The system for mission handling in the Gripen fighter aircraft, and in its ground supporting system, consists for example of ways to plan mission routes, create mission points and validate performed missions. The system is complex and for example, the number of different mission points used increases due to changing demands and needs. This master thesis presents suggestions for improvements and simplifications for the mission handling system, to make it more intuitive and more friendly to use. As a base for the suggestions, interviews with pilots from Saab, TUJAS and FMV have been conducted, this is to obtain opinions and ideas from those using the system and have deep knowledge about it. Another possible assistance and improvement is to provide the possibility of on-line automatic re-planning of the mission route in case of obstacles. MPC (Model Predictive Control) has been used to estimate the obstacle’s flight path,and calculate a new route to the next mission point which does not conflict with the estimated enemy’s path. This system has been implemented in Matlab and the concept is demonstrated with different test scenarios where the design parameters (prediction horizon and penalty in the cost function) for the controller are varied, and stationary and moving obstacles are induced. / Systemet för uppdragshantering i stridsflygplanet Gripen, och i dess markstödsystem, består bland annat av uppdragsplanering, skapande av uppdragspunkter och möjligheter att validera utförda uppdrag. Systemet är komplext och exempelvis växer antalet uppdragspunkter med omvärldens ökande krav och behov. Detta examensarbete presenterar förslag till förenklingar och förbättringar i uppdragshanteringssystemet, för att göra det mer intuitivt och användarvänligt. Som grund för förslagen har intervjuer med piloter från Saab, TUJAS och FMV gjorts, för att samla in åsikter och idéer från de som använder systemet och har bred kunskap om det. En förbättring är en möjlighet till online automatisk omplanering av uppdragsrutten vid hinder. MPC (modellbaserad prediktionsreglering) har använts för att estimera den dynamiska fiendens flygväg, och beräkna en ny rutt till nästa uppdragspunkt som inte ligger i konflikt med den estimerade vägen för hindret. Detta system har implementerats i Matlab och konceptet demonstreras med olika testscenarion där prestandaparametrar (prediktionshorisont och straff i kostnadsfunktionen) för regulatorn varieras, och stationära och rörliga hinder induceras.

This thesis may be broadly divided into two parts.The first part critically discusses various aspects of path analysis as a statistical tool for abstract analysis. The second part investigates the changing pattern of nuptiality in Bangladesh by districts using 1981 census data. Path analysis has been applied to find and analyze the nature and extent the of causal relationship between the dependent variable, nuptiality and its determinants. It is observed that education, urbanization,female employment and economic development are all strongly positivelyrelatedto nuptiality. That is, formal and effective education policy combined with proper urbanization and development policies may increase the female employment rate which in turn will raise age at marriage. Further, effects of various indices through childlessness is reasonably high. This indicates that appropriate population distribution policies and introduction of insurance schemes for childless couples and couples with fewer children may indirectly put positive effect on nuptiality.Ball State UniversityMuncie, IN 47306

In the future autonomous vehicles are expected to navigate independently and manage complex traffic situations. This thesis is one of two theses initiated with the aim of researching which methods could be used within the field of autonomous vehicles. The purpose of this thesis was to investigate how Model Predictive Control could be used in the field of autonomous vehicles. The tasks to generate a safe and economic path, to re-plan to avoid collisions with moving obstacles and to operate the vehicle have been studied. The algorithm created is set up as a hierarchical framework defined by a high and a low level planner. The objective of the high level planner is to generate the global route while the objectives of the low level planner are to operate the vehicle and to re-plan to avoid collisions. Optimal Control problems have been formulated in the high level planner for the use of path planning. Different objectives of the planning have been investigated e.g. the minimization of the traveled length between the start and the end point. Approximations of the static obstacles' forbidden areas have been made with circles. A Quadratic Programming framework has been set up in the low level planner to operate the vehicle to follow the high level pre-computed path and to locally re-plan the route to avoid collisions with moving obstacles. Four different strategies of collision avoidance have been implemented and investigated in a simulation environment.

