The rise of robots is becoming unstoppable judging by how much effort and money has been invested in this Robotics field so far just these years. Carl Frey and Michael Osbourne in Oxford University released a paper in 2013 and claimed that around 47 percent of current jobs would be automated in the next two decades. But planning robot motion still remains a major problem in Robotics regardless of countless approaches proposed in multiple aspects trying to solve it. TrajOpt(Trajectory Optimizer) is a state-of-art optimization-based software framework for planning robot motions. TrajOpt generates trajectory through constrained sequential convex optimization given several initial guesses, meaning TrajOpt would focus on finding the local minimum guided by an initial guess. However, depending on the complex environment and robot mechanical structure, it sometimes would suffer from being stuck in the local minimum which is not a feasible trajectory. However, BiRRT(Bidirectional Rapidly exploring random tree) is probabilistic complete. BiRRT is a sampling-based method. It has been widely used due to its property, probabilistic completeness. But without using any smoothing techniques, the trajectory generated by BiRRT mostly is inexecutable on the real robot. The objective of proposing this work is to use the sample-based method to enable the TrajOpt become probabilistic complete, which guarantees that considering the solution being present the planner has the capability of acquiring the optimized trajectory. I also intend to experimentally evaluate the performance of this improved method in the simulation called Gazebo and on the real Atlas robot over a wide range of environmental settings.

By the term “Cultural Amnesia” I refer to a diagnosis of a condition that has been caused by external damage or trauma. This may result in a society forced to forget about their roots, culture and connection to the landscape, once been embraced by a community as a whole but now been forgotten and replaced by different ideals that are displaced from context.  It is an assumption that something is missing or is about to be forgotten, that would have disastrous consequences. The causes of the amnesia need to be diagnosed and identified and their possible effects imagined. The term “Culture” here can refers simply to the way how have been done and developed in a specific context from the beginning of times. Cultural amnesia, then, would be the widespread ignorance of and indifference to what used to be important but has now fallen into forced displacement, resulting in a possible “dystopian future”.  The aim of the research is to analyse the recent developments in Norrland and the Sápmi areas that are largely affected by capitalist space production. It highlights also the story of displacement and injustice the Sámi have suffered. There has been an exploitation of the Sámi rights by the government and evidence of the Swedish state land theft from the Sámi. The real repression began with the modernization of society, where the causes lay in factors like the need for forest, agricultural efficiency and new definitions of land ownership. Today the indigenous people find themselves fighting a battle against the state and multinational mining companies, while their land, cultural heritage and their way of life is at stake.  Can we imagine a cure, a plan of care or an antidote to Cultural Amnesia?

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Orientador: Regina Celia de Oliveira / Dissertação (mestrado) - Universidade Estadual de Campinas, Instituto de Geociencias / Made available in DSpace on 2018-08-15T08:20:30Z (GMT). No. of bitstreams: 1 Lima_RafaelGaleotide_M.pdf: 1551818 bytes, checksum: f24eaa6834fe96f188b066f00661f6d0 (MD5) Previous issue date: 2009 / Resumo: A crescente e consolidada urbanização, tendo o urbano como o atual meio de vida preponderante em qualquer sociedade ao redor do planeta, tem como consequências a saturação e a fadiga das grandes cidades: os elementos naturais da paisagem tornam-se fatores de risco, os conflitos sociais são intensificados, o desenvolvimento econômico se estabiliza, de acordo com que a cidade torna-se um organismo de cada vez maior complexidade. O planejamento público, visto em tal cenário com uma possível "salvação" para o "caos instaurado" no meio urbano, aparece como ferramenta fundamental para a continuidade das relações naturais e humanas existentes no escopo da cidade. Em vista do atendimento prioritário a determinados aspectos presentes na cidade, geralmente o desenvolvimento econômico da mesma, no entanto, outros determinados aspectos de igual relevância acabam por ser negligenciados, ou tratados secundariamente, e tal equívoco acaba por acarretar consequências que, ironicamente, atrasam o desenvolvimento econômico da cidade e a dinâmica social da mesma, bem como, intensificam a degradação dos aspectos naturais do determinado recorte a ser estudado e planejado. Não raro, encontram-se desastres naturais de pequena e média escala que, em vista de um mal planejamento público, que não considera a realidade física das áreas em foco, provocam enchentes em áreas importantes da cidade, soterramento de casas e outras edificações, além de perda da qualidade de vida no meio ambiente urbano; da