The changing climate is a major driver for transitioning towards a Circular Economy (CE). However, conceptual discussions and business models related to CE are still emerging, thus considered to be inadequate and immature. One way to promote and accelerate a CE is through shifting towards Circular procurement (CP). Additionally, one major change needed for procurement in order to become circular, regards the assurance of follow-up and control of products and materials. However, there is limited research on CP in terms of collaboration and follow-up activities. Thus, this study explores how collaboration between an organization, its suppliers and customers can be strategically handled to support follow-up and control of products and materials within CP.  The chosen methodology consisted of a qualitative research design with an exploratory approach. A total of eleven semi-structured interviews were conducted. Derived from the theoretical findings coupled with empirical findings, a framework was developed to clearly map out the challenges related to CP, activities needed in procurement when transitioning to a CP as well as the potential outcomes of these. To ensure the relevance of the activities included in the developed framework, three out of the total eleven interviews were conducted with experts within the circular field, to validate the framework. In terms of the findings of this research, several important aspects related to how collaboration can promote integration of circularity within procurement to ensure follow-up and control of products and material were found. Firstly, a new type of internal collaboration between sales and the procurement department is needed. Besides this, the procurement function should focus on maintaining a long-term relationship with the suppliers, preferably already contracted ones. Further, due to the lack of knowledge related to the concept of CP, it was found that there is a need to integrate a preparation phase called phase 0 prior to the traditional steps of a procurement process. Finally, it was found that the integration of feedback and monitoring mechanisms, in form of documentation and checklists, is of importance to monitor and evaluate circular targets as well as document the lessons learnt to apply these in upcoming procurement processes. / Det förändrade klimatet är en viktig drivkraft för övergången till en Cirkulär Ekonomi (CE). Konceptuella diskussioner och affärsmodeller relaterade till CE håller fortfarande på att växa fram, och anses därför vara otillräckliga och omogna. Ett sätt att främja och påskynda en CE, är att växla mot cirkulära inköp (CI). En stor förändring som krävs för att inköpsfunktionen ska bli cirkulär, är att säkerställa uppföljning och kontroll av produkter och material. Dock finns det begränsad forskning om CI vad gäller samverkan och uppföljningsaktiviteter. Således undersöker denna studie hur samverkan mellan en organisation, dess leverantörer och kunder kan hanteras strategiskt för att säkerställa uppföljning och kontroll av produkter och material inom CI. Den valda metodiken bestod av en kvalitativ studie med ett utforskande förhållningssätt. Totalt genomfördes elva semi-strukturerade intervjuer. Med utgångspunkt från litteraturgenomgången tillsammans med analysen från insamlade data utvecklades ett ramverk för att tydliggöra utmaningar relaterade till CI, aktiviteter som behövs inom inköpsprocessen vid integration av cirkularitet, samt det potentiella resultatet och påverkan av dessa. För att säkerställa relevansen av aktiviteterna ingående i det utvecklade ramverket, genomfördes tre av de elva intervjuerna med experter som innehar kunskap kring cirkularitet. Syftet med dessa tre intervjuer var huvudsakligen för experterna att validera ramverket. När det gäller resultaten av denna studie hittades flera viktiga aspekter relaterade till hur samverkan kan främja integration av cirkularitet inom inköpsprocessen för att säkerställa uppföljning och kontroll av produkter och material. För det första upptäcktes behovet av en ny intern samverkan mellan sälj och inköpsfunktionen. Utöver ökad kommunikation och samverkan mellan sälj och inköpsfunktionen, bör inköpsfunktionen fokusera på att upprätthålla en långsiktig relation med leverantörer. Vidare, på grund av bristen på kunskap relaterad till begreppet CI, fann man att det finns ett behov av att integrera en förberedelsefas som i denna studie kallas fas 0, före de traditionella stegen i en inköpsprocess. Slutligen fann man att det är viktigt att integrera återkopplings- och uppföljningsmekanismer i form av dokumentation och checklistor, för att kunna övervaka och utvärdera cirkulära mål samt dokumentera lärdomarna för att tillämpa dessa i kommande inköpsprocesser.

