Selection et controle de modes de deplacement pour un robot mobile autonome en environnements naturels

Autonomous navigation and locomotion of a mobile robot in natural environments remain a rather open issue. Several functionalities are required to complete the usual perception/decision/action cycle. They can be divided in two main categories : navigation (perception and decision about the movement) and locomotion (movement execution). In order to be able to face the large range of possible situations in natural environments, it is essential to make use of various kinds of complementary functionalities, defining various navigation and locomotion modes. Indeed, a number of navigation and locomotion approaches have been proposed in the literature for the last years, but none can pretend being able to achieve autonomous navigation and locomotion in every situation. Thus, it seems relevant to endow an outdoor mobile robot with several complementary navigation and locomotion modes. Accordingly, the robot must also have means to select the most appropriate mode to apply. This thesis proposes the development of such a navigation/locomotion mode selection system, based on two types of data: an observation of the context to determine in what kind of situation the robot has to achieve its movement and an evaluation of the behavior of the current mode, made by monitors which influence the transitions towards other modes when the behavior of the current one is considered as non satisfying. Hence, this document introduces a probabilistic framework for the estimation of the mode to be applied, some navigation and locomotion modes used, a qualitative terrain representation method (based on the evaluation of a difficulty computed from the placement of the robot's structure on a digital elevation map), and monitors that check the behavior of the modes used (evaluation of rolling locomotion efficiency, robot's attitude and configuration watching. . .). Some experimental results obtained with those elements integrated on board two different outdoor robots are presented and discussed.

International juvenile (in)justice : penal severity and rights compliance

This article focuses on the anomalies and contradictions surrounding the notion of ‘international juvenile justice’, whether in its pessimistic (neoliberal penality and penal severity) or optimistic (universal children’s rights and rights compliance) incarnations. It argues for an analysis which recognises firstly, the uneven, multi-facetted and heterogeneous nature of the processes of globalisation and secondly, how the global, the international, the national and the local are not mutually exclusive but continually interact to re-constitute, re-make and challenge each other.

Penal Culture and Hyperincarceration : the Revival of the Prison

What are the various forces influencing the role of the prison in late modern societies? What changes have there been in penality and use of the prison over the past 40 years that have led to the re-valorization of the prison? Using penal culture as a conceptual and theoretical vehicle, and Australia as a case study, this book analyses international developments in penality and imprisonment. Authored by some of Australia’s leading penal theorists, the book examines the historical and contemporary influences on the use of the prison, with analyses of colonialism, post colonialism, race, and what they term the ‘penal/colonial complex,’ in the construction of imprisonment rates and on the development of the phenomenon of hyperincarceration. The authors develop penal culture as an explanatory framework for continuity, change and difference in prisons and the nature of contested penal expansionism. The influence of transformative concepts such as ‘risk management’, ‘the therapeutic prison’, and ‘preventative detention’ are explored as aspects of penal culture. Processes of normalization, transmission and reproduction of penal culture are seen throughout the social realm. Comparative, contemporary and historical in its approach, the book provides a new analysis of penality in the 21st century.

Continuity, Rupture, or just more of the 'Volatile and Contradictory': Glimpses of New South Wales' Penal Practice behind and through the Discursive

Throughout much of the western world more and more people are being sent to prison, one of a number of changes inspired by a 'new punitiveness' in penal and political affairs. This book seeks to understand these developments, bringing together leading authorities in the field to provide a wide-ranging analysis of new penal trends, compare the development of differing patterns of punishment across different types of societies, and to provide a range of theoretical analyses and commentaries to help understand their significance. As well as increases in imprisonment this book is also concerned to address a number of other aspects of 'the new punitiveness': firstly, the return of a number of forms of punishment previously thought extinct or inappropriate, such as the return of shaming punishments and chain gangs (in parts of the USA); and secondly, the increasing public involvement in penal affairs and penal development, for example in relation to length of sentences and the California Three Strikes Law, and a growing accreditation of the rights of victims. The book will be essential reading for students seeking to understand trends and theories of punishment on law, criminology, penology and other courses.

