Look ahead cruise control deals with the concept of using recorded topographic road data combined with a GPS to control vehicle speed. The purpose of this is to save fuel without a change in travel time for a given road. This thesis explores the sensitivity of different disturbances for look ahead systems. Two different systems are investigated, one using a simple precalculated speed trajectory without feedback and the second based upon a model predictive control scheme with dynamic programming as optimizing algorithm. Defect input data like bad positioning, disturbed angle data, faults in mass estimation and wrong wheel radius are discussed in this thesis. Also some investigations of errors in the environmental model for the systems are done. Simulations over real road profiles with two different types of quantization of the road slope data are done. Results from quantization of the angle data in the system are important since quantization will be unavoidable in an implementation of a topographic road map. The results from the simulations shows that disturbance of the fictive road profiles used results in quite large deviations from the optimal case. For the recorded real road sections however the differences are close to zero. Finally conclusions of how large deviations from real world data a look ahead system can tolerate are drawn.

<p>Look ahead cruise control deals with the concept of using recorded topographic road data combined with a GPS to control vehicle speed. The purpose of this is to save fuel without a change in travel time for a given road. This thesis explores the sensitivity of different disturbances for look ahead systems. Two different systems are investigated, one using a simple precalculated speed trajectory without feedback and the second based upon a model predictive control scheme with dynamic programming as optimizing algorithm.</p><p>Defect input data like bad positioning, disturbed angle data, faults in mass estimation and wrong wheel radius are discussed in this thesis. Also some investigations of errors in the environmental model for the systems are done. Simulations over real road profiles with two different types of quantization of the road slope data are done. Results from quantization of the angle data in the system are important since quantization will be unavoidable in an implementation of a topographic road map.</p><p>The results from the simulations shows that disturbance of the fictive road profiles used results in quite large deviations from the optimal case. For the recorded real road sections however the differences are close to zero. Finally conclusions of how large deviations from real world data a look ahead system can tolerate are drawn.</p>

