Incremental Control Synthesis for Robotics in the Presence of Temporal Logic Specifications

This thesis presents methods for incrementally constructing controllers in the presence of uncertainty and nonlinear dynamics. The basic setting is motion planning subject to temporal logic specifications. Broadly, two categories of problems are treated. The first is reactive formal synthesis when so-called discrete abstractions are available. The fragment of linear-time temporal logic (LTL) known as GR(1) is used to express assumptions about an adversarial environment and requirements of the controller. Two problems of changes to a specification are posed that concern the two major aspects of GR(1): safety and liveness. Algorithms providing incremental updates to strategies are presented as solutions. In support of these, an annotation of strategies is developed that facilitates repeated modifications. A variety of properties are proven about it, including necessity of existence and sufficiency for a strategy to be winning. The second category of problems considered is non-reactive (open-loop) synthesis in the absence of a discrete abstraction. Instead, the presented stochastic optimization methods directly construct a control input sequence that achieves low cost and satisfies a LTL formula. Several relaxations are considered as heuristics to address the rarity of sampling trajectories that satisfy an LTL formula and demonstrated to improve convergence rates for Dubins car and single-integrators subject to a recurrence task.

Preparation, characterization and gas sensing properties of high soluble metal (II) phthalocyanine thin films by spin-coating method

Three novel metal (II) phthalocyanine complexes were synthesized by cyclic tetramerisation reaction of a dicyano benzene component and different metal ions (Pd2+, Co2+, Zn2+). The structure of complexes was confirmed by elemental analysis, mass and IR spectrum. The excellent solubility of the complexes in benzene enabled us to obtain films by a spin-coating method. The films were characterized by IR, electronic spectral and AFM. The gas sensing properties to NO2 of the metal (II) phthalocyanine complex films were studied. In addition, the effects of different metal ions and the gas sensing temperature on the sensing properties were studied. (C) 2005 Elsevier B.V. All rights reserved.

O culto ao corpo em academia de ginástica: um estudo etnográfico na Cidade do Rio de Janeiro

O objetivo principal do presente estudo foi descrever, a partir da ambiência das academias de ginástica, o fenômeno do culto ao corpo na sociedade contemporânea. A ambiência, considerada uma categoria no campo do imaginário social, compreende o espaço como um lugar que é, ao mesmo tempo, produto e produtor de relações simbólicas e de sentidos. Após a revisão de literatura acerca da temática proposta, realizou-se um estudo etnográfico mediado por observação participante e análise de discurso (escola francesa) em uma academia de grande porte situada na zona sul da cidade do Rio de Janeiro. Os resultados da pesquisa de campo apontaram para três categorias de análise da ambiência: 1) a casa dos espelhos: a motivação das imagens, dos objetos e das formas; 2) a motivação humana: o profissional de educação física; e 3) o símbolo da tribo: o corpo. Pode-se considerar que a ambiência contribui significativamente para a emergência do culto ao corpo desenvolvido nas academias e, proliferado em outras esferas da vida social, sendo aparentemente excludente àqueles que não abarcam o fenômeno em questão. Nesse sentido, é possível estabelecer uma analogia da descrição da ambiência com a seguinte ponderação: do hedonismo Dionisíaco à disciplina Apolínea prevalece a imagem de Narciso. Por fim, o mapeamento da ambiência da academia é uma fonte interessante para se pensar algumas das relações sociais da contemporaneidade que, quando comparadas a outros períodos históricos, mantiveram-se, modificaram-se ou que estariam em processo de transição. O fenômeno do culto ao corpo e a forma com que as relações se estabelecem em função da busca pela estética, decerto, representam o momento transitório ao qual as sociedades complexas estão submetidas.

Variation in the distribution of walleye pollock (Theragra chalcogramma) with temperature and implications for seasonal migration

Aspects of the feeding migration of walleye pollock (Theragra chalcogramma) in the eastern Bering Sea (EBS) were investigated by examining the relationship between temperatures and densities of fish encountered during acoustic and bottom trawl surveys conducted in spring and summer between 1982 and 2001. Bottom temperature was used as an indicator of spring and summer warming of the EBS. Clusters of survey stations were identified where the density of walleye pollock generally increased or decreased with increasing water temperature. Inferences about the direction and magnitude of the spring and summer feeding migration were made for five length categories of walleye pollock. Generally, feeding migrations appeared to be northward and shoreward, and the magnitude of this migration appeared to increase with walleye pollock size up to 50 cm. Pollock larger then 50 cm showed limited migratory behavior. Pollock may benefit from northward feeding migrations because of the changes in temperature, zooplankton production, and light conditions. Ongoing climate changes may affect pollock distribution and create new challenges for pollock management in the EBS.

