Optimization of the Integrated Guidance and Control for a Dual Aerodynamic Control Missile

Las futuras misiones para misiles aire-aire operando dentro de la atmósfera requieren la interceptación de blancos a mayores velocidades y más maniobrables, incluyendo los esperados vehículos aéreos de combate no tripulados. La intercepción tiene que lograrse desde cualquier ángulo de lanzamiento. Una de las principales discusiones en la tecnología de misiles en la actualidad es cómo satisfacer estos nuevos requisitos incrementando la capacidad de maniobra del misil y en paralelo, a través de mejoras en los métodos de guiado y control modernos. Esta Tesis aborda estos dos objetivos simultáneamente, al proponer un diseño integrando el guiado y el control de vuelo (autopiloto) y aplicarlo a misiles con control aerodinámico simultáneo en canard y cola. Un primer avance de los resultados obtenidos ha sido publicado recientemente en el Journal of Aerospace Engineering, en Abril de 2015, [Ibarrondo y Sanz-Aranguez, 2015]. El valor del diseño integrado obtenido es que permite al misil cumplir con los requisitos operacionales mencionados empleando únicamente control aerodinámico. El diseño propuesto se compara favorablemente con esquemas más tradicionales, consiguiendo menores distancias de paso al blanco y necesitando de menores esfuerzos de control incluso en presencia de ruidos. En esta Tesis se demostrará cómo la introducción del doble mando, donde tanto el canard como las aletas de cola son móviles, puede mejorar las actuaciones de un misil existente. Comparado con un misil con control en cola, el doble control requiere sólo introducir dos servos adicionales para accionar los canards también en guiñada y cabeceo. La sección de cola será responsable de controlar el misil en balanceo mediante deflexiones diferenciales de los controles. En el caso del doble mando, la complicación añadida es que los vórtices desprendidos de los canards se propagan corriente abajo y pueden incidir sobre las superficies de cola, alterando sus características de control. Como un primer aporte, se ha desarrollado un modelo analítico completo para la aerodinámica no lineal de un misil con doble control, incluyendo la caracterización de este efecto de acoplamiento aerodinámico. Hay dos modos de funcionamiento en picado y guiñada para un misil de doble mando: ”desviación” y ”opuesto”. En modo ”desviación”, los controles actúan en la misma dirección, generando un cambio inmediato en la sustentación y produciendo un movimiento de translación en el misil. La respuesta es rápida, pero en el modo ”desviación” los misiles con doble control pueden tener dificultades para alcanzar grandes ángulos de ataque y altas aceleraciones laterales. Cuando los controles actúan en direcciones opuestas, el misil rota y el ángulo de ataque del fuselaje se incrementa para generar mayores aceleraciones en estado estacionario, aunque el tiempo de respuesta es mayor. Con el modelo aerodinámico completo, es posible obtener una parametrización dependiente de los estados de la dinámica de corto periodo del misil. Debido al efecto de acoplamiento entre los controles, la respuesta en bucle abierto no depende linealmente de los controles. El autopiloto se optimiza para obtener la maniobra requerida por la ley de guiado sin exceder ninguno de los límites aerodinámicos o mecánicos del misil. Una segunda contribución de la tesis es el desarrollo de un autopiloto con múltiples entradas de control y que integra la aerodinámica no lineal, controlando los tres canales de picado, guiñada y cabeceo de forma simultánea. Las ganancias del autopiloto dependen de los estados del misil y se calculan a cada paso de integración mediante la resolución de una ecuación de Riccati de orden 21x21. Las ganancias obtenidas son sub-óptimas, debido a que una solución completa de la ecuación de Hamilton-Jacobi-Bellman no puede obtenerse de manera práctica, y se asumen ciertas simplificaciones. Se incorpora asimismo un mecanismo que permite acelerar la respuesta en caso necesario. Como parte del autopiloto, se define una estrategia para repartir el esfuerzo de control entre el canard y la cola. Esto se consigue mediante un controlador aumentado situado antes del bucle de optimización, que minimiza el esfuerzo total de control para maniobrar. Esta ley de alimentación directa mantiene al misil cerca de sus condiciones de equilibrio, garantizando una respuesta transitoria adecuada. El controlador no lineal elimina la respuesta de fase no-mínima característica de la cola. En esta Tesis se consideran dos diseños para el guiado y control, el control en Doble-Lazo y el control Integrado. En la aproximación de Doble-Lazo, el autopiloto se sitúa dentro de un bucle interior y se diseña independientemente del guiado, que conforma el bucle más exterior del control. Esta estructura asume que existe separación espectral entre los dos, esto es, que los tiempos de respuesta del autopiloto son mucho mayores que los tiempos característicos del guiado. En el estudio se combina el autopiloto desarrollado con una ley de guiado óptimo. Los resultados obtenidos demuestran que se consiguen aumentos