Developing behaviours for interaction with objects close to the body is a primary goal for any organism to survive in the world. Being able to develop such behaviours will be an essential feature in autonomous humanoid robots in order to improve their integration into human environments. Adaptable spatial abilities will make robots safer and improve their social skills, human-robot and robot-robot collaboration abilities. This work investigated how a humanoid robot can explore and create action-based representations of its peripersonal space, the region immediately surrounding the body where reaching is possible without location displacement. It presents three empirical studies based on peripersonal space findings from psychology, neuroscience and robotics. The experiments used a visual perception system based on active-vision and biologically inspired neural networks. The first study investigated the contribution of binocular vision in a reaching task. Results indicated the signal from vergence is a useful embodied depth estimation cue in the peripersonal space in humanoid robots. The second study explored the influence of morphology and postural experience on confidence levels in reaching assessment. Results showed that a decrease of confidence when assessing targets located farther from the body, possibly in accordance to errors in depth estimation from vergence for longer distances. Additionally, it was found that a proprioceptive arm-length signal extends the robot’s peripersonal space. The last experiment modelled development of the reaching skill by implementing motor synergies that progressively unlock degrees of freedom in the arm. The model was advantageous when compared to one that included no developmental stages. The contribution to knowledge of this work is extending the research on biologically-inspired methods for building robots, presenting new ways to further investigate the robotic properties involved in the dynamical adaptation to body and sensing characteristics, vision-based action, morphology and confidence levels in reaching assessment.

O presente trabalho analisa a territorialização da sociedade civil no Conselho Municipal de Assistência Social de Porto Alegre. A compreensão de que uma sociedade com maior equidade depende da ampla participação nas deliberações sobre as políticas e verbas públicas é o motor deste estudo, que a partir dos conceitos de cidadania, subjetividade, desenvolvimento sócio-espacial e horizontalidade estuda as atribuições dos conselheiros, os seus vínculos com as regiões da cidade e com a política de assistência social, bem como os motivos para exercerem o cargo, os dados sobre a assistência social na capital gaúcha e os suportes legais para as deliberações junto ao poder público. Os objetivos dessa pesquisa são de compreender quais os limites e potencialidades da participação da sociedade civil em espaços institucionais de deliberação sobre políticas e verbas públicas, analisando o modelo municipal de política participativa e refletir sobre estratégias para potencializar e ampliar a apropriação dos conselheiros dos meios para conquistarem suas demandas. Nele são realizadas entrevistas com os conselheiros das Comissões Regionais de Assistência Social (CORAS), espacialização de dados com a confecção de mapas e a leitura das atas do período de 2013 a 2015. / The present work analyses the territorialization of the civil society in the Social Assistance Municipal Council of Porto Alegre (CMAS). The understanding that a society with a high level of equity depends on a large participation in the decisions about public politics and money is the motivation for the study. It uses the concepts of citizenship, subjectivity, social-space development and horizontality to study the attribution of the council members, their bounds with the city regions and with the social assistance politics. It also researches the reasons for them to choose this kind of work, the data about social assistance in the city and the legal support to deliberations with the government in the council. The objectives of this research are to comprehend the limits and potentials of the participation of the civil society in institutional spaces of deliberation on public politics and money, analyzing the municipal model of public participation and reflect about strategies to amplify the appropriation of the council members to achieve their objectives. In it are made interviews with representations of the Regional Commissions of Social Assistance (CORAS), specialization of the data through maps and the reading of the record of the reunions of the council in the period of 2013 to 2015.

O presente trabalho analisa a territorialização da sociedade civil no Conselho Municipal de Assistência Social de Porto Alegre. A compreensão de que uma sociedade com maior equidade depende da ampla participação nas deliberações sobre as políticas e verbas públicas é o motor deste estudo, que a partir dos conceitos de cidadania, subjetividade, desenvolvimento sócio-espacial e horizontalidade estuda as atribuições dos conselheiros, os seus vínculos com as regiões da cidade e com a política de assistência social, bem como os motivos para exercerem o cargo, os dados sobre a assistência social na capital gaúcha e os suportes legais para as deliberações junto ao poder público. Os objetivos dessa pesquisa são de compreender quais os limites e potencialidades da participação da sociedade civil em espaços institucionais de deliberação sobre políticas e verbas públicas, analisando o modelo municipal de política participativa e refletir sobre estratégias para potencializar e ampliar a apropriação dos conselheiros dos meios para conquistarem suas demandas. Nele são realizadas entrevistas com os conselheiros das Comissões Regionais de Assistência Social (CORAS), espacialização de dados com a confecção de mapas e a leitura das atas do período de 2013 a 2015. / The present work analyses the territorialization of the civil society in the Social Assistance Municipal Council of Porto Alegre (CMAS). The understanding that a society with a high level of equity depends on a large participation in the decisions about public politics and money is the motivation for the study. It uses the concepts of citizenship, subjectivity, social-space development and horizontality to study the attribution of the council members, their bounds with the city regions and with the social assistance politics. It also researches the reasons for them to choose this kind of work, the data about social assistance in the city and the legal support to deliberations with the government in the council. The objectives of this research are to comprehend the limits and potentials of the participation of the civil society in institutional spaces of deliberation on public politics and money, analyzing the municipal model of public participation and reflect about strategies to amplify the appropriation of the council members to achieve their objectives. In it are made interviews with representations of the Regional Commissions of Social Assistance (CORAS), specialization of the data through maps and the reading of the record of the reunions of the council in the period of 2013 to 2015.