Commissions of Inquiry and Penal Reform

As prison populations increase in Australia and worldwide, Corrections Criminology is a timely stocktake of what we know about corrections. The book encompasses corrections in the community as well as private and public prisons, and is written by leading academics and senior practitioners. The book covers seven main themes: Trends in Correctional Populations (in Australia and worldwide) The Objectives, Standards and Efficacy of Imprisonment, including key issues such as accountability, treatment of prisoners, security and privatisation Special Prison Populations, such as Indigenous, female and ageing prisoners Prisoner Health, including mental health and strategies for minimising self-harm Rehabilitation and Reparation, including consideration of “what works?” and post-release support Correctional Officers, particularly considering the changing career of corrections staff and Future Directions in corrections.

The making of control : an ethnomethodology of choosing management accounting systems [La fabrique du controle : une ethnomethodologie du choix des outils de gestion]

This paper sets out to contribute to the literature on the design and the implementation of management control systems. To this end, we question what is discussed when a management control system is to be chosen and on what decision-making eventually rests. This study rests upon an ethnomethodology of the Salvation Army’s French branch. Operating in the dual capacity of a researcher and a counsellor to management, between 2000 and 2007, we have unrestricted access to internal data revealing the backstage of management control: discussions and interactions surrounding the choosing of control devices. We contribute to understanding the arising of a need for control, the steps and process followed to decide upon a management control system, and controls in nonprofits. [Cet article vise à contribuer à la littérature sur la mise en place des systèmes de contrôle de gestion. À cette fin, nous questionnons ce qui est discuté lors du choix d’un système de contrôle et sur quoi repose in fine la décision. Cet article est fondé sur une approche ethnométhodologique de l’Armée du Salut en France permise par notre double qualité de chercheurs mais également de conseiller auprès de la direction de l’organisation entre 2000 et 2007. Un accès illimité à des données internes nous permet ainsi de mettre en lumière les aspects méconnus et invisibles du contrôle de gestion : les discussions et interactions entourant le choix d’outils. Nous contribuons à la compréhension de l’émergence du besoin de contrôle, des étapes et du processus de choix d’outils et enfin du contrôle de gestion dans une organisation à but non lucratif.]

Penal Colonies

Prostitution has been closely associated with the transportation of women convicts to British penal colonies. Convict labor was used to found a number of British colonies including Barbados, Jamaica, Maryland, Virginia, Singapore, New South Wales, Tasmania, and Western Australia. Between 1607 and 1939, Britain transported approximately 400,000 convicts, 162,000 of whom came to Australia and about 50,000 to North America. Significant numbers of women were among those transported to the Australian and North American colonies, although their numbers were relatively small in comparison to male convicts. Transportation was typically reserved for the most recalcitrant of female offenders. Most women transported came from working-class populations, resided in metropolitan centers, and were single at the time of their offense. Although few of these women were actually sentenced for activities associated with prostitution, large numbers had a history of involvement with prostitution. Transportation was considered to offer prostitutes a chance at redemption, with colonial commentators drawing contrasts between the Old World and its vice-ridden sensuality and the colonies, which offered opportunities for redemption through religious devotion and hard work. Many women transported to the Australian colonies were described by officials as being "on the town" at their time of apprehension and were collectively considered to be "damned whores, possessed of neither virtue nor honesty". Recently, historians have argued that these assessments were emblematic of middle-class prejudices toward the open and aggressive sexuality of working-class women. The number of convict women involved in prostitution may have been higher than recorded crimes, typically involving "larceny", suggest. A number of women were charged with theft from men who had paid them (or, in some instances, refused to pay them) for sex. Historians have estimated that one in five convict women were part-time or full-time prostitutes before transportation. Many continued in prostitution after transportation, with prostitution becoming an important element in the social and economic life of the Australian colonies, where, between 1788-1830, men outnumbered women six to one. Officially, prostitution was tolerated to dissuade men from vice. For women, prostitution presented a means of securing physical protection and accommodation at a time when general amenities and employment opportunities were restricted.

Towards equalisation of the impact of the penal fine : why the wealth of the offender was taken into account

Important changes in the legal regulation of the fine culminated in the implementation of the day‐fine system in many European countries during the twentieth century. These changes resulted from various late nineteenth century rationalities that considered the fine a justifiable punishment. Therefore, they supported extending its application by making it affordable for people on low incomes, which meant imprisonment for fine default could mostly be avoided without undermining the end of punishment. In this paper I investigate the historical development of the penal fine as well as the changing forms of this penalty in Western European criminal systems from the end of the eighteenth century until the late nineteenth century.