muy importantes en las actuaciones frente a misiles con control canard o control en cola, y que la interceptación, cuando se lanza cerca del curso de colisión, se consigue desde cualquier ángulo alrededor del blanco. Para el misil de doble mando, la estrategia óptima resulta en utilizar el modo de control opuesto en la aproximación al blanco y utilizar el modo de desviación justo antes del impacto. Sin embargo la lógica de doble bucle no consigue el impacto cuando hay desviaciones importantes con respecto al curso de colisión. Una de las razones es que parte de la demanda de guiado se pierde, ya que el misil solo es capaz de modificar su aceleración lateral, y no tiene control sobre su aceleración axial, a no ser que incorpore un motor de empuje regulable. La hipótesis de separación mencionada, y que constituye la base del Doble-Bucle, puede no ser aplicable cuando la dinámica del misil es muy alta en las proximidades del blanco. Si se combinan el guiado y el autopiloto en un único bucle, la información de los estados del misil está disponible para el cálculo de la ley de guiado, y puede calcularse la estrategia optima de guiado considerando las capacidades y la actitud del misil. Una tercera contribución de la Tesis es la resolución de este segundo diseño, la integración no lineal del guiado y del autopiloto (IGA) para el misil de doble control. Aproximaciones anteriores en la literatura han planteado este sistema en ejes cuerpo, resultando en un sistema muy inestable debido al bajo amortiguamiento del misil en cabeceo y guiñada. Las simplificaciones que se tomaron también causan que el misil se deslice alrededor del blanco y no consiga la intercepción. En nuestra aproximación el problema se plantea en ejes inerciales y se recurre a la dinámica de los cuaterniones, eliminado estos inconvenientes. No se limita a la dinámica de corto periodo del misil, porque se construye incluyendo de modo explícito la velocidad dentro del bucle de optimización. La formulación resultante en el IGA es independiente de la maniobra del blanco, que sin embargo se ha de incluir en el cálculo del modelo en Doble-bucle. Un típico inconveniente de los sistemas integrados con controlador proporcional, es el problema de las escalas. Los errores de guiado dominan sobre los errores de posición del misil y saturan el controlador, provocando la pérdida del misil. Este problema se ha tratado aquí con un controlador aumentado previo al bucle de optimización, que define un estado de equilibrio local para el sistema integrado, que pasa a actuar como un regulador. Los criterios de actuaciones para el IGA son los mismos que para el sistema de Doble-Bucle. Sin embargo el problema matemático resultante es muy complejo. El problema óptimo para tiempo finito resulta en una ecuación diferencial de Riccati con condiciones terminales, que no puede resolverse. Mediante un cambio de variable y la introducción de una matriz de transición, este problema se transforma en una ecuación diferencial de Lyapunov que puede resolverse mediante métodos numéricos. La solución resultante solo es aplicable en un entorno cercano del blanco. Cuando la distancia entre misil y blanco es mayor, se desarrolla una solución aproximada basada en la solución de una ecuación algebraica de Riccati para cada paso de integración. Los resultados que se han obtenido demuestran, a través de análisis numéricos en distintos escenarios, que la solución integrada es mejor que el sistema de Doble-Bucle. Las trayectorias resultantes son muy distintas. El IGA preserva el guiado del misil y consigue maximizar el uso de la propulsión, consiguiendo la interceptación del blanco en menores tiempos de vuelo. El sistema es capaz de lograr el impacto donde el Doble-Bucle falla, y además requiere un orden menos de magnitud en la cantidad de cálculos necesarios. El efecto de los ruidos radar, datos discretos y errores del radomo se investigan. El IGA es más robusto, resultando menos afectado por perturbaciones que el Doble- Bucle, especialmente porque el núcleo de optimización en el IGA es independiente de la maniobra del blanco. La estimación de la maniobra del blanco es siempre imprecisa y contaminada por ruido, y degrada la precisión de la solución de Doble-Bucle. Finalmente, como una cuarta contribución, se demuestra que el misil con guiado IGA es capaz de realizar una maniobra de defensa contra un blanco que ataque por su cola, sólo con control aerodinámico. Las trayectorias estudiadas consideran una fase pre-programada de alta velocidad de giro, manteniendo siempre el misil dentro de su envuelta de vuelo. Este procedimiento no necesita recurrir a soluciones técnicamente más complejas como el control vectorial del empuje o control por chorro para ejecutar esta maniobra. En todas las demostraciones matemáticas se utiliza el producto de Kronecker como una herramienta practica para manejar las parametrizaciones dependientes de variables, que resultan en matrices de grandes dimensiones. ABSTRACT Future missions for air to air endo-atmospheric missiles require the interception of targets with higher speeds and more maneuverable, including forthcoming unmanned supersonic