De internationella klimatförhandlingarna handlar om att hitta lösningar för att stabilisera halten av växthusgaser i atmosfären och att uppnå tvågradersmålet. För att uppnå målet finns olika utsläppsmål att sträva mot. Ett är ett utsläppstak där varje land inte får släppa ut mer än 2 ton CO2-ekv/capita per år för att tvågradersmålet ska uppnås. Ett annat utsläppsmål är att minska de nationella utsläppen med en viss procentsats. EU:s del i minskningen ligger på 80-95 % till 2050. Som en del av arbetet mot målet presenterade EU i mars 2011 en färdplan för ett utsläppsnålt samhälle. Där presenteras åtgärder för fem olika sektorer samt hur stora utsläppsminskningarna beräknas kunna vara för varje sektor. Energisektorn är den sektor som beräknas minska mest och väntas nästintill nå en nollnivå. Även bostads- och servicesektorn väntas minska sina utsläpp kraftigt. Jordbrukssektorn är den sektor som beräknas minska minst. I färdplanen uppmanas varje medlemsland att ta fram en nationell färdplan till 2050. Det här examensarbetet syftar till att analysera ett antal av de nationella färdplanerna för att bl.a. ta reda på vilka förutsättningar och möjligheter som har en betydande påverkan. Resultatet visar att alla länderna antagit samma mål som EU, nämligen 80 %. Om alla länderna minskar med 80 % till 2050 är det bara Slovenien som når gränsen på 2 ton CO2-ekv/capita. Alla andra länder ligger över gränsen. Vägen till minskade utsläpp är framförallt utsläppsnåla energitekniker, energieffektiviseringar och en ökad användning av el eftersom den har potential att bli emissionsfri. Vindkraft är den teknik som många av de studerade länderna väljer att satsa på, främst till havs då utrymmet på land är begränsat. Kärnkraft är en energikälla som det råder delade meningar om. En del länder anser att det är en bra koldioxidsnål energikälla som gynnar klimatet medan andra länder menar att den är för osäker både ekonomiskt och säkerhetsmässigt. CCS (carbon capture and storage) tas upp av alla de studerade länderna som en möjlig åtgärd för att minska utsläppen. För att minska användningen av fossila bränslen i transportsektorn är det framförallt biodrivmedel och el som ska användas. Slutsatser som kan dras av arbetet är att CCS med de rätta förutsättningarna kommer att finnas i större skala 2050 än idag. Elbilar kommer att spela en stor roll i transportsektorn. Kärnkraft och förnybara alternativ är tekniker som kommer att spela en stor roll i energisystemet 2050. För att nå tvågradersmålet krävs internationella överenskommelser som också minskar risken för koldioxidläckage. / The international climate negotiations are to find solutions to stabilize concentrations of greenhouse gases in the atmosphere and to achieve the two degree target. To achieve this goal there are various emission targets to aim for. One is a ceiling in which each country must not emit more than two tons CO2-ekv/capita per year for two degree target to be achieved. Another emission target is to reduce national emissions by a certain percentage. EU's part in the reduction is 80-95 % by 2050. As a step towards the target in March 2011 the European Union launched a roadmap to a low carbon economy. It sets out measures for five different sectors and the size of the emission reductions estimated for each sector. The energy sector is the sector that is expected to decrease most, and is expected to almost reach a zero level. Also housing and service is expected to reduce their emissions significantly. The agricultural sector is the sector that is expected to decrease the least. The roadmap urges each member country to develop a national roadmap for 2050. This examination work aims to analyze a number of national roadmaps to find out what resources and opportunities that have a significant impact on the roadmap. The results show that all the countries have adopted the same target as the EU, namely 80%. If all countries reduce by 80% by 2050, only Slovenia will reach the limit of two tons CO2-ekv/capita, all other countries are above the limit. The ways to reduce emissions are primarily low-carbon energy technologies, energy efficiency and increased use of electricity because it has the potential to be emission-free. Wind power is the technology that many of the countries are choosing to invest in, mainly at sea when the space on land is limited. Nuclear power is an energy source where the opinion is split in two. Some countries consider it a good low-carbon energy source and favorable climate, while others argue that it is uncertain in both economy and safety. CCS (carbon capture and storage) is taken up by all the countries studied as a possible measure to reduce emissions. To reduce use of fossil fuels in the transport sector, it is primarily biofuels and electricity to be used. Conclusions to be drawn from this work are that CCS with the right conditions will be on a larger scale in 2050 than today. Electric cars play a big role in the transport sector. Nuclear power and renewable alternatives are techniques that will play a major role in the energy 2050. To reach the two-degree target requires international agreements that also reduce the risk of carbon leakage.

This research explores the role of the Christian Zionist Lobby in shaping U.S. policy towards Israel. It is posited that the Christian Zionist Lobby, due to their eschatological goals, diverge from the interests of the larger Israel Lobby described by Mearsheimer and Walt. To test this hypothesis an exploratory case study is implemented to explain why the U.S. shifted its policy from supporting the Road Map to backing Israeli unilateralism. As the results of this study show, the Christian Zionists did actively oppose the Road Map and may have influenced American policy making. However, it would be a mistake to characterize the Gaza pullout as the most desirable policy alternative for the Christian Zionist Lobby. This study concludes that when comparing the lobbying efforts against the Road Map and Israeli unilateralism, the Christian Zionists actively opposed the former policy while the evidence in support of the latter policy remained inconclusive.

Autonomous Vehicles (AV) can navigate itself from point `A' to point `B' without the aid of humans. Research on autonomous vehicles were primarily focused on the localization, navigation and path planning schemes. This led to numerous methods in each of the elds of focus. This research focuses on creating a scheme for the autonomous vehicle to navigate using minimal sensors and get maximum data/infor- mation from the map. At rst a digital map contains various structures and each has an associated database. This database contains the details of the environment. At present these data are manipulated for use by humans and for this map to be used with autonomous vehicle require more sensors. This work designs maps for use with autonomous vehicle and navigates using di erential GPS (dGPS) of high accuracy for localization. Then the vehicle gets path and directions from digital map and nav- igates using multiple waypoints that are provided by the path. Finally, the scheme is tested and demonstrated through simulation and test results.