[pt] Veículos autônomos ou Higly Automated Vehicles (HAVs) vêm trazendo novos paradigmas para o campo da ergonomia automotiva. A partir do momento em que motoristas se encontram fora de um loop contínuo de tomada de decisão, suas capacidades de retomada de controle manual do veículo durante situações de emergência são comprometidas. Para mitigar este problema, muitos autores acreditam que um maior entendimento dos padrões de aquisição de informação durante retomadas de controle em automação veicular pode fornecer insumos para a concepção de ferramentas designadas a auxiliar o motorista nesta tarefa, ao fornecer informações relevantes em momentos de necessidade. Baseado nestas questões, esta pesquisa visou categorizar o acesso de motoristas a diferentes informações oferecidas em interfaces de veículos autônomos durante a retomada de controle em diferentes níveis de automação. A pesquisa abordou o problema por meio de experimentos em simuladores de condução, onde motoristas foram expostos a diferentes cenários de retomada de controle, e seu seus padrões de olhar foram avaliados, para se testar a hipótese de que eles geralmente acessam a informação presente na interface apenas durante a retomada de controle em si, para checar o estado do sistema. Os resultados sugerem que o olhar do motorista está sujeito a influência de dois fatores: nível de automação e tarefa desempenhada. Foi observado que uma maior a quantidade de informação oferecida na interface aumenta concentração de olhares do motorista nesta região. Informações ativas sobre o ambiente melhoraram o desempenho do motorista durante as retomadas, porém tal benefício não se refletiu em uma maior usabilidade percebida. / [en] Highly automated vehicles (HAVs) are bringing new perspectives for the field of automotive ergonomics. By the time the driver is not constantly on the decision-making loop of the task, his/her performance for resuming control of the automation in safety-critical situations seems to be diminished. To mitigate this problem, many authors believe that by understanding drivers information scanning patterns and decision-making process during transitions of control in vehicle automation it is possible to design tools better adapted to support them in this activity, by providing relevant information in appropriate times. Based on this issue, this research aimed to categorize driver s reliance on the different information provided by the system s HMI during transitions of control in different levels of automation. The research followed a driving simulator experimental approach, where drivers were exposed to different take-over scenarios and their gaze behaviour was measured to test the hypothesis that they generally rely on information on the road to gain situation awareness, and only access the information on the HMI in cases of transitions of control, to check the system status. The results suggest that driver s gaze behaviour patterns are susceptible to influence of two main factors: the level of automation and the task in hand. It was observed that the more information presented on the HMI, the more drivers will look at it. Active information about the road environment have enhanced drivers performance during transitions of control, but it was not reflected in terms of perceived usability of the systems.

Submitted by MARCO VALÉRIO L. DUARTE PESSOA (aamarco@pop.com.br) on 2011-12-20T19:43:41Z No. of bitstreams: 1 Dissertação Marco Valério L. Duarte Pessoa 061211.pdf: 814515 bytes, checksum: 9f79ee5e7014f5516c4f3e140d5522cb (MD5) / Approved for entry into archive by Janete de Oliveira Feitosa (janete.feitosa@fgv.br) on 2012-01-03T11:34:16Z (GMT) No. of bitstreams: 1 Dissertação Marco Valério L. Duarte Pessoa 061211.pdf: 814515 bytes, checksum: 9f79ee5e7014f5516c4f3e140d5522cb (MD5) / Approved for entry into archive by Marcia Bacha (marcia.bacha@fgv.br) on 2012-01-17T12:45:48Z (GMT) No. of bitstreams: 1 Dissertação Marco Valério L. Duarte Pessoa 061211.pdf: 814515 bytes, checksum: 9f79ee5e7014f5516c4f3e140d5522cb (MD5) / Made available in DSpace on 2012-01-17T12:46:02Z (GMT). No. of bitstreams: 1 Dissertação Marco Valério L. Duarte Pessoa 061211.pdf: 814515 bytes, checksum: 9f79ee5e7014f5516c4f3e140d5522cb (MD5) Previous issue date: 2011-12-06 / O conceito de Empreendedorismo não se restringe apenas ao processo de criação de novos negócios independentes, Covin e Slevin (1991), e tampouco ao estudo das características individuais do empreendedor, Gartner (1985), Lumpkin e Dess (1996). Miller (1983) concluiu que uma organização empreendedora desenvolve e foca três dimensões: Inovação; Capacidade de assumir riscos; e Proatividade. Tendo como contraponto que uma organização não empreendedora inova muito pouco, tem aversão a riscos, e não age proativamente perante seus competidores, é aquela que apenas imita os produtos e serviços existentes no mercado competidor. Os estudos de Miller (1983) e de Covin e Slevin (1989, 1990) serviram de base para que Lumpkin e Dess (1996) atribuíssem à concepção de espírito empreendedor a conceituação