combat vehicles. The interception will need to be achieved from any angle and off-boresight launch conditions. One of the most significant discussions in missile technology today is how to satisfy these new operational requirements by increasing missile maneuvering capabilities and in parallel, through the development of more advanced guidance and control methods. This Thesis addresses these two objectives by proposing a novel optimal integrated guidance and autopilot design scheme, applicable to more maneuverable missiles with forward and rearward aerodynamic controls. A first insight of these results have been recently published in the Journal of Aerospace Engineering in April 2015, [Ibarrondo and Sanz-Aránguez, 2015]. The value of this integrated solution is that it allows the missile to comply with the aforementioned requirements only by applying aerodynamic control. The proposed design is compared against more traditional guidance and control approaches with positive results, achieving reduced control efforts and lower miss distances with the integrated logic even in the presence of noises. In this Thesis it will be demonstrated how the dual control missile, where canard and tail fins are both movable, can enhance the capabilities of an existing missile airframe. Compared to a tail missile, dual control only requires two additional servos to actuate the canards in pitch and yaw. The tail section will be responsible to maintain the missile stabilized in roll, like in a classic tail missile. The additional complexity is that the vortices shed from the canard propagate downstream where they interact with the tail surfaces, altering the tail expected control characteristics. These aerodynamic phenomena must be properly described, as a preliminary step, with high enough precision for advanced guidance and control studies. As a first contribution we have developed a full analytical model of the nonlinear aerodynamics of a missile with dual control, including the characterization of this cross-control coupling effect. This development has been produced from a theoretical model validated with reliable practical data obtained from wind tunnel experiments available in the scientific literature, complement with computer fluid dynamics and semi-experimental methods. There are two modes of operating a missile with forward and rear controls, ”divert” and ”opposite” modes. In divert mode, controls are deflected in the same direction, generating an increment in direct lift and missile translation. Response is fast, but in this mode, dual control missiles may have difficulties in achieving large angles of attack and high level of lateral accelerations. When controls are deflected in opposite directions (opposite mode) the missile airframe rotates and the body angle of attack is increased to generate greater accelerations in steady-state, although the response time is larger. With the aero-model, a state dependent parametrization of the dual control missile short term dynamics can be obtained. Due to the cross-coupling effect, the open loop dynamics for the dual control missile is not linearly dependent of the fin positions. The short term missile dynamics are blended with the servo system to obtain an extended autopilot model, where the response is linear with the control fins turning rates, that will be the control variables. The flight control loop is optimized to achieve the maneuver required by the guidance law without exceeding any of the missile aerodynamic or mechanical limitations. The specific aero-limitations and relevant performance indicators for the dual control are set as part of the analysis. A second contribution of this Thesis is the development of a step-tracking multi-input autopilot that integrates non-linear aerodynamics. The designed dual control missile autopilot is a full three dimensional autopilot, where roll, pitch and yaw are integrated, calculating command inputs simultaneously. The autopilot control gains are state dependent, and calculated at each integration step solving a matrix Riccati equation of order 21x21. The resulting gains are sub-optimal as a full solution for the Hamilton-Jacobi-Bellman equation cannot be resolved in practical terms and some simplifications are taken. Acceleration mechanisms with an λ-shift is incorporated in the design. As part of the autopilot, a strategy is defined for proper allocation of control effort between canard and tail channels. This is achieved with an augmented feed forward controller that minimizes the total control effort of the missile to maneuver. The feedforward law also maintains the missile near trim conditions, obtaining a well manner response of the missile. The nonlinear controller proves to eliminate the non-minimum phase effect of the tail. Two guidance and control designs have been considered in this Thesis: the Two- Loop and the Integrated approaches. In the Two-Loop approach, the autopilot is placed in an inner loop and designed separately from an outer guidance loop. This structure assumes that spectral separation holds, meaning that the autopilot response times are much higher than the guidance command