mesma forma, o estrangulamento das vias de circulação locais pelo excessivo contingente de veículos de carga e de transporte de passageiros é responsável pela inviabilidade de bens e mercadorias em área urbana, de forma a trazer desvantagens econômicas para a mesma. Entendendo-se o plano diretor como uma ferramenta básica (e polêmica) para o planejamento oriundo do poder público, este trabalho tem por objetivos o estudo de como este, o plano diretor, dá seu tratamento para as questões consideradas de grande urgência no cenário urbano consolidado, numa cidade considerada, ao mesmo tempo, paradigmática e peculiar para tais discussões: a cidade de Santos, em São Paulo. Trata-se de uma área peculiar por três motivos primordiais, a serem pontuados: a alta complexidade da dinâmica dos elementos naturais presentes na área, naturalmente suscetível a escorregamentos de massa e enchentes; sua ocupação que remete-nos aos tempos do descobrimento, anterior a qualquer esboço de planejamento público no Brasil; e sua importância econômica, devido à zona portuária, para o escoamento produtivo estadual e nacional. O escopo deste trabalho tem por intuito analisar o planejamento da cidade de Santos através do Plano Diretor, no que se refere à forma como as questões referentes ao espaço geográfico são tratadas em dias atuais, bem como, no que se refere à evolução do planejamento público local, pela comparação com Plano Diretor elaborado na década de 60 / Abstract: The growing and consolidated urbanization, being the urban the preponderant way of life in any society around the planet, has as consequences the reach of a saturation point and fatigue in big cities: the natural elements of the landscape becomes risky factors, the social conflicts are intensified, the economic development is established, according to the city, that becomes an organism of great complexity. The public planning, in this scenario, can be the "salvation" for the "installed chaos" in the urban environment and appears as a fundamental tool for the continuity of natural and human relationships that exist in the city scope. Due to the priority of determined aspects in the city, usually the economic development of it, however, other aspects that are also relevant end up neglected, or treated secondarily, and this mistake can create consequences that, ironically, delay the economic development of the city and its social dynamic, and they also intensify the degradation of natural aspects of determined parts to be studied and planned. Not rarely, small and medium scaled disasters are found, due to a bad public planning, that does not consider the physical reality of the focused areas, provokes floods in important areas of the city, landslides that destroy houses and other buildings, besides the loss of life quality in the urban environment; at the same way, the streets bottlenecks caused by the excessive number of vehicles are responsible for the unfeasibility of assets and goods in the urban area, in order to bring economic disadvantages for itself. Understanding the Director Plan as a basic (and polemic) tool for the planning coming from the public power, this work has as an objective the study of how this Director Plan treats these questions, considered urgent in the consolidated scenario, in a city considered, at the same time paradigmatic and peculiar, for such discussions. The city of Santos, in São Paulo is a peculiar area for three main reasons, to be shown: the high complexity of the natural elements dynamic that exists in the area, naturally susceptible to massive landslides and floods; its occupation that takes us to the times of discovery, before any kind of public planning in Brazil; and its economic importance due to its harbor zone, for the state and national productive outflow. The scope of this work aims to analyse the planning of the city of Santos through the Director Plan, referring to the way the questions about the geographic space are treated nowadays, as well as referring to the local public planning evolution, in comparison to the Director Plan elaborated in the 60's / Mestrado / Análise Ambiental e Dinâmica Territorial / Mestre em Geografia

<p>Sedan mitten av 1990-talet har Sverige internationellt sätt legat i topp på grund av grundskolelevers goda resultat i engelsk språkkunskap. Den svenska grundskolan är fortfarande internationellt sätt i topp men på nationell nivån har det skett en förändring. Sedan mitten av 1990-talet har grundskolelevernas resultat stagnerat och i vissa språkmoment även försämrats. Vad som orsakat denna negativa förändring finns det många spekulationer om t.ex. den ökade invandringen och elevers attityd till ämnet. Forskare har under en tid studerat olika områden som kan vara orsaken till de försämrade resultaten men har inte funnit ett konkret svar, ingen ensam faktor som kan ha förorsakat detta i skolan.</p><p>Vad gäller undervisningsplanering i skolan finns det inte mycket tidigare forskning inom Sverige för den svenska grundskolan. Inte heller skolans styrdokument har några direktiv för hur undervisningsmål ska uppnås, planeras eller vad denna planering ska innehålla. Undervisningens planering är lämnad i lärarens händer.