de Orientação Empreendedora, visando diferençá-la do conceito de Empreendedorismo, e incluíram as dimensões Autonomia e Competitividade agressiva às três dimensões atribuídas por Miller (1983). Estas dimensões podem ou não estar presentes quando uma empresa está em busca de um novo negócio, no entanto, novos negócios bem sucedidos também podem ser alcançados quando apenas alguns destes fatores ou dimensões estão presentes, pois eles variam de forma independente por serem influenciados pela diversidade de contextos ambientais e organizacionais aos quais as empresas estão sujeitas, Lumpkin e Dess (1996). A Orientação Empreendedora está sendo correlacionada com o desempenho favorável da organização, sugerindo que ela pode influenciar positivamente a performance da organização, destacamos os estudos de Miller (1983), Covin e Slevin (1991), Zahra (1993), Zahra e Covin (1995), Lumpkin e Dess (1996), Wiklund e Shepherd (2005). A Pesquisa de Campo realizada para perceber a presença ou não dos fatores da Orientação Empreendedora nas Unidades Lotéricas em São Paulo/SP na região de abrangência da SR Ipiranga, teve como resultado que os fatores que mais se destacam e contribuem para sobrevivência e êxito das UL são: Autonomia; Capacidade de inovar; e Competitividade agressiva. Por outro lado, os fatores que menos se destacam e contribuem para sobrevivência e êxito das Unidades Lotéricas em São Paulo/SP na região de abrangência da SR Ipiranga são: Capacidade de assumir riscos; e Capacidade de agir de forma proativa.

L’objectif de la présente étude est de faire l’état de la lutte contre la fraude à la constitution qui entrave le processus de démocratisation en Afrique noire francophone. Il s’agit de montrer que le renforcement de la démocratie et de l’État de droit a favorisé l’émergence de nouveaux usages de la constitution dans la plupart des États africains. Les gouvernants qui ont intériorisé les contraintes du constitutionnalisme le rejettent de plus en plus par le recours à des artifices juridiques qui se révèlent très difficiles à combattre sur le terrain du droit. Il en est ainsi parce que le fraudeur à la constitution prend toujours le soin de se conformer à la lettre de la constitution pour en combattre son fond. Toutefois, on voit émerger au niveau national, régional et international une synergie d’actions de quelques institutions juridictionnelles, politiques et sociales tendant à combattre les actes des pouvoirs publics qui, revêtant l’apparence de la légalité constitutionnelle, la contrarie. Pour ce faire, les acteurs impliqués dans la lutte contre la fraude n’hésitent pas à tirer du dispositif normatif qui se révèle dans sa mise en œuvre inadaptée, les moyens pour identifier et sanctionner. Le bilan des actions menées contre la fraude révèle des rares succès. Les échecs enregistrés induisent que pour la consolidation de la démocratie en Afrique, la lutte contre la fraude à la constitution doit être placée au centre du contrôle du juge constitutionnel. / The objective of this study is to review the state of the fight against fraud in the constitution that hinders the process of democratization in francophone Africa. These show that the strengthening of democracy and the rule of law has encouraged the emergence of new uses of the constitution in most African states. The leaders who have internalized the constraints of constitutionalism reject more and more by the use of legal devices that are very difficult to fight on the field of law. This is so because the fraudster to the formation always takes care to comply with the letter of the constitution to fight his background.However, are emerging at national, regional and international synergy of actions of some judicial institutions, and social policies aimed at combating acts of public authorities, taking on the appearance of constitutional legality, the upsets. To do this, those involved in the fight against fraud do not hesitate to draw the normative system which is revealed in its inadequate implementation, the means to identify and punish. Review the actions conducted against fraud reveals rare success. The failures that lead to the consolidation of democracy in Africa, the fight against fraud in the constitution must be central control of the constitutional court.

This thesis is focused on the analysis of the global lighting market and the assessment of the current position of the Czech Republic in this market. The first part is devoted to the theoretical introduction in the field of lighting technology. Furthermore, the thesis deals with the relation between lighting market and energy sector, especially with regard to energy efficiency policy. The market analysis is concentrated primarily on general lighting, which forms the largest and the most important lighting market segment. The development of the Czech lighting market is then discussed in the context of the global as well as the European market. Additionally, the thesis includes analysis of current trends in lighting technology and research conducted among manufacturers of lighting.