updates. The developed nonlinear autopilot is linked in the study to an optimal guidance law. Simulations are carried on launching close to collision course against supersonic and highly maneuver targets. Results demonstrate a large boost in performance provided by the dual control versus more traditional canard and tail missiles, where interception with the dual control close to collision course is achieved form 365deg all around the target. It is shown that for the dual control missile the optimal flight strategy results in using opposite control in its approach to target and quick corrections with divert just before impact. However the Two-Loop logic fails to achieve target interception when there are large deviations initially from collision course. One of the reasons is that part of the guidance command is not followed, because the missile is not able to control its axial acceleration without a throttleable engine. Also the separation hypothesis may not be applicable for a high dynamic vehicle like a dual control missile approaching a maneuvering target. If the guidance and autopilot are combined into a single loop, the guidance law will have information of the missile states and could calculate the most optimal approach to the target considering the actual capabilities and attitude of the missile. A third contribution of this Thesis is the resolution of the mentioned second design, the non-linear integrated guidance and autopilot (IGA) problem for the dual control missile. Previous approaches in the literature have posed the problem in body axes, resulting in high unstable behavior due to the low damping of the missile, and have also caused the missile to slide around the target and not actually hitting it. The IGA system is posed here in inertial axes and quaternion dynamics, eliminating these inconveniences. It is not restricted to the missile short term dynamic, and we have explicitly included the missile speed as a state variable. The IGA formulation is also independent of the target maneuver model that is explicitly included in the Two-loop optimal guidance law model. A typical problem of the integrated systems with a proportional control law is the problem of scales. The guidance errors are larger than missile state errors during most of the flight and result in high gains, control saturation and loss of control. It has been addressed here with an integrated feedforward controller that defines a local equilibrium state at each flight point and the controller acts as a regulator to minimize the IGA states excursions versus the defined feedforward state. The performance criteria for the IGA are the same as in the Two-Loop case. However the resulting optimization problem is mathematically very complex. The optimal problem in a finite-time horizon results in an irresoluble state dependent differential Riccati equation with terminal conditions. With a change of variable and the introduction of a transition matrix, the equation is transformed into a time differential Lyapunov equation that can be solved with known numerical methods in real time. This solution results range limited, and applicable when the missile is in a close neighborhood of the target. For larger ranges, an approximate solution is used, obtained from solution of an algebraic matrix Riccati equation at each integration step. The results obtained show, by mean of several comparative numerical tests in diverse homing scenarios, than the integrated approach is a better solution that the Two- Loop scheme. Trajectories obtained are very different in the two cases. The IGA fully preserves the guidance command and it is able to maximize the utilization of the missile propulsion system, achieving interception with lower miss distances and in lower flight times. The IGA can achieve interception against off-boresight targets where the Two- Loop was not able to success. As an additional advantage, the IGA also requires one order of magnitude less calculations than the Two-Loop solution. The effects of radar noises, discrete radar data and radome errors are investigated. IGA solution is robust, and less affected by radar than the Two-Loop, especially because the target maneuvers are not part of the IGA core optimization loop. Estimation of target acceleration is always imprecise and noisy and degrade the performance of the two-Loop solution. The IGA trajectories are such that minimize the impact of radome errors in the guidance loop. Finally, as a fourth contribution, it is demonstrated that the missile with IGA guidance is capable of performing a defense against attacks from its rear hemisphere, as a tail attack, only with aerodynamic control. The studied trajectories have a preprogrammed high rate turn maneuver, maintaining the missile within its controllable envelope. This solution does not recur to more complex features in service today, like vector control of the missile thrust or side thrusters. In all the mathematical treatments and demonstrations, the Kronecker product has been introduced as a practical tool to handle the state dependent parametrizations that have resulted in very high order matrix equations.