Updating names, distribution and ecology of riverine fish of Kenya in the Athi-Galana-Sabaki river drainage system

Few studies of the riverine fish of the Athi-Galana-Sabaki river drainage area in Kenya have been carried out since the last comprehensive surveys of the 1950s and early 1960s. This paper presents updated information on scientific and recommended common names, distribution and ecology of selected fish species of this catchment. At least 28 riverine fish families consisting of 46 genera and 62 species occur in the drainage system, of which, 39 species are strictly freshwater (4 introduced) while 23 species are of marine origin. Five unique behavioural categories of the riverine fish of the drainage system are discussed. The four most speciated riverine fish in the system belong to the families Cyprinidae (14 species), Cichlidae (6 species), and Mormyridae and Gobiidae (4 species each). Thirty fish species occur in areas below the River Tsavo-Athi confluence, 18 fish species above the confluence, while 12 fish species occupy the entire drainage system. One cichlid fish, Oreochromis spilurus spilurus (Gunther, 1894), only occurs in the Tsavo river, while the occurrence in the entire system of one snoutfish species, Mormyprops anguilloides (Linnaeus, 1758) is uncertain. The use of information from this study is recommended when carrying out further studies of fish from the Athi-Galana-Sabaki river drainage.

Lakes - Classification & Monitoring: a strategy for the classification of lakes

This is the report on Lakes – Classification and Monitoring, a strategy for the classification of lakes by the National Rivers Authority. This report describes a scheme for the assessment and monitoring of water and ecological quality in standing waters, greater than about 1ha in area, in England and Wales although it is generally relevant to Northwest Europe. Thirteen hydrological, chemical and biological variables are used to characterize the standing water body in any current sampling. Statistical testing on the chemical variables showed that at least six samples during a year would be needed to produce a representative sampling mean; but in this scheme the choice of variables minimizes logistic cost by not using boat sampling and time costs by not demanding extensive taxonomic work. Standing waters are classified in a state-changed system in which the contemporary values of the variables are compared with a reference baseline state and then placed in categories of percentage change from this baseline. The scheme is presently designed for use at about five year intervals on all lakes greater than 2ha area plus additional lakes of significant amenity or conservation interest.

Socio-economic conditions of the pond owners of Demra, Dhaka

On the basis of fish culture status 96 ponds of the study area were classified into 4 categories like wild stock (27%), extensive culture (24%), improved extensive culture (33%) and semi-intensive culture (16%). Percentage of small, medium and large ponds were 38, 44, and 18 respectively whereas education levels below SSC, below Bachelor and above were 43, 38 and 19 respectively and single owners belonged to 54% of the ponds. Per hectare yields of extensive, improved extensive and semi-intensive categories of culture were 1.3, 2.12 and 4.0 metric tons respectively and their net return were 46, 63 and 92 thousand taka respectively. Considering the problems of fish culture, multiple ownership was found to be the most important one.

Predatory behaviour of a perch, Nandus nandus (Ham.)

Predatory behaviour of Nandus nandus was studied by offering Cyprinus carpio as prey. The study was conducted with six N. namdus (8.2 ±0.2 cm and 7.60 ±0.3g) represented as P 1, P 2, P 3, P 4, P 5 and P 6. Three size categories of prey (C. carpio) such as small (2.0 ±0.1 cm and 0.23 ±0.01g), large (3.6 ±0.1 cm and 0.57 ±O.O.lg) and mixed group consisting of both small and large prey were used for 14 days of trial. Predatory behavior was classified as targeting, driving, catching, handling, resting and next attempt of catching prey. After introduction of prey into the aquarium predators followed the movement of preys by eye movements and tried to target smaller one first. The predator grasped the head of the prey by its jaws by a drive and engulfed it wholly into the mouth. The average handling time (time taken to manipulate and swallow prey from capture to ceasation of pharyngeal movement) was 42±2 sec and 47±2 sec for small and large prey respectively. N. nandus were ingested more small prey than large prey though the size classes were equally available in case of mixed prey used. Although the prey consumption was higher in number when small prey were ingested but in weight the consumption was higher when ingested large size of prey. The study indicated that N. nandus, ingested more small prey and grasped the headfirst.

Socioeconomic assessment of shrimp farming in relation to local livelihoods in the south-west coastal Bangladesh

Nine different categories of stakeholders in shrimp farming industry ·were assessed to show the socioeconomic impact of shrimp farming in south-west Bangladesh. Among all the stakeholders the shrimp farmer's average own land was 4 ha whereas the seed collectors and faria's had lowest amount of average land, 0.1 and 0.5 ha respectively. The shrimp farming positively impacted to the livelihood of stakeholders. Income of the coastal people, sanitation, working facilities of women, employment, health condition and the literacy rate increased due to shrimp farming. On the other hand shrimp farming had negative impact on the rice production, livestock, drinking water supply, and social conflict and violence had increased due to shrimp farming. There were internal conflicts between different stakeholders; the farias conflict with the depot owners and shrimp farmers, marginal farmers' conflict with the rich shrimp farmers about leasing lands and saline water control, the rice farmers conflicts with the shrimp farmers about agricultural crop production.

Fish products of 6 Asian countries

The paper gives an overview of the 11 main categories of fish products resulting from the survey in Brunei Darussalam, Indonesia, Malaysia, Philippines, Singapore and Thailand.