Cette thèse de doctorat s’inscrit dans le domaine des finances publiques et des choix publics et s’articule autour des questions de polarisation idéologique, décentralisation et conflit. Elle est composée de trois chapitres qui peuvent être lus de façon indépendante. Dans le premier chapitre l’accent est mis sur l’importance de la polarisation idéologique entre mais aussi à l’intérieur des partis politiques sur le niveau et la composition des dépenses publiques cantonales. L’analyse est menée au niveau des parlements cantonaux suisses et repose sur l’exploitation et le traitement économétrique d’une base de données très riche.Nous avons fait deux contributions à la littérature sur l’impact de fragmentation politique sur les dépenses publiques.Premièrement, nous avons montré que la dispersion idéologique à l’intérieur des partis politiques est associée à des dépenses publiques plus élevées alors que la dispersion entre partis est associée avec moins de dépenses publiques. Cette constatation implique que le mode d’organisation et la discipline au sein des partis politiques ont de l’importance. Ce résultat est particulièrement intéressant car la littérature précédente a fait abstraction de la dispersion idéologique au sein des partis. Ensuite, nous avons montré que la dispersion idéologique est principalement pertinente pour les dépenses de fonctionnement. Le deuxième chapitre s’intéresse au conflit d’objectifs qui peut exister entre agents économiques dans le cadre d’un jeu en deux étapes avec paiements asymétriques. La littérature a montré que les défaillances de coordination sont fréquentes dans les jeux en une étape et que la communication peut aider les individus à se coordonner par l’emploi de stratégies de take turn pour réduire l’inégalité des gains à long terme. Notre contribution a été d’étudier si la communication a la même capacité dans un jeu en deux étapes où l’équilibre parfait en sous-jeux exige que les deux joueurs fassent des choix opposés aux deux étapes du jeu et acceptent des gains inégaux. Nos résultats montrent que les défaillances de coordination se produisent la moitié du temps et que 18% des paires utilisent la stratégie de take turn. La communication augmente considérablement la coordination sur l’équilibre parfait en sous-jeux car elle augmente la capacité des sujets à amorcer une stratégie de take turn et à la maintenir. Elle leur permet d’établir une stratégie de long terme qui accroît l’efficacité tout en diminuant les écarts de paiements, induits par les gains asymétriques, en échangeant leurs positions relatives d’une manière équitable. Nos résultats montrent que la communication peut résoudre les conflits de coordination, même dans des situations plus complexes que dans les jeux en une étape généralement étudiés jusqu’à présent. Le dernier chapitre s’intéresse à un type de conflit particulier : la sécession politique. Plus précisément il traite du lien entre sécession, décentralisation et identité de groupe. Nous essayons de déterminer, au moyen d’une expérience de laboratoire, si décentraliser l’offre de biens publics permet de réduire la probabilité de faire sécession. Nous mettons en exergue l’importance de l’identité au niveau local. Le protocole expérimental ne permet évidemment pas de reproduire l’ensemble des arbitrages auxquels les mouvements séparatistes font face dans le monde réel. Il permet, néanmoins, de capturer deux forces essentielles: la proximité avec le bien public qui réduit les phénomènes de passagers clandestins et rapproche le bien public des préférences du citoyens et l’importance des identités locales. Nos résultats indiquent que la décentralisation augmente les contributions aux biens locaux et diminue la probabilité de sécession aussi lorsque l’identité locale est rendue saillante. En fait, une forte identité locale augmente la probabilité de sécession seulement lorsque les membres des groupes locaux sont des coopérateurs et qu’ils contribuent aux bien publics locaux. / This PhD thesis falls within the fields of public finance and public choice. It studies the following issues: ideological polarization, decentralization and conflict. It consists of three chapters can be read independently. In the first chapter the focus is on the importance of ideological polarization between but also within political parties on the level and composition of cantonal public spending. The analysis is on Swiss cantonal parliaments and is based on the use and econometric treatment of a very rich database. We made two contributions to the literature on the impact of political fragmentation on public spending. First, we showed that ideological dispersion within political parties is associated with higher public spending while the dispersion between political parties is associated with less public spending. This finding implies that the mode of organization and discipline within political parties are both important. This result is particularly interesting given that previous literature has completely abstracted from ideological dispersion within political parties. Lastly, we showed that ideological dispersion between and within political parties is mainly relevant for current expenditures. The second chapter focuses on the conflict of objectives that may exist between economic agents in a two-stage game with asymmetric payoffs. The literature showed that coordination failures are frequent in one-stage games and that communication can help individuals coordinate with the use of take turn strategies that allow for a reduction in the payoffs’ inequality in the long run. Our contribution was to study whether communication has the same capacity in a two-stage game where the subgame perfect Nash equilibrium requires both players to make opposite choices at both stages of the game and accept unequal payoffs. Our results show that coordination failures occur half of the time and that 18% of the pairs use the take turn strategy. Communication significantly increases coordination on the subgame perfect Nash equi librium because it increases the ability of subjects to initiate a take turn strategy and to maintain it. Thus, communication allows subjects to establish a long-term strategy that increases efficiency and reduces payments differences, induced by the asymmetry in payoffs, by exchanging their relative positions in a fair way. Our results show that communication can solve coordination conflicts, even in more complex situations than in one-stage games usually studied until now. The last chapter focuses on a particular type of conflict: political secessions. Specifically, it addresses the link between secessions, decentralization and group identity. We aim at determining, by means of a laboratory experiment, if decentralizing the provision of public goods reduces the likelihood of secession. We emphasize the importance of local identity. Our experimental design, obviously, do not reproduce all the trade-offs that separatist movements face in the real world. It allows, however, capturing at least two key forces that drive these movements: the proximity to public goods that reduces the phenomena of free-riding and brings public goods closer to citizens’ preferences and the importance of local identities. Our results indicate that the Decentralization treatment increases contributions to local public goods and decreases the likelihood of secessions also when identity is made more salient. If fact, reinforcing local group identity increases the likelihood of secession only when local group members are cooperators.

