Worldly Saints : Social Interaction of Dominican Penitent Women in Italy, 1200-1500

Doctoral dissertation, University of Turku

Mobile robot localization using sonar ranging and wlan intensity maps

 Main goal of this thesis was to implement a localization system which uses sonars and WLAN intensity maps to localize an indoor mobile robot. A probabilistic localization method, Monte Carlo Localization is used in localization. Also the theory behind probabilistic localization is explained. Two main problems in mobile robotics, path tracking and global localization, are solved in this thesis. Implemented system can achieve acceptable performance in path tracking. Global localization using WLAN received signal strength information is shown to provide good results, which can be used to localize the robot accurately, but also some bad results, which are no use when trying to localize the robot to the correct place. Main goal of solving ambiguity in office like environment is achieved in many test cases.

On Market Entry Strategies to France, Italy and Spain – The Finnish Information and Communication Technologies Sector

Tutkielman tavoitteena oli tarkastella markkinoillemenostrategian valitsemista Ranskan, Italian ja Espanjan Informaatio- ja kommunikaatioteknologioiden markkinoille (pääpainon ollessa Ranskassa). Tutkielman empiiristä osaa varten tehtiin sarja haastatteluja. Niistä saatuja tuloksia verrattiin kirjallisuudesta saatuihin tietoihin. Kirjallisuuden ja haastattelujen avulla pyrittiin tuomaan esille uutta tietoa joka voisi auttaa suomalaisyrityksiä heidän suunnitellessa markkinoillemenoa. Suomalaisten ICT-alan yritysten suurimmat ongelmat kohdemarkkinoille markkinoillemenoprosessissa johtuvat kulttuurieroista ja byrokratiasta. Markkinoillemenomuodon valinnassa haluttiinkin haastatteluissa painottaa paikallisten työntekijöiden ja kumppaneiden käyttöä. Lisäksi kaivattiin suomalaisyritysten välistä parempaa yhteistyötä.

Distortion properties of quasiconformal maps

In this Licentiate thesis we investigate the absolute ratio δ, j, ˜j and hyperbolic ρ metrics and their relations with each other. Various growth estimates are given for quasiconformal mpas both in plane and space. Some Hölder constants were refined with respect δ, j ˜j metrics. Some new results regarding the Hölder continuity of quasiconformal and quasiregular mapping of unit ball with respect to Euclidean and hyperbolic metrics are given, which were obtained by many authors in 1980’s. Applications are given to the study of metric space, quasiconformal and quasiregular maps in the plane and as well as in the space.

Comparative lifecycle assessment on organic and conventional carrots – case: Carrots from South-Savo and imported carrots from Italy

Organic farming is perceived to be an environmental friendly method of food production, thus assumed to be an alternative means of minimizing food-based environmental footprints. However, lower yield and unproductive years in organic crop rotation raise questions of whether it is really an environmentally friendly farming practice. Thus, the aim of this thesis was to examine the carbon footprint and energy demands of organic carrots cultivated and sold in South-Savo, Finland and compare them with those of local and imported conventional carrots using lifecycle assessment (LCA) as a method. From the investigation, it was found that organic carrots produced in South-Savo have the lowest GHG emissions and energy demand. The GHG emissions of local organic, local conventional and imported conventional carrots were found to be 4g CO2 eq. kgcarrots-1, 142g CO2 eq. kgcarrots-1 and 280 g CO2 eq. kgcarrots-1, respectively. On the other hand, energy demand for those carrots was found to be 1,33 MJ, 1,88 MJ and 3,68 MJ kgcarrots-1. Furthermore, it was also found that local organic carrots would have approximately similar GHG emissions as conventional counterpart if soil carbon stock change was excluded from the study.

Macroalgae across environmental gradients : tools for managing rocky coastal areas of the northern Baltic Sea

Macroalgae are the main primary producers of the temperate rocky shores providing a three-dimensional habitat, food and nursery grounds for many other species. During the past decades, the state of the coastal waters has deteriorated due to increasing human pressures, resulting in dramatic changes in coastal ecosystems, including macroalgal communities. To reverse the deterioration of the European seas, the EU has adopted the Water Framework Directive (WFD) and the Marine Strategy Framework Directive (MSFD), aiming at improved status of the coastal waters and the marine environment. Further, the Habitats Directive (HD) calls for the protection of important habitats and species (many of which are marine) and the Maritime Spatial Planning Directive for sustainability in the use of resources and human activities at sea and by the coasts. To efficiently protect important marine habitats and communities, we need knowledge on their spatial distribution. Ecological knowledge is also needed to assess the status of the marine areas by involving biological indicators, as required by the WFD and the MSFD; knowledge on how biota changes with human-induced pressures is essential, but to reliably assess change, we need also to know how biotic communities vary over natural environmental gradients. This is especially important in sea areas such as the Baltic Sea, where the natural environmental gradients create substantial differences in biota between areas. In this thesis, I studied the variation occurring in macroalgal communities across the environmental gradients of the northern Baltic Sea, including eutrophication induced changes. The aim was to produce knowledge to support the reliable use of macroalgae as indicators of ecological status of the marine areas and to test practical metrics that could potentially be used in status assessments. Further, the aim was to develop a methodology for mapping the HD Annex I habitat reefs, using the best available data on geology and bathymetry. The results showed that the large-scale variation in the macroalgal community composition of the northern Baltic Sea is largely driven by salinity and exposure. Exposure is important also on smaller spatial scales, affecting species occurrence, community structure and depth penetration of algae. Consequently, the natural variability complicates the use of macroalgae as indicators of human-induced changes. Of the studied indicators, the number of perennial algal species, the perennial cover, the fraction of annual algae, and the lower limit of occurrence of red and brown perennial algae showed potential as usable indicators of ecological status. However, the cumulated cover of algae, commonly used as an indicator in the fully marine environments, showed low responses to eutrophication in the area. Although the mere occurrence of perennial algae did not show clear indicator potential, a distinct discrepancy in the occurrence of bladderwrack, Fucus vesiculosus, was found between two areas with differing eutrophication history, the Bothnian Sea and the Archipelago Sea. The absence of Fucus from many potential sites in the outer Archipelago Sea is likely due to its inability to recover from its disappearance from the area 30-40 years ago, highlighting the importance of past events in macroalgal occurrence. The methodology presented for mapping the potential distribution and the ecological value of reefs showed, that relatively high accuracy in mapping can be achieved by combining existing available data, and the maps produced serve as valuable background information for more detailed surveys. Taken together, the results of the theses contribute significantly to the knowledge on macroalgal communities of the northern Baltic Sea that can be directly applied in various management contexts.

Online peer to peer lending: clustering borrowers using self-organizing maps

The purpose of this thesis is to find out whether all the peer to peer lenders are unworthy of credit and also if there are single qualities or combinations of qualities that determine the probability of default of a person or group of people. Distinguishing qualities are searched with self-organizing maps (SOM). Qualities and groups of people found by the self-organizing map are then compared to the average. The comparison is carried out by looking how big proportion of borrowers meeting the criteria is two months or more behind with their payments. Research data used is collected by an Estonian peer to peer lending company during the years of 2011-2014. Data consists of peer to peer borrowers and information gathered from them.

Map of Italy and Switzerland

Kartta kuuluu A. E. Nordenskiöldin kokoelmaan