</p><p>Svenska grundskoleelevers skolresultat i engelska visar på en nedåtgående utveckling, flera områden i skolan har fått uppmärksamhet, men undervisningsplaneringen är något som ännu är outforskat. Det är planeringen som avgör hur undervisningen utformas, vilka material och tillvägagångssätt elever ges möjlighet att tillägna sig i sikte att uppnå målen.</p><p>Denna studie omfattar intervjuer av sex lärare för grundskolans tidigare år. Intervjuerna har behandlat hur lärare planerar, vad de planerar och hur det tänker kring undervisningsämnet engelska, i syfte att få en bild av vilket innehåll och vilken struktur planeringen har. I studien framkommer att det är den individuella lärarens val av metoder och material samt det mål läraren har med undervisningen som avgör vad eleverna ges möjlighet att tillägna sig i skolan. Resultatet visar att det skiljer sig i hur lärare strukturerar sin undervisning. En del har en noga och väl strukturerad plan med moment och metoder, andra har en tanke som ännu inte är utformad eller tar det lite som det kommer. Alla arbetar för samma sak, efter samma styrdokument men på olika sätt.</p>

Sedan mitten av 1990-talet har Sverige internationellt sätt legat i topp på grund av grundskolelevers goda resultat i engelsk språkkunskap. Den svenska grundskolan är fortfarande internationellt sätt i topp men på nationell nivån har det skett en förändring. Sedan mitten av 1990-talet har grundskolelevernas resultat stagnerat och i vissa språkmoment även försämrats. Vad som orsakat denna negativa förändring finns det många spekulationer om t.ex. den ökade invandringen och elevers attityd till ämnet. Forskare har under en tid studerat olika områden som kan vara orsaken till de försämrade resultaten men har inte funnit ett konkret svar, ingen ensam faktor som kan ha förorsakat detta i skolan. Vad gäller undervisningsplanering i skolan finns det inte mycket tidigare forskning inom Sverige för den svenska grundskolan. Inte heller skolans styrdokument har några direktiv för hur undervisningsmål ska uppnås, planeras eller vad denna planering ska innehålla. Undervisningens planering är lämnad i lärarens händer. Svenska grundskoleelevers skolresultat i engelska visar på en nedåtgående utveckling, flera områden i skolan har fått uppmärksamhet, men undervisningsplaneringen är något som ännu är outforskat. Det är planeringen som avgör hur undervisningen utformas, vilka material och tillvägagångssätt elever ges möjlighet att tillägna sig i sikte att uppnå målen. Denna studie omfattar intervjuer av sex lärare för grundskolans tidigare år. Intervjuerna har behandlat hur lärare planerar, vad de planerar och hur det tänker kring undervisningsämnet engelska, i syfte att få en bild av vilket innehåll och vilken struktur planeringen har. I studien framkommer att det är den individuella lärarens val av metoder och material samt det mål läraren har med undervisningen som avgör vad eleverna ges möjlighet att tillägna sig i skolan. Resultatet visar att det skiljer sig i hur lärare strukturerar sin undervisning. En del har en noga och väl strukturerad plan med moment och metoder, andra har en tanke som ännu inte är utformad eller tar det lite som det kommer. Alla arbetar för samma sak, efter samma styrdokument men på olika sätt.

In this study, methodologies for modeling grey uncertainty in water resources systems are developed, specifically for the problems in two identified areas in water resources: waste load allocation in streams and floodplain planning. A water resources system is associated with some degree of uncertainty, due to randomness of hydrologic and hydraulic parameters, imprecision and subjectivity in management goals, inappropriateness in model selection, inexactness of different input parameters for inadequacy of data, etc. Uncertainty due to randomness of input parameters could be modeled by the probabilistic models, when probability distributions of the parameters may be estimated. Uncertainties due to imprecision in the management problem may be addressed by the fuzzy decision models. In addition, some parameters in any water resources problems need to be addressed as grey parameters, due to inadequate data for an accurate estimation but with known extreme bounds of the parameter values. Such inexactness or grey uncertainty in the model parameters can be addressed by the inexact or grey optimization models, representing the parameters as interval grey numbers. The research study presented in this thesis deals with the development of grey and fuzzy optimization models, and the combination of the two for water resources systems decision-making. Three grey fuzzy optimization models for waste load allocation, namely (i) Grey Fuzzy Waste Load Allocation Model (GFWLAM), (ii) two-phase GFWLAM and (iii) multiobjective GFWLAM, and a Grey Integer Programming (GIP) model for floodplain planning, are developed in this study. The Grey Fuzzy Waste Load Allocation Model (GFWLAM) for water quality management of river system addresses uncertainty in the membership functions for imprecisely stated management goals of the Pollution Control Agency (PCA) and dischargers. To address the imprecision in fixing the boundaries of membership functions (also known as membership parameters), the membership functions themselves are treated as imprecise in the model and the membership parameters are expressed as interval