The final master´s thesis targets to create concept study of VFR airport.This airport should be build up in southeast part of Czech republic, in the vicinity of the town Valašské Klobouky. In this work there are explained essential terms and definitions refered to basic rules and law. There are explained also civil aviation law and requirements of L14 regulations. Aeroclub is submitter of this work. It establishes basic conditions for airport area searching. The length of the runway is influenced mainly by performance of used aircrafts. It was impossible to find any acceptable field in searched area. There is a posibility how to solve this problem. There can be build up a runway for take-off and landings of small aeroplanes. In the second part of this thesis there are defined basic requirements on these fields. These requirements are applicated on chosen field. At the end of this thesis there is propounded an option how to dislocate runway, taxiways, aprons, hangars and other buildings.

La liberté de circulation et la liberté d’établissement sont reconnues comme fondamentales et intrinsèquement liées au principe de dignité humaine. Pourtant, au nom de la souveraineté nationale, les États imposent des limites à la mobilité humaine. La mobilité de la main-d’œuvre est nécessaire au fonctionnement de l’économie et peut répondre en partie aux enjeux de pénurie de travailleurs. Notre thèse propose une recherche en droit positif visant à circonscrire la portée du droit à la mobilité en droit canadien. De fait, l’article 6 (2) de la Charte canadienne des droits et libertés reconnaît aux citoyens et résidents permanents au Canada la liberté de circulation et le droit de gagner leur vie. Toutefois, l’alinéa 6 (3) a) de la Charte contient une restriction à ces droits. Les provinces demeurent autorisées à légiférer pour limiter la mobilité, tant qu’elles n’imposent pas de discrimination basée sur la province de résidence. Nous soutenons que dans l’état actuel de la jurisprudence canadienne, le droit à la mobilité n’est pas considéré comme une liberté fondamentale. Pour leur part, les accords de commerce entre les membres de la confédération, sur le plan national, et les accords bilatéraux, régionaux et multilatéraux entre le Canada et ses partenaires contiennent des dispositions encadrant la mobilité de la main-d’œuvre. Lors des négociations constitutionnelles qui ont précédé et suivi le rapatriement de la constitution canadienne en 1982, le développement de l’union économique au pays et l’inclusion du droit à la mobilité ont été au cœur des débats. Or l’analyse des décisions de la Cour suprême du Canada portant sur l’article 6 (2) démontre pourtant que c’est uniquement la non-discrimination sur la base de la province de résidence qui est garantie par la Charte. Les instruments internationaux relatifs aux droits de la personne établissent le droit à la mobilité comme un droit fondamental, mais la recension des différents accords de libre-échange permet de conclure que la mobilité de la main-d’œuvre est favorisée essentiellement pour répondre aux besoins économiques. Le droit à la mobilité ne devrait pas uniquement répondre aux besoins des aléas économiques. Dans cette perspective, la reconnaissance des compétences et des qualifications s’avère impérative pour que le droit à la mobilité soit réellement effectif. / The rights to move, the right to take up residence, and the right to gain a livelihood are recognized as fundamental and are intrinsically linked to the principle of human dignity. Yet, in the name of national sovereignty, states impose limits on human mobility. Labor mobility is a pillar of world economy and can address many aspects of workforce shortages. Our research examines current constraints to, and the scope of, the right to mobility under Canadian law. Indeed, section 6 (2) of the Canadian Charter of Rights and Freedoms recognizes the right to move and the right to gain a livelihood for citizens and permanent residents of Canada. However, section 6 (3) a) of the Charter contains a limitation on these rights. Provinces remain authorized to limit mobility, as long as they do not discriminate on the basis of province of residence. We argue that, as Canadian jurisprudence currently stands, mobility rights are not considered a fundamental freedom. On the other hand, trade agreements between members of confederation, at the national level, and bilateral, regional, and multilateral agreements between Canada and its international partners, contain provisions regulating labor mobility. During the constitutional negotiations that preceded and followed the repatriation of the Constitution Act, 1982, the development of the economic union in Canada and the inclusion of mobility rights were at the heart of the debate. However, an analysis of the Supreme Court of Canada's decisions on section 6(2) shows that the Canadian Charter guarantees non-discrimination on the basis of province of residence. International human rights instruments establish the mobility rights as a fundamental right, but a review of various free trade agreements suggests that labor mobility is promoted primarily to meet economic needs. Mobility rights should not uniquely answer economic requirements. Against this background, the recognition of skills and qualifications is imperative to ensure that mobility rights are effective.