The socio-economic and cultural structures of the fisherfolk communities

Fishing communities that have exploited the resource for generations constitute the main stakeholder groups in the fisheries of Lake Victoria. Several studies have examined Uganda's Lake Victoria fishing communities and characterised key stakeholders at community level over the last decade (SEDAWOG 1999a and b; Geheb 1997; FeSEP 1997; Kitakule 1991). The communities are made up of scattered settlements at the shores and on islands. The categories of people living in these communities include fishers who consist primarily of large numbers of male youths who provide labour to boat and gear owners. There are resident and non-resident fish traders who after securing their supplies at the beaches, depart for their market destinations. In addition, there are fish processors, mostly operating traditional and improved smoking kilns. Many other people, dealing in provisions and supplies also stay at the beaches, their activities depending on the level of fish catch. The fishing communities of Lake Victoria, Uganda, include auxiliary livelihood activities such as boat building, net repairing and transportation; bait supply and beachside kiosks, video halls and retail shop business. Other economic activities are brick making, charcoal burning/wood trade, farming and livestock keeping.

SEXUAL-BEHAVIOR OF TIBETAN MACAQUES AT MT EMEI, CHINA

Data on sexual behavior were collected in six groups of semi-commensal Macaca thibetana along the trail on the slope habitat between 1987 and 1989. Ignoring the common items such as mounting, presenting etc., 20 categories of sexual behavior were described. Most of the descriptions were likely to have enlarged the behavior repertoire reported in macaques, showing a great complexity of sociosexual interactions under the principally natural condition. A great diversity of grouping appeared in the mating season. The copulatory pattern was found to be the serial type contrary to previous speculation, and the mount-to-ejaculation ratio was higher in the central subgroup, as compared with the far-peripheral adult subgroup (FAS) with less male and female rivals. An age-class subdivision of sexually active males made it possible to show that the young adult male immigrants were the most active class in sexual activity. Subgrouping form FAS was a ''space-segregation'' tactic of mating for the losers of both sexes in the competition. Some parameters of copulation were also documented.

Comparative study of vision tracking methods for tracking of construction site resources

Vision tracking has significant potential for tracking resources on large scale, congested construction sites, where a small number of cameras strategically placed around the site could replace hundreds of tracking tags. The correlation of vision tracking 2D positions from multiple views can provide the 3D position. However, there are many 2D vision trackers available in the literature, and little information is available on which one is most effective for construction applications. In this paper, a comparative study of various vision tracker categories is carried out, to identify which one is most effective in tracking construction resources. Testing parameters for evaluating categories of trackers are identified, and benefits and limitations of each category are presented. The most promising trackers are tested using a database of construction operations videos. The results indicate the effectiveness of each tracker in relation to each parameter of the test, and the most suitable tracker needed to research effective 3D vision trackers of construction resources.

Framework for integration of informal waste management sector with the formal sector in Pakistan.

Historically, waste pickers around the globe have utilised urban solid waste as a principal source of livelihood. Formal waste management sectors usually perceive the informal waste collection/recycling networks as backward, unhygienic and generally incompatible with modern waste management systems. It is proposed here that through careful planning and administration, these seemingly troublesome informal networks can be integrated into formal waste management systems in developing countries, providing mutual benefits. A theoretical framework for integration based on a case study in Lahore, Pakistan, is presented. The proposed solution suggests that the municipal authority should draw up and agree on a formal work contract with the group of waste pickers already operating in the area. The proposed system is assessed using the integration radar framework to classify and analyse possible intervention points between the sectors. The integration of the informal waste workers with the formal waste management sector is not a one dimensional or single step process. An ideal solution might aim for a balanced focus on all four categories of intervention, although this may be influenced by local conditions. Not all the positive benefits will be immediately apparent, but it is expected that as the acceptance of such projects increases over time, the informal recycling economy will financially supplement the formal system in many ways.

Digital elevation models and GIS for watershed modelling and flood prediction-A case study of Accra Ghana

Geographical Information Systems (GIS) and Digital Elevation Models (DEM) can be used to perform many geospatial and hydrological modelling including drainage and watershed delineation, flood prediction and physical development studies of urban and rural settlements. This paper explores the use of contour data and planimetric features extracted from topographic maps to derive digital elevation models (DEMs) for watershed delineation and flood impact analysis (for emergency preparedness) of part of Accra, Ghana in a GIS environment. In the study two categories of DEMs were developed with 5 m contour and planimetric topographic data; bare earth DEM and built environment DEM. These derived DEMs were used as terrain inputs for performing spatial analysis and obtaining derivative products. The generated DEMs were used to delineate drainage patterns and watershed of the study area using ArcGIS desktop and its ArcHydro extension tool from Environmental Systems Research Institute (ESRI). A vector-based approach was used to derive inundation areas at various flood levels. The DEM of built-up areas was used as inputs for determining properties which will be inundated in a flood event and subsequently generating flood inundation maps. The resulting inundation maps show that about 80% areas which have perennially experienced extensive flooding in the city falls within the predicted flood extent. This approach can therefore provide a simplified means of predicting the extent of inundation during flood events for emergency action especially in less developed economies where sophisticated technologies and expertise are hard to come by. © 2009 Springer Netherlands.