NEMAWASHI: Attaining Value Stream alignment within Complex Organizational Networks

In the process of value creation, organizations perform an intense intra-organizational dialog through which internal VS alignment is achieved towards certain strategic objectives. Within the context of complex organizational networks, were goal conflicts are preprogrammed through incentive structures, VS alignment as legitimation of action towards strategic goals has special interest. On the one hand it facilitates the access to necessary resources for goal achievement and on the other it increases the sustainability and supports commonly agreed upon decisions leading to success. This paper provides a winnerless process (WLP) differential equations model for quantifying intra-organizational value stream (VS) alignment dynamics that can help design sustainable lean management solutions. This paper presents ongoing research results that show how the model was implemented in one industrial facility.

Configuración de un entorno de trabajo para el desarrollo de software ágil con integración continua

Hoy en día, existen numerosos sistemas (financieros, fabricación industrial, infraestructura de servicios básicos, etc.) que son dependientes del software. Según la definición de Ingeniería del Software realizada por I. Sommerville, “la Ingeniería del Software es una disciplina de la ingeniería que comprende todos los aspectos de la producción de software desde las etapas iniciales de la especificación del sistema, hasta el mantenimiento de éste después de que se utiliza.” “La ingeniería del software no sólo comprende los procesos técnicos del desarrollo de software, sino también actividades tales como la gestión de proyectos de software y el desarrollo de herramientas, métodos y teorías de apoyo a la producción de software.” Los modelos de proceso de desarrollo software determinan una serie de pautas para poder desarrollar con éxito un proyecto de desarrollo software. Desde que surgieran estos modelos de proceso, se investigado en nuevas maneras de poder gestionar un proyecto y producir software de calidad. En primer lugar surgieron las metodologías pesadas o tradicionales, pero con el avance del tiempo y la tecnología, surgieron unas nuevas llamadas metodologías ágiles. En el marco de las metodologías ágiles cabe destacar una determinada práctica, la integración continua. Esta práctica surgió de la mano de Martin Fowler, con el objetivo de facilitar el trabajo en grupo y automatizar las tareas de integración. La integración continua se basa en la construcción automática de proyectos con una frecuencia alta, promoviendo la detección de errores en un momento temprano para poder dar prioridad a corregir dichos errores. Sin embargo, una de las claves del éxito en el desarrollo de cualquier proyecto software consiste en utilizar un entorno de trabajo que facilite, sistematice y ayude a aplicar un proceso de desarrollo de una forma eficiente. Este Proyecto Fin de Grado (PFG) tiene por objetivo el análisis de distintas herramientas para configurar un entorno de trabajo que permita desarrollar proyectos aplicando metodologías ágiles e integración continua de una forma fácil y eficiente. Una vez analizadas dichas herramientas, se ha propuesto y configurado un entorno de trabajo para su puesta en marcha y uso. Una característica a destacar de este PFG es que las herramientas analizadas comparten una cualidad común y de alto valor, son herramientas open-source. El entorno de trabajo propuesto en este PFG presenta una arquitectura cliente-servidor, dado que la mayoría de proyectos software se desarrollan en equipo, de tal forma que el servidor proporciona a los distintos clientes/desarrolladores acceso al conjunto de herramientas que constituyen el entorno de trabajo. La parte servidora del entorno propuesto proporciona soporte a la integración continua mediante herramientas de control de versiones, de gestión de historias de usuario, de análisis de métricas de software, y de automatización de la construcción de software. La configuración del cliente únicamente requiere de un entorno de desarrollo integrado (IDE) que soporte el lenguaje de programación Java y conexión con el servidor. ABSTRACT Nowadays, numerous systems (financial, industrial production, basic services infrastructure, etc.) depend on software. According to the Software Engineering definition made by I.Sommerville, “Software engineering is an engineering discipline that is concerned with all aspects of software production from the early stages of system specification through to maintaining the system after it has gone into use.” “Software engineering is not just concerned with the technical processes of software development. It also includes activities such as software project management and the development of tools, methods, and theories to support software production.” Software development process models determine a set of guidelines to successfully develop a software development project. Since these process models emerged, new ways of managing a project and producing software with quality have been investigated. First, the so-called heavy or traditional methodologies appeared, but with the time and the technological improvements, new methodologies emerged: the so-called agile methodologies. Agile methodologies promote, among other practices, continuous integration. This practice was coined by Martin Fowler and aims to make teamwork easier as well as automate integration tasks. Nevertheless, one of the keys to success in software projects is to use a framework that facilitates, systematize, and help to deploy a development process in an efficient way. This Final Degree Project (FDP) aims to analyze different tools to configure a framework that enables to develop projects by applying agile methodologies and continuous integration in an easy and efficient way. Once tools are analyzed, a framework has been proposed and configured. One of the main features of this FDP is that the tools under analysis share a common and high-valued characteristic: they are open-source. The proposed framework presents a client-server architecture, as most of the projects are developed by a team. In this way, the server provides access the clients/developers to the tools that comprise the framework. The server provides continuous integration through a set of tools for control management, user stories management, software quality management, and software construction automatization. The client configuration only requires a Java integrated development environment and network connection to the server.