[pt] A pesquisa é realizada sobre a Igreja em saída com aproximação de implicações da teologia kenótica de von Balthasar e a proposta de pensar o avanço e a contribuição teológica para a Igreja nos dias atuais, marcados pela mudança de época e pelas situações críticas principalmente consideradas nas periferias existenciais. Esta tese tem como questão: a proposta do papa Francisco de Igreja em saída a realizar-se mediante a kenosis eclesial, com inspiração na teologia de von Balthasar. Assim, compreende aplicar a dinâmica irreversível do Concílio Vaticano II. A tese mostra o primeirear como movimento kenótico, impulsionado pelo Espírito Santo, pois o Deus Trino na sua comunicação e atuação kenótica propõe a abertura ao outro. A pesquisa tem metodologia bibliográfica, tendo como ponto de partida o magistério do papa Francisco, singularmente a Evangelii Gaudium n. 24, e outros vários pronunciamentos do pontificado e estudos da teologia balthasariana, especialmente sobre a kenosis e modelos kenóticos da Igreja. A proposta de Igreja em saída através da kenosis proporciona um caminho para a renovação da Igreja, que envolve a formação de pequenas comunidades, dimensão sinodal, missão kenótica, práxis de misericórdia, em direção às fronteiras humanas, primeireando com o diálogo humanizador e frutificando novas formas de vivência comunitária. / [en] The research carried out on the Church which goes forth, impacted by Von Balthasar s kenotic theology, proposes a reflection on the theological contribution and advancement of the Church in our present day, marked by the change of time and the critical situations mainly contemplated in the existential peripheries. This thesis questions: Pope Francis proposal of the Church which goes forth to be made through ecclesial kenosis, inspired by the theology of von Balthasar. Thus comprising of the irreversible dynamics of the Vatican II Council. The thesis aims to show the first step (primeirear) as a kenotic movement, driven by the Holy Spirit, given that, the Triune God whom through his communication and kenotic action proposes openness to the other. The research has bibliographic methodology, of Pope Francis magisterium, particularly Evangelii Gaudium 24, and other various pronouncements of the pontificate, as well as expanded the studies of Balthasarian theology with its rich theological foundation from kenosis and kenotic form of the Church. The proposal of the Church which goes forth through kenosis offers a path to the renovation of the Church, which involves the formation of small communities, synodal dimension, kenotic mission, praxis of mercy, towards the human fronteers, with humanizing dialogue as the the first step (primeirear) and blossoming of new forms of comunal experience.