O presente trabalho analisa a territorialização da sociedade civil no Conselho Municipal de Assistência Social de Porto Alegre. A compreensão de que uma sociedade com maior equidade depende da ampla participação nas deliberações sobre as políticas e verbas públicas é o motor deste estudo, que a partir dos conceitos de cidadania, subjetividade, desenvolvimento sócio-espacial e horizontalidade estuda as atribuições dos conselheiros, os seus vínculos com as regiões da cidade e com a política de assistência social, bem como os motivos para exercerem o cargo, os dados sobre a assistência social na capital gaúcha e os suportes legais para as deliberações junto ao poder público. Os objetivos dessa pesquisa são de compreender quais os limites e potencialidades da participação da sociedade civil em espaços institucionais de deliberação sobre políticas e verbas públicas, analisando o modelo municipal de política participativa e refletir sobre estratégias para potencializar e ampliar a apropriação dos conselheiros dos meios para conquistarem suas demandas. Nele são realizadas entrevistas com os conselheiros das Comissões Regionais de Assistência Social (CORAS), espacialização de dados com a confecção de mapas e a leitura das atas do período de 2013 a 2015. / The present work analyses the territorialization of the civil society in the Social Assistance Municipal Council of Porto Alegre (CMAS). The understanding that a society with a high level of equity depends on a large participation in the decisions about public politics and money is the motivation for the study. It uses the concepts of citizenship, subjectivity, social-space development and horizontality to study the attribution of the council members, their bounds with the city regions and with the social assistance politics. It also researches the reasons for them to choose this kind of work, the data about social assistance in the city and the legal support to deliberations with the government in the council. The objectives of this research are to comprehend the limits and potentials of the participation of the civil society in institutional spaces of deliberation on public politics and money, analyzing the municipal model of public participation and reflect about strategies to amplify the appropriation of the council members to achieve their objectives. In it are made interviews with representations of the Regional Commissions of Social Assistance (CORAS), specialization of the data through maps and the reading of the record of the reunions of the council in the period of 2013 to 2015.

No description available.

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.

No description available.

L’évolution de l’urbanisation dans le monde nous a motivés à développer nos recherches quant à cette croissance déchaînée des villes et ces multitudes de formes urbaines qui en résultent. L'objet de ce travail est d'analyser ces formes de croissance spatiales et d’analyse leur impact sur l’identité dans la ville. Il s'agit de montrer dans quelle mesure elles favorisent la prolifération de nouvelles identités dans les régions périphériques de la ville. Notre recherche porte alors sur une étude socio spatiale de la capitale de la Tunisie. Tunis, cette métropole en pleine expansion, occupe un emplacement stratégique dans la Méditerranée et joue un rôle important dans les échanges afro-européens. La pertinence de l’étude de l’évolution du domaine urbain de Tunis résulte du fait que cette ville a connu différents types de croissances. La variété des modes de développement de l’espace urbain fait de Tunis un exemple pertinent qui mérite d’être étudié, d’autant plus que l’espace englobe des banlieues planifiées, spontanées, historiques, et bien d’autres qui résultent du juste fait de l’informalité, allant du patrimoine à la construction d’une identité urbaine plurielle. Notre travail comportera donc une étude spatiale de l’évolution de l’espace urbain de Tunis, basée essentiellement sur des cartes et des photos satellites, doublées d’une analyse sociale, basée sur une enquête in situ, réalisée avec les habitants des banlieues, et ce, dans le but de recenser leurs degrés d’attachement à l’espace ainsi que les rapports qu’ils entament avec le centre-ville. Notre recherche nous a permis de conclure que les habitants des banlieues s’identifient aux nouvelles formes de croissance et développent au fil des années un sentiment d’appartenance et d’attachement identitaire à leurs quartiers. Cela contribue à la prolifération d’identités multiple dans la ville. / The evolution of urbanization in the world motivated us to develop our research around this raging growth of cities and their resulting multitudes of urban forms. The object of this work is to analyze these spatial forms of growth and their impact on the city’s identity. The objective is to demonstrate in which measure they favour the proliferation of new identities in the suburb region of the city. Our research then focuses on a socio-spatial study of the capital of Tunisia. Tunis, this enlarging metropolis, occupies a strategically positioned location in the Mediterranean and plays an important role in European-African exchanges. The pertinence of the study of the evolution of the urban domain of Tunis results from the fact that this city experienced different types of growth. The variety of modes of development of the urban area makes Tunis a pertinent example which is worth being studied, especially since the space includes planned, spontaneous, historical suburbs, and many others which result from the informality linked from the heritage up to the construction of a plural urban identity. This work will thus include a spatial study of the evolution of the urban area of Tunis, based principally on maps and satellite pictures, complemented with a social analysis based on an in situ investigation, accomplished with the inhabitants of the suburbs with the intention of making a census of their degree of attachment to the space as well as their relationship with the downtown area. Our research allowed us to conclude that the inhabitants of the suburbs end up identifying themselves with new forms of growth and develop over the years a sense of belonging and attachment to their district. This contributes to the numerous proliferation of identity in the city.

The thesis deals with the design of a sustainable urban structure, based on a medieval city, in the 21st century. The main idea of the proposal is the creation of a new part of the town Náměšť nad Oslavou with the aim of connecting it with the existing urban structure and at the same time extending it to the missing elements of the developing city. The newly built area is designed with an emphasis on the construction of new residential housing with civil facilities services, while designing and creating public spaces and private parts of courtyards and villas. The aim of the thesis was to design a growing territory so that it adapts to the needs of today's society and at the same time became part of the existing city. From an urban point of view, based on the theme of the thesis, the aim is to combine elements of a medieval city with elements of a city built in the 21st century. The concept is based on a planned network of streets with multifunctional buildings designed for trade and production in the ground floor and housing on other floors, which originated in the medieval city. The emblem of the medieval city was the emotional perception of the connection of strict lines and strange shapes into one whole, and therefore buildings were designed in a new part of the city for living with almost clean geometric lines, while the objects of civil facilities are organic shapes.