Correlates of Program Completion in Juvenile Diversion

The current study evaluated the State Juvenile Diversion Program, managed by the District Attorney’s (DA) office in Denver Colorado. The purpose of this study was to review factors, which potentially contribute to success or failure in diversion. Research in diversion programing typically focuses on recidivism rates, but fails to examine which factors contribute to program completion. The analysis was conducted using data from 57 juveniles who entered the DA diversion program in 2015. This represents the majority of juveniles in the diversion program rather than a sample. The current study confirmed prior research findings that those juveniles who do not successfully complete a diversion program are more likely to reoffend. Additionally, the factors which were significantly correlated with successful completion of the diversion program were grade point average (GPA) and number of municipal tickets. The number of behavior reports in school before and after the Diversion program was significantly lower for both groups. Non-significant findings are also discussed as they may help guide future research.

La desigualdad entre mujeres y hombres en el sector hostelero español

Es un lugar común afirmar que una de las repercusiones positivas del desarrollo turístico es la facilitación de la incorporación de la mujer al mundo laboral. Así, las mujeres representan la mayor parte de la fuerza de trabajo del sector hostelero español y están representadas en todas las categorías laborales. Sin embargo, se sabe que dicha incorporación se realiza en condiciones desiguales y, específicamente en los hoteles, las mujeres ocupan mayoritariamente puestos de baja cualificación. También es un lugar común que una de las claves para el éxito del sector turístico es asegurar que los trabajadores sean eficientes y estén comprometidos con la empresa para garantizar la calidad del servicio prestado. Las políticas laborales deben promover una mayor igualdad de oportunidades, remuneración y condiciones de trabajo en el sector. En este trabajo se presentan evidencias de la disparidad salarial, la segregación vertical y la mayor precariedad laboral que sufren las mujeres en el subsector de la hostelería en España. Con este propósito se analizan datos estadísticos secundarios procedentes de organismos oficiales. Finalmente, se propone una reflexión acerca de las razones que motivan estas desigualdades, así como de las políticas que deberían seguirse para mitigarlas.

Diferencias en las atribuciones académicas en lengua en base al efecto positivo

La finalidad de esta investigación residió en conocer si los individuos pertenecientes a población infantil española con altas puntuaciones en Afecto Positivo (AP) poseían diferencias estadísticamente significativas con los individuos con bajas puntuaciones en AP en las seis dimensiones que componen las atribuciones académicas en el área de Lengua (Éxito: capacidad, esfuerzo y causas externas; Fracaso: capacidad, esfuerzo y causas externas). La muestra estaba compuesta por 862 estudiantes, entre 8 y 11 años. Se utilizó la subescala de lengua de la Sydney Attribution Scale (SAS) y la subescala de AP del Positive And Negative Affect Schedule for Children (PANAS-C) versión reducida. La prueba t de Student reflejó que los participantes con altos niveles de AP obtuvieron medias significativamente más altas en la atribución al éxito y al fracaso en Lengua a causas externas. Por otro lado, los sujetos con bajas puntuaciones en AP obtuvieron medias significativamente más altas en la atribución del fracaso en Lengua a la capacidad y al esfuerzo. Los resultados obtenidos complementan la literatura previa existente y dejan la posibilidad a seguir ampliando el campo del conocimiento del afecto y de las atribuciones académicas.

