of 3D ground-penetrating radar in a space robtic application is promising not only for in-situ resource utilization, but also for the concept of multiagent teaming.

This dissertation details the design and development of a mobile autonomous platform from which to conduct a 3D ground-penetrating radar survey. The system uses a three-rover multiagent team to perform a site-selection activity during a lunar analog mission. The work took place beginning in 2008 and culminated in a final field test on Mauna Kea in Hawaii. This demonstration of autonomous acquisition of 3D ground-penetrating radar in a space robtic application is promising not only for in-situ resource utilization, but also for the concept of multiagent teaming.

Humanity has always wanted to explore the world we live in and answer different questions about our universe. After the International Space Station will end its service one possible next step could be a Moon Outpost: a convenient location for research, astronaut training and technological development that would enable long-duration space. This location can be inside one of the presumed lava tubes that should be present under the surface but would first need to be inspected, possibly by machine capable of capturing and relaying a map to a team on Earth.In this report the past and future Moon base missions will be summarized considering feasible outpost scenarios from the space companies or agencies. and their prospected manned budget. Potential mission profiles, objectives, requirements and constrains of the BATonomous Moon cave Explorer (BAT-ME) mission will be discussed and defined. Vehicle and mission concept will be addressed, comparing and presenting possible propulsion or locomotion approaches inside the lava tube.The Inkonova “Batonomous™” system is capable of providing Simultaneous Localization And Mapping (SLAM), relay the created maps, with the possibility to easily integrate the system on any kind of vehicle that would function in a real-life scenario.Although the system is not fully developed, it will be assessed from a technical perspective, and proper changes for a viable system transition for the space-Moon environment will be devised. The transition of the system from the Batonomous™ state to the BAT-ME required state will be presented from the requirement, hardware, software, electrical and operational point of view.The mission will be devised into operational phases, with key goals in mind. Two different vehicles will be presented and designed on a high engineering level. A risk analysis and management system will be made to understand the possible negative outcomes of different parts failure on the mission outcome.