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The architectural object is concerned with its image. However, as Yves Alain Bois notes, the flatness of the photograph “denies the real content of the work.” This thesis unpacks the collapse of object and image by exploring the relationship between the path and the object: the path offers an experience not simply a view. In the emerging mega-city of Manila, malls are ever-present entities. Mainly for the upper class, they form an episodic network, where seeing and being seen is as important as shopping. By combining a series of theaters with the Filipino reliance on shopping centers, a new typology is formed: the PERFORMANCE MALL. Adapting Garnier, Scharoun, and the mall, this project establishes space for the few and the many simultaneously. The motion within the theater complex creates a continuous spectacle of performance and circulation. Rather than separation of circulation and performance, they exist in a symbiotic state.

The water soft path (WSP) has been formulated as a progressive paradigm in water management. The WSP has four main principles: water should be viewed as a service; ecological sustainability is of utmost importance; water quantity and quality should be conserved; and planning should be done from the future backwards, not projected from the present. It may be possible to use conservation-based water pricing programs, especially at the residential level, in order to incrementally implement the WSP. Moreover, the implementation of residential seasonal water rates has been suggested as a method to curb peak demand in municipal water systems, thereby deferring infrastructure expansion. The purpose of this thesis is to answer the question: what are the barriers to implementing residential seasonal water rates in the Region of Waterloo? This question is addressed using a variety of data sources, with the majority of the information coming from academic and non-academic literature, and from interviews with water professionals and local councillors. The results provide a descriptive case study concerning the barriers to implementing seasonal water rates in one particular region of southwestern Ontario, but the conclusions can be generalized to describe some of the barriers to the implementation of seasonal water rates in Ontario. Results suggest that some barriers are more severe than others, and that the more serious ones may be addressed by: expounding the potential for seasonal water rates to curb peak demand; carefully designing a rate study to be administered with non-price programs; and implementing the designed rate structure as a pilot study. It is suggested that the implementation of seasonal water rates can be used as an incremental step towards the adoption of WSP principles, but not without first envisioning a desirable future.

Autonomous vehicles are an emerging trend in robotics, seen in a vast range of applications and environments. Consequently, Volvo Construction Equipment endeavour to apply the concept of autonomous vehicles onto one of their main products. In the company’s Autonomous Machine project an autonomous wheel loader is being developed. As an ob jective given by the company; a demonstration proving the possibility of conducting a fully autonomous load and haul cycle should be performed. Conducting such cycle requires the vehicle to be able to localise itself in its task space and navigate accordingly. In this Master’s Thesis, methods of solving those requirements are proposed and evaluated on a real wheel loader. The approach taken regarding localisation, is to apply sensor fusion, by extended Kalman filtering, to the available sensors mounted on the vehicle, including; odometric sensors, a Global Positioning System receiver and an Inertial Measurement Unit. Navigational control is provided through an interface developed, allowing high level software to command the vehicle by specifying drive paths. A path following controller is implemented and evaluated. The main objective was successfully accomplished by integrating the developed localisation and navigational system with the existing system prior this thesis. A discussion of how to continue the development concludes the report; the addition of a continuous vision feedback is proposed as the next logical advancement.

Autonomous vehicles have many application possibilities within many different fields like rescue missions, exploring foreign environments or unmanned vehicles etc. For such system to navigate in a safe manner, high requirements of reliability and security must be fulfilled. This master's thesis explores the possibility to use the machine learning algorithm convolutional network on a robotic platform for autonomous path following. The only input to predict the steering signal is a monochromatic image taken by a camera mounted on the robotic car pointing in the steering direction. The convolutional network will learn from demonstrations in a supervised manner. In this thesis three different preprocessing options are evaluated. The evaluation is based on the quadratic error and the number of correctly predicted classes. The results show that the convolutional network has no problem of learning a correct behaviour and scores good result when evaluated on similar data that it has been trained on. The results also show that the preprocessing options are not enough to ensure that the system is environment dependent.

The reform of the European Commission has been on the EU agenda for more than three decades. The attempts to introduce an overhaul of the Commission’s institutional structure has been motivated predominantly by the fact that the efficiency of the functioning of the European Commission has been in decline. Despite the striking need to restore the Commission's efficiency, which has become even more urgent in the last decade, the attempts to improve its modus operandi have been marked by many obstacles, difficulties and delays. This thesis aims to analyze and explain why the process of reforming the European Commission has been so problematic. In order to achieve this goal, the theoretical framework of historical institutionalism has been utilized. More precisely, we mainly build on the work of Paul Pierson, whose concepts help us understand the reasons behind the failure of a number of reform plans regarding the Commission and clarify why the institutional structure of the European Commission is characterized by a high degree of stability.