A closer look : an examination of African American men in Illinois, final report /

Through formal assessment of resources and data and "grassroots" exploration of the opinions of over 500 African American males who participated in town hall meetings across Illinois, the Taskforce has formulated recommendations for policy in areas of health, employment, criminal justice, education and fatherhood. The recommendations should guide us in our important work to improve the critical services [for] African American men across Illinois -- with such help those men will be enabled to realize their full potential and enriching life for all of Illinois' citizens.

Illinois as a leader in the international economy : an analysis of the challenges of the 1990s /

Executive summary -- Overview of findings -- Some summary conclusions -- Purpose -- A changing national and international marketplace -- Cluster dynamics in the Illinois economy: defining key industry clusters -- The cost of doing business in Illinois -- Occupational structure: the key to success in the 1990s is retaining and attracting high value-added jobs in Illinois -- Regional differences: while northeastern Illinois dominates the economy, many of the state's key clusters are widely dispersed around the state -- Summary and conclusions -- appendix 1. Illinois' industry cluster performance: detailed analysis -- appendix 2. Illinois' occupational challenges in the 1990s by industry cluster.

Addresses and other papers,

The early history of practical anatomy.--The history of the Philadelphia school of anatomy and its relation to medical teaching.--Our recent debts to vivisection.--Recent progress in surgery.--The new era in medicine and its demands upon the profession and the college.--The real rewards of medicine.--Medicine as a career for educated men.--Vivisection and brain surgery.--Medical education.--The advantages of an academic training for a medical career.--Literary methods in medicine.--Address at the unveiling of the statue of the late Prof. Samuel D. Gross, M.D.--Semicentennial address in surgery before the American medical association.--The debt of the public to the medical profession.--The endowment of medical colleges.--The ideal physician.--Address at the Royal college of surgeons of England at the conferring of honorary degrees at the centenary celebration of the granting of its present charter.--The progress of surgery in the nineteenth century.--The mission of a medical college.--The duties and responsibilities of trustees of public medical institutions.--The qualities essential to success in medicine.--The cheerfulness of death.--The need for increased endowments for medical instruction.--Age and youth in medicine.--Surgical reminiscences of the civil war.

Bicycle Touring Infrastructure: An Architectural Proposal for Sustainable Bicycle Tourism

Thesis (Master's)--University of Washington, 2016-06

A perspective on Australia's national medicines policy

There is international interest in Australia's health care system for prescription medicines. The issue is particularly topical in Canada with the debate following publication of the Romanow Report into the future of health care in Canada. This Report recommended a new National Drug Agency. Australia has a National Medicines Policy with four arms-quality, safety and efficacy of medicines; equity of access; a viable and responsible pharmaceutical industry; quality use of medicines. The four arms of the Policy are interlinked and interdependent for optimal functioning. In this paper, an overview of how the prescription drug system in Australia works is presented. The manuscript focuses upon specific aspects of the Policy, describing how it functions and some of the processes integral to success, from the viewpoint of the author. The discussion includes some of the advantages of Australia's system for pharmaceuticals as well as some of the problems, as these present opportunities for development and change

The role of management incentives in successful information systems development and implementation

Because organizations are making large investments in Information systems (IS), efficient IS project management has been found critical to success. This study examines how the use of incentives can improve the project success. Agency theory is used to: identify motivational factors of project success, help the IS owners to understand to what extent management incentives can improve IS development and implementation (ISD/I). The outcomes will help practitioners and researchers to build on theoretical model of project management elements which lead to project success. Given the principal-agent nature of most significant scale of IS development, insights that will allow for greater alignment of the agent’s goals with those of the principal through incentive contracts, will serve to make ISD/I both more efficient and more effective, leading to more successful IS projects.