[ES] Los Vehículos Aéreos no Tripulados (o drones) ya han demostrado su utilidad en una gran variedad de aplicaciones. Hoy en día, se utilizan para fotografía, cinematografía, inspecciones y vigilancia, entre otros. Sin embargo, en la mayoría de los casos todavía son controlados por un piloto, que como máximo suele estar volando un solo dron cada vez. En esta tesis, tratamos de avanzar en paso más allá en esta tecnología al permitir que múltiples drones con capacidad para despegue y aterrizaje vertical trabajen de forma sincronizada, como una sola entidad. La principal ventaja de realizar vuelos en grupo, comúnmente denominado enjambre, es que se pueden realizar tareas más complejas que utilizando un solo dron. De hecho, un enjambre permite cubrir más área en el mismo tiempo, ser más resistente, tener una capacidad de carga más alta, etc. Esto puede habilitar el uso de nuevas aplicaciones, o una mejor eficiencia para las aplicaciones existentes. Sin embargo, una parte clave es que los miembros del enjambre deben organizarse correctamente, ya que, durante el vuelo, diferentes perturbaciones pueden provocar que sea complicado mantener el enjambre como una unidad coherente. Una vez que se pierde esta coherencia, todos los beneficios previamente mencionados de un enjambre se pierden también. Incluso, aumenta el riesgo de colisiones entre los elementos del enjambre. Por lo tanto, esta tesis se centra en resolver algunos de estos problemas, proporcionando un conjunto de algoritmos que permitan a otros desarrolladores crear aplicaciones de enjambres de drones. Para desarrollar los algoritmos propuestos hemos incorporado mejoras al llamado ArduSim. Este simulador nos permite simular tanto la física de un dron como la comunicación entre drones con un alto grado de precisión. ArduSim nos permite implementar protocolos y algoritmos (bien probados) en drones reales con facilidad. Durante toda la tesis, ArduSim ha sido utilizado ampliamente. Su utilización ha permitido que las pruebas fueran seguras, y al mismo tiempo nos permitió ahorrar mucho tiempo, dinero y esfuerzo de investigación. Comenzamos nuestra investigación sobre enjambres asignando posiciones aéreas para cada dron en el suelo. Suponiendo que los drones están ubicados aleatoriamente en el suelo, y que necesitan alcanzar una formación aérea deseada, buscamos una solución que minimice la distancia total recorrida por todos los drones. Para ello se empezó con un método de fuerza bruta, pero rápidamente nos dimos cuenta de que, dada su alta complejidad, este método funciona mal cuando el número de drones aumenta. Por lo tanto, propusimos una heurística. Como en todas las heurísticas, se realizó un compromiso entre complejidad y precisión. Al simplificar el problema, encontramos que nuestra heurística era capaz de calcular una solución muy rápidamente sin aumentar sustancialmente la distancia total recorrida. Además, implementamos el algoritmo de Kuhn-Munkres (KMA), un algoritmo que ha demostrado proporcionar la respuesta exacta (es decir, reducir la distancia total recorrida) en el menor tiempo posible. Después de muchos experimentos, llegamos a la conclusión de que nuestra heurística es más rápida, pero que la solución proporcionada por el KMA es ligeramente más eficiente. En particular, aunque la diferencia en la distancia total recorrida es pequeña, el uso de KMA reduce el número de trayectorias de vuelo que se cruzan entre sí, lo cual es una métrica importante para las siguientes propuestas.[...] / [CA] Els vehicles aeris no tripulats (o drons) ja han demostrat la seua utilitat en una gran varietat d'aplicacions. Avui dia, s'utilitzen per a fotografia, cinematografia, inspeccions i vigilància, entre altres. No obstant això, en la majoria dels casos encara són controlats per un pilot, que com a màxim sol controlar el vol d'un sol dron cada vegada. En aquesta tesi, tractem d'avançar un pas més enllà en aquesta tecnologia, en permetre que múltiples drons amb capacitat per a l'enlairament i l'aterratge vertical treballen de forma sincronitzada, com una sola entitat. El principal avantatge de realitzar vols en grup, comunament denominats eixam, és que es poden fer tasques més complexes que utilitzant un sol dron. De fet, un eixam permet cobrir més àrea en el mateix temps, ser més resistent, tenir una capacitat de càrrega més alta, etc. Això pot habilitar l'ús de noves aplicacions, o una millor eficiència per a les aplicacions existents. No obstant això, una punt clau és que els membres de l'eixam han d'organitzar-se correctament, ja que, durant el vol, diferents pertorbacions poden provocar que siga complicat mantenir l'eixam com una unitat coherent. Una vegada que es perd aquesta coherència, tots els beneficis prèviament esmentats d'un eixam es perden també. Fins i tot, augmenta el risc de col·lisions entre els elements de l'eixam. Per tant, aquesta tesi se centra a resoldre alguns d'aquests problemes, proporcionant un conjunt d'algorismes que permeten a altres desenvolupadors crear aplicacions d'eixams de drons. Per a desenvolupar els algorismes proposats hem incorporat millores a l'anomenat ArduSim. Aquest simulador ens permet simular tant la física d'un dron com la comunicació entre drons amb un alt grau de precisió. ArduSim ens permet implementar protocols i algorismes (ben provats) en drons reals amb facilitat. Durant tota la tesi, ArduSim s'ha utilitzat àmpliament. El seu ús ha permès