La transformación del derecho penal argentino

Las últimas décadas de la Política Criminal en Argentina, al menos en lo que se ha plasmado de modo asistemático dentro de la codificación penal, se inscriben en el marco de discusión sobre la crisis del Derecho Penal. Como he señalado en otras oportunidades, resulta paradójico hablar de crisis penal cuando al mismo tiempo se describe su expansión1 constante2. Esa aparente contradicción, en verdad, lo que indica es la transformación del Derecho Penal3. Lo que ha ingresado en una crisis evidente es la comprensión del sistema penal a partir de ciertos criterios propios de la matriz ilustrada del mismo. Por lo demás, se han elaborado nuevas formas de comprensión del fenómeno punitivo que ya no responden a esos cánones originarios. Al respecto han mutado los fundamentos, fines, métodos científicos y estructuras de concreción legislativa de la reacción penal. Por eso, si bien resulta imposible dar cuenta precisa de los cambios suscitados en el Derecho Penal de la Argentina en estos últimos treinta y cinco años, si se atiende de manera sumaria y con cierto grado de discrecionalidad a algunos de esos aspectos, es factible brindar un panorama de lo que ha sucedido. A modo de introducción, cabe advertir que la Argentina no ha estado ajena, en buena medida, a las líneas que han motorizado las nuevas respuestas penales a nivel comparado, sobre todo en el área continental. La “metamorfosis” del orden penal no solo expresa aspectos vinculados a las decisiones legislativas, esto es, de Política Criminal, sino que integra además los cambios en la dogmática penal...

Cuestiones actuales de derecho procesal penal canónico

Sumario: Cuestiones actuales de derecho procesal penal canónico. Introducción. 1.- El derecho penal canónico hoy. 2.- La publicidad, interpretación y competencias especiales en el proceso penal. 3.- El derecho de defensa en el derecho penal canónico. 4.- El derecho de defensa en la fase previa del juicio penal. 5.- El derecho de defensa del imputado en la vía judicial o administrativa para la decisión. 6.- La tramitación de la acusación penal. 7.- El Motu proprio ‘delicta graviora’. 8.- Algunos casos concretos. Conclusión

La fundamentación eugenésica del artículo 86, inc. 2, del Código Penal y el fallo “F., A. L. s/medida autosatisfactiva” : convalidación de una teoría aberrante

Resumen: Este artículo analiza el fallo del 13 de marzo de 2012 de la Corte Suprema de Justicia de la Nación, en los autos “F., A. L. s/ medida autosatisfactiva”, en el cual el máximo tribunal argentino adoptó la interpretación amplia del Artículo 86, inciso 2, del Código Penal, a la luz de la “voluntad del legislador histórico”; teniendo en cuenta que la misma Corte la invoca en sus fundamentos para fallar a favor de la constitucionalidad del inciso referido. Se parte de entender el contexto histórico e ideológico de las primeras décadas del siglo XX, tanto a nivel nacional como internacional, del cual surge la influencia que tuvo la eugenesia en los ámbitos científicos, académicos y jurídicos. Teoría que tenía por objetivo la búsqueda del “perfeccionamiento” de la especie humana, lo que implicaba descartar a los seres humanos más débiles, imperfectos o defectuosos. Dentro de este contexto se impulsó la modificación del Código Penal, por lo que es central para entender la “voluntad del legislador histórico” el Informe de la Comisión de Códigos del Senado de la Nación, de 1920, que receptó claramente las ideas eugenésicas, siendo el Artículo 86, inc. 2, un claro ejemplo de ello. El mencionado informe demuestra que la verdadera motivación de los legisladores para incluir la no punibilidad del aborto en este inciso fue que no nacieran “seres anormales o degenerados”, no hay una sola mención a la situación de la mujer embarazada y de los perjuicios que un embarazo en estas condiciones le podrían acarrear.

La normativa hispano medieval y su aplicación en Indias : condición femenina dentro del marco penal y procesal

Resumen: El intercambio de culturas con ocasión de la residencia de los nuevos pobladores en tierras americanas, trajo como consecuencia la implantación de diferentes normativas provenientes de la Hispania medieval, pero también un grave desajuste en la aplicación de dichas costumbres para las mujeres, según fuera su estatus social. En ocasiones, indígenas, mestizas y españolas lograron alcanzar posturas flexibles –de parte de las autoridades canónicas y civiles– a la hora de ser multadas o castigadas por la ley; otras veces, su peso caía con todo el rigor sin atender a ningún tipo de diferenciación entre las mujeres.