This diploma thesis describes a proposal of a new conception of cost controlling reporting in Česká spořitelna for next period. This reporting concept consists of a description of the dimensional model (including a detailed description of dimensions and metrics reporting), the application architecture design and benefits of the new solution. The theoretic part focuses on specification of the basic reporting terms that are further developed in a practical part. Specifically, this section describes and categorizes reporting, including identification of the main groups of users (consumers) reports, identifies the main reporting components - requirements, tools and architecture. The practical part consists of three chapters supporting the achievement of the main targets. The first chapter defines the role of cost controlling, describes the current reporting conception through the model of application architecture. At the end, it summarizes the main limitations and shortcomings of the current reporting concept. The second chapter is fully devoted to the Erste reporting, and evaluates new demands and reporting requirements. The part of chapter is a catalogue of reports and reporting road map. It serves as a dashboard that can warn against potential operational risks. The last chapter meets the main goal and introduces a solution of reporting concept of cost controlling. The benefits of work can be especially found in practical application in Česká spořitelna. Currently, the first implementation phase of the Hyperion planning application has been realized. Moreover subject of my thesis can serve as a valuable source of information describing both current and final status of cost reporting.

Submitted by ÉRICO FERNANDO DE OLIVEIRA MARTINS null (profericomartins@gmail.com) on 2017-10-20T20:50:58Z No. of bitstreams: 1 TESE_PPGCC_EFOM_FINAL.pdf: 19920753 bytes, checksum: 0914bc57a7e2e403ee03d576a74e8e57 (MD5) / Approved for entry into archive by Luiz Galeffi (luizgaleffi@gmail.com) on 2017-10-23T19:41:39Z (GMT) No. of bitstreams: 1 martins_efo_dr_prud.pdf: 19920753 bytes, checksum: 0914bc57a7e2e403ee03d576a74e8e57 (MD5) / Made available in DSpace on 2017-10-23T19:41:39Z (GMT). No. of bitstreams: 1 martins_efo_dr_prud.pdf: 19920753 bytes, checksum: 0914bc57a7e2e403ee03d576a74e8e57 (MD5) Previous issue date: 2017-08-25 / Fundação de Amparo à Pesquisa do Estado de Mato Grosso (FAPEMAT) / Os processos convencionais de extração de rodovias em imagens digitais não costumam fazer uso de informações a priori e normalmente não há uma preocupação a respeito da padronização necessária para que os resultados das extrações sejam utilizados em Infraestruturas de Dados Espaciais (IDE). Por consequência, os resultados dessas extrações acabam sendo geometricamente robustos, porém fragmentados em relação ao contexto e a seu padrão de estrutura, ou seja, necessitarão de um grande esforço do operador humano para que possam se tornar elegíveis à IDE, contrariando uma das principais motivações para o desenvolvimento de métodos (semi-) automáticos de extração, que é desonerar o operador humano de tarefas repetitivas e enfadonhas. Neste contexto a hipótese motivadora desta pesquisa levanta a questão: “adaptando processos clássicos de extração de rodovias para a integração de dados geoespaciais preexistentes, será possível apresentar um método para atualização sistemática de malha rodoviária em área rural, que seja capaz de preservar informações e estruturas preexistentes? ”. Como resposta é apresentado aqui um método para a atualização da malha rodoviária em formato vetorial, advinda de bases de dados cartográficas elaboradas segundo uma IDE, por meio da integração de diferentes tipos de dados, preservando sua integridade. No decorrer das três etapas em que está organizado o método o arquivo vetorial sofrerá uma série de modificações geométricas, configuradas em distintos processos, começando com uma conflação vetor-para-vetor com o mapa de rodovias inferido a partir de trajetórias de deslocamento com objetivo de identificar ramos ausentes na malha e agregá-los (Expansão da Malha); seguida de uma conflação vetor-para-vetor com os segmentos de eixo de rodovias extraídos de uma imagem sintética obtida a partir das imagens RapidEye (Ajuste da Malha Expandida); finalizando com a etapa de refino pela aplicação das snakes de redes sobre a malha ajustada e a imagem sintética (Refino da Malha Ajustada) e por fim uma atribuição da componente altimétrica por meio de um Modelo Digital de Superfície, resultando em um arquivo vetorial geometricamente atualizado e expandido para o espaço tridimensional, com estrutura e atributos preservados. Os experimentos realizados demonstraram a robustez do método, com a média do RMSE da malha inicial em 50,86 m, alcançando 18,72 m na primeira etapa do método (expansão da malha), reduzindo para 7,25 m na etapa seguinte (ajuste da malha), e para 3,74 m na etapa final (refino da malha). Assim, o processo finaliza com um RMSE médio de 3,74 m e um desvio-padrão de 2,86 m, que permite o enquadramento da malha resultante no PEC-PCD 1:50.000 classe A, devidamente adequado aos padrões da IDE. / Conventional road extraction processes in digital imagery do not usually make use of a priori information and there is usually no concern about the standardization required for extraction results to be used in Spatial Data Infrastructures (SDI). As a result, these extractions turn out to be geometrically robust but fragmented in relation to the context and their structure pattern, that is, they will require a great effort from the human operator so that they can become eligible for SDI, contrary to one of the main motivations for the development of (semi) automatic extraction methods, which is to deprive the human operator of repetitive and tedious tasks. In this context the motivating hypothesis of this research raises the question: "adapting classic processes of road extraction for the integration of preexisting geospatial data, it will be possible to present a method for systematic updating of road network in rural area, which is able to preserve preexisting information and structures? ". A method for updating the road network in vector format from cartographic databases elaborated according to an SDI is presented here, through the integration of different types of data, preserving its integrity. During the three stages in which the method is organized the vector file will undergo a series of geometric modifications, configured in different processes, starting with a vector-to-vector conflation with the road map inferred from displacement paths with the objective of identify missing branches in the mesh and aggregate them (Mesh Expansion); followed by vector-to-vector conflation with the segments of road axes extracted from a synthetic image obtained from the RapidEye (Expanded Mesh Adjustment) images; finishing with the refining step by applying the network snakes on the adjusted mesh and the synthetic image (Refining the Adjusted Mesh) and finally an assignment of the altimetric component through a Digital Surface Model, resulting in a vector file geometrically updated and expanded for the three-dimensional space with preserved structure and attributes. The experiments showed the robustness of the method, with the average RMSE of the initial mesh in 50.86 m, reaching 18.72 m in the first step of the method (mesh expansion), reducing to 7.25 m in the next step (mesh adjustment), and to 3.74 m in the final step (mesh refining). Thus, the process ends with an average RMSE of 3.74 m and a standard deviation of 2.86 m, which allows framing of the resulting mesh in the 1: 50,000 Class A PEC-PCD, duly adapted to SDI standards. / FAPEMAT: 231463/2013