O DISCURSO DE EDIR MACEDO NO LIVRO ORIXÁS, CABOCLOS E GUIAS. DEUSES OU DEMÔNIOS?: IMPACTOS E IMPASSES NO CENÁRIO RELIGIOSO BRASILEIRO

Esta dissertação é uma análise do discurso de Edir Macedo no livro Orixás, Caboclos e Guias. Deuses ou Demônios? Nosso estudo trata do discurso e retórica que Macedo e a Igreja Universal do Reino de Deus utilizam para falarem a respeito das religiões afro-brasileiras e mediúnicas nesse livro. Elegemos este livro como objeto de estudo por causa da presença constante desse tema no discurso e nas práticas da Igreja Universal; pelo sucesso dessa publicação, com mais de quatro milhões de exemplares vendidos; em função da polêmica provocada pelo discurso demonizador das religiões afro-brasileiras e mediúnicas. Procuramos analisar o discurso de Macedo e de sua Igreja a luz dos impactos e impasses causados por eles no cenário religioso brasileiro. Relacionamos o discurso e a retórica de Macedo ao sucesso e a criação de uma identidade própria de sua Igreja. Nosso estudo diferencia-se das demais investigações já publicadas ao relacionar a criação de identidade religiosa e o uso de mecanismos acusatórios como instrumento eficaz para convencer e transmitir ideologias que favoreçam a expansão da Igreja Universal. Procuramos também, trazer para a discussão acadêmica que a análise de discurso de uma literatura religiosa pode ser uma referência para se estudar uma instituição religiosa, seus mecanismos de construção identitaria, legitimação e expansão no cenário religioso.(AU)

Managing enterprise resource planning projects

Purpose – The purpose of this paper is to help managers to successfully plan, implement, and operate enterprise resource planning (ERP) projects using a risk management framework. Design/methodology/approach – This paper adopted a combined literature review and case study method. Using literature review, the paper first identified major issues of managing ERP projects and develops a risk management framework for managing those issues. The proposed risk management framework was then applied to a ERP implementation project of a UK-based energy services group and its effectiveness for managing ERP projects implementation had been demonstrated. Additionally, the risk factors as identified from the case application are compared with the risk factors from the previous researches so as to suggest mitigating measures. Findings – All the risk factors are categorized into planning, implementation and operations phases along with project processes, organizational transformation and information technology (IT) perspectives. Project implementation phase is the most vulnerable to failure. The case study results reveal that the effect of other projects on on-going ERP project, management of overall IT architecture and non-availability of resources for organizational transformation are most critical from likelihood and impact perspectives. Managing risk across various phases of project and equal emphasize to effective project management, organizational transformation and IT adoption are the key to success in ERP implementation. Practical implications – The risk factors, which were identified using literature review and the case study, have great significance as mitigating measures of those risks may result successful implementation of ERP projects in the industry. Additionally, proposed risk management framework could be customized to implement ERP projects elsewhere. Originality/value – ERP projects are risky as they are capital intensive, technically complex, and call for organizational transformation. There are both success and failure stories. However, both researchers and practitioners agree, that if it can be implemented and operated successfully and benefits should be achievable. Although there are many studies on ERP implementation, little has been discussed on managing risks of ERP projects. Therefore, this paper bridges the gap.

Testing incremental politics : the case of North Sea oil

In the quest to secure the much vaunted benefits of North Sea oil, highly non-incremental technologies have been adopted. Nowhere is this more the case than with the early fields of the central and northern North Sea. By focusing on the inflexible nature of North Sea hardware, in such fields, this thesis examines the problems that this sort of technology might pose for policy making. More particularly, the following issues are raised. First, the implications of non-incremental technical change for the successful conduct of oil policy is raised. Here, the focus is on the micro-economic performance of the first generation of North Sea oil fields and the manner in which this relates to government policy. Secondly, the question is posed as to whether there were more flexible, perhaps more incremental policy alternatives open to the decision makers. Conclusions drawn relate to the degree to which non-incremental shifts in policy permit decision makers to achieve their objectives at relatively low cost. To discover cases where non-incremental policy making has led to success in this way, would be to falsify the thesis that decision makers are best served by employing incremental politics as an approach to complex problem solving.