que les proves foren segures, i al mateix temps ens va permetre estalviar molt de temps, diners i esforç d'investigació. Per tant, es va utilitzar ArduSim per a cada bloc de construcció que vam desenvolupar. Comencem la nostra recerca sobre eixams assignant posicions aèries per a cada dron en terra. Suposant que els drons estan situats aleatòriament en terra i que necessiten assolir la formació aèria desitjada, cerquem una solució que minimitze la distància total recorreguda per tots els drons. Per a això, es va començar amb un mètode de força bruta, però ràpidament ens vam adonar que, atesa l'alta complexitat, aquest mètode funciona malament quan el nombre de drons augmenta. Per tant, vam proposar una heurística. Com en totes les heurístiques, es va fer un compromís entre complexitat i precisió. En simplificar el problema, trobem que la nostra heurística era capaç de calcular una solució molt ràpidament sense augmentar substancialment la distància total recorreguda. A més, vam implementar l'algorisme de Kuhn-Munkres (KMA), un algorisme que ha demostrat proporcionar la resposta exacta (és a dir, reduir la distància total recorreguda) en el menor temps possible. Després de molts experiments, arribem a la conclusió que la nostra heurística és més ràpida, però que la solució proporcionada pel KMA és lleugerament més eficient. En particular, encara que la diferència en la distància total recorreguda és xicoteta, l'ús de KMA redueix el nombre de trajectòries de vol que s'encreuen entre si, la qual cosa és una mètrica important per a les propostes següents.[...] / [EN] Unmanned Aerial Vehicles (UAVs) have already proven to be useful in many different applications. Nowadays, they are used for photography, cinematography, inspections, and surveillance. However, in most cases they are still controlled by a pilot, who at most is flying one UAV at a time. In this thesis, we try to take this technology one step further by allowing multiple Vertical Take-off and Landing (VTOL) UAVs to work together as one entity. The main advantage of this group, commonly referred to as a swarm, is that it can perform more complex tasks than a single UAV. When organized correctly, a swarm allows for: more area to be covered in the same time, more resilience, higher load capability, etc. A swarm can lead to new applications, or a better efficiency for existing applications. A key part, however, is that they should be organized correctly. During the flight, different disturbances will make it complicated to keep the swarm as one coherent unit. Once this coherency is lost, all the previously mentioned benefits of a swarm are lost as well. Even worse, the chance of a hazard increases. Therefore, this thesis focuses on solving some of these issues by providing a baseline of building blocks that enable other developers to create UAV swarm applications. In order to develop these building blocks, we improve a multi-UAV simulator called ArduSim. This simulator allows us to simulate both the physics of a UAV, and the communication between UAVs with a high degree of accuracy. This is a crucial part because it allows us to deploy (well tested) protocols and algorithms on real UAVs with ease. During the entirety of this thesis, ArduSim has been used extensively. It made testing safe, and allowed us to save a lot of time, money and research effort. We started by assigning airborne positions for each UAV on the ground. Assuming that the UAVs, are placed randomly on the ground, and that they need to reach a desired aerial formation, we searched for a solution that minimizes the total distance travelled by all the UAVs. We started with a brute-force method, but quickly realized that, given its high complexity, this method performs badly when the number of UAVs grows. Hence, we created a heuristic. As for all heuristics, a trade-off was made between complexity and accuracy. By simplifying the problem, we found that our heuristic was able to calculate a solution very quickly without increasing the total distance travelled substantially. Furthermore, we implemented the \ac{KMA}, an algorithm that has been proven to provide the exact answer (i.e. minimal total distance travelled) in the shortest time possible. After many experiments, we came to the conclusion that our heuristic is faster, but that the solution provided by the \ac{KMA} is slightly better. In particular, although the difference in total distance travelled is small, the \ac{KMA} reduces the numbers of flight paths crossing each other, which is an important metric in our next building block. Once we developed algorithms to assign airborne positions to each UAV on the ground, we started developing algorithms to take off all those UAVs. The objective of these algorithms is to reduce the time it takes for all the UAVs to reach their aerial position, while ensuring that all UAVs maintain a safe distance. The easiest solution is a sequential take-off procedure, but this is also the slowest approach. Hence, we improved it by first proposing a semi-sequential and later a semi-simultaneous take-off procedure. With this semi-simultaneous take-off procedure, we are able to reduce the takeoff time drastically without introducing any risk to the aircraft. [..] / Wubben, J. (2023). Distributed management and coordination of UAV swarms based on infrastructureless wireless networks [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/198887