General highway map for Washington County, Tennessee created December 12, 2002 by Johnson City GIS. Place/neighborhood names are located along the bottom right corner. A transportation key denoting types of highways and railroads can be found on the lower portion of the map. A county road index is included along the left edge. Physical copy resides with Johnson City, Geographic Information Systems Division. Scale - 1" = 4000' / https://dc.etsu.edu/rare-maps/1068/thumbnail.jpg

Robots moving about in complex environments must be capable of determining and performing difficult motion sequences to accomplish tasks. As the tasks become more complicated, robots with greater dexterity are required. An increase in the number of degrees of freedom and a desire for autonomy in uncertain environments with real-time requirements leaves much room for improvement in the current popular robot motion planning algorithms. In this thesis, state of the art robot motion planning techniques are surveyed. A solution to the general movers problem in the context of motion planning for robots is presented. The proposed robot motion planner solves the general movers problem using a sample-based tree planner combined with an incremental simulator. The robot motion planner is demonstrated both in simulation and the real world. Experiments are conducted and the results analyzed. Based on the results, methods for tuning the robot motion planner to improve the performance are proposed.

In this thesis, a road map/strategy that must be followed by firms that want to utilize e-commerce facilities is established. For this purpose, road map suggestions that were taken from literature were examined and a road map which can be followed by mining companies is developed. First, a questionnaire was applied to mining firms to understand the attitude of mining sector to e-commerce. Then a firm that had involved in the questionnaire and was interested in e-commerce was selected to work with. The studies related to e-commerce accomplished by this firm in the past were evaluated and recommendations for the studies that it should perform in the future were indicated based on the questionnaire taken from literature and questions prepared for this study. In the light of all data obtained from this case study, the initially suggested road map was rearranged and the results were discussed.