grey numbers. The conflict between the fuzzy goals of PCA and dischargers is modeled using the concept of fuzzy decision, but because of treating the membership parameters as interval grey numbers, in the present study, the notion of ‘fuzzy decision’ is extended to the notion of ‘grey fuzzy decision’. A terminology ‘grey fuzzy decision’ is used to represent the fuzzy decision resulting from the imprecise membership functions. The model provides flexibility for PCA and dischargers to specify their aspirations independently, as the membership parameters for membership functions are interval grey numbers in place of a deterministic real number. In the solution, optimal fractional removal levels of the pollutants are obtained in the form of interval grey numbers. This enhances the flexibility and applicability in decision-making, as the decision-maker gets a range of optimal solutions for fixing the final decision scheme considering technical and economic feasibility of the pollutant treatment levels. The methodology is demonstrated with the case studies of a hypothetical river system and the Tunga-Bhadra river system in Karnataka, India. Formulation of GFWLAM is based on the approach for solving fuzzy multiple objective optimization problem using max-min as the operator, which usually may not result in a unique solution. The two-phase GFWLAM captures all the alternative optimal solutions of the GFWLAM. The solution technique in the Phase 1 of two-phase GFWLAM is the same as that of GFWLAM. The Phase 2 maximizes upper bounds and minimizes lower bounds of decision variables, keeping the optimal value of goal fulfillment level same as obtained in the Phase 1. The two-phase GFWLAM gives the unique, widest, intervals of the optimal fractional removal levels of pollutant corresponding to the optimal value of goal fulfillment level. The solution increases the widths of interval-valued fractional removal levels of pollutants by capturing all the alternative optimal solutions and thus enhances the flexibility and applicability in decision-making. The model is applied to the case study of Tunga-Bhadra river system, which shows the existence of multiple solutions when the GFWLAM is applied to the same case study. The width of the interval of optimal fractional removal level plays an important role in the GFWLAM, as more width in the fractional removals implies a wider choice to the decision-makers and more applicability in decision-making. The multiobjective GFWLAM maximizes the width of the interval-valued fractional removal levels for providing a latitude in decision-making and minimizes the width of goal fulfillment level for reducing the system uncertainty. The multiobjective GFWLAM gives a new methodology to get a satisfactory deterministic equivalent of a grey fuzzy optimization problem, using the concept of acceptability index for a meaningful ranking between two partially or fully overlapping intervals. The resulting multiobjective optimization model is solved by fuzzy multiobjective optimization technique. The consistency of the solution is verified by solving the problem with fuzzy goal programming technique. The multiobjective GFWLAM avoids intermediate submodels unlike GFWLAM, so that the solution from a single deterministic equivalent of the GFWLAM adequately covers all possible situations. Although the solutions obtained from multiobjective GFWLAM provide more flexibility than those of the GFWLAM, its application is limited to grey fuzzy goals expressed by linear imprecise membership functions only, whereas GFWLAM has the capability to solve the model with any monotonic nonlinear imprecise membership functions also. The methodology is demonstrated with the case studies of a hypothetical river system and the Tunga-Bhadra river system in Karnataka, India. The Grey Integer Programming (GIP) model for floodplain planning is based on the floodplain planning model developed by Lund (2002), to identify an optimal mix of flood damage reduction options with probabilistic flood descriptions. The model demonstrates how the uncertainty of various input parameters in a floodplain planning problem can be modeled using interval grey numbers in the optimization model. The GIP model for floodplain planning does not replace a post-optimality analysis (e.g., sensitivity analysis, dual theory, parametric programming, etc.), but it provides additional information for interpretation of the optimal solutions. The results obtained from GIP model confirm that the GIP is a useful technique for interpretation of the solutions particularly when a number of potential feasible measures are available in a large scale floodplain planning problem. Though the present study does not directly compare the GIP technique with sensitivity analysis, the results indicate that the rigor and extent of post-optimality analyses may be reduced with the use of GIP for a large scale floodplain planning problem. Application of the GIP model is demonstrated with the hypothetical example as presented in Lund (2002).

The thesis analyses problems of controlling system in a company dealing with cargo services and trade. It contains suggested solutions which shell result in increased quality and efficiency of operational and financial controlling in the comapny.