Dynamic optimization for the trajectory planning of robot manipulators in the presence of obstacles

This paper presents an approach to the solution of moving a robot manipulator with minimum cost along a specified geometric path in the presence of obstacles. The main idea is to express obstacle avoidance in terms of the distances between potentially colliding parts. The optimal traveling time and the minimum mechanical energy of the actuators are considered together to build a multiobjective function. A simple numerical example involving a Cartesian manipulator arm with two-degree-of-freedom is described.

Profitability planning of the ski resort project

Objective of this master’s thesis is to create an investment calculation model, which makes it possible to determine if the ski resort business can be profitable. The ultimate goal is to create a description with the help of theoretical knowledge, interviews and investment calculation model, how the operation of ski resort is possible to be profitable and what are the critical success factors for achieving this goal. Thesis is carried out as qualitative research, which is supported by the necessary constructive information utilizing calculations. The client company has provided valuable insights and material for this thesis. Theoretical report examines the steps of developing a business plan, investment components and methods as well as sensitivity analysis. The theoretical part is based on the articles, textbooks, interviews and researches. The empirical part of the thesis is assembled by benchmarking other same size Finnish ski resorts, conducting interviews and using investment calculation model. The empirical part provides comprehensive information about ski resort industry, the future of the project, the business plan and the profitability calculations. As the result of this thesis the investment calculation model, which makes it possible to simulate different scenarios for ski resort project, was formed. The model was used to create a picture in which kind of scenario the ski resort business would be profitable and what are the critical success factors in achieving this aim.

Strategic planning of major disturbance proof network

In the 2000’s Finland suffered from storms that caused long outages in electricity distribution, longest up to two weeks. These major disturbances increased the importance of supply security. In 2013 new Electricity Market Act was announced. It defined maximum duration for outages, 6 h for city plan areas and 36 h for other areas. The aim for this work is to determine required major disturbance proof level for a study area and find tools for prioritizing overhead lines for cabling renovation to improve supply security. Three prioritization methods were chosen to be studied: A: prioritization line sections by customer outage costs they cause, B: maximizing customers major disturbance proof network and C: minimizing excavation costs in medium voltage network. Profitability calculations showed that prioritization method A was the most profitable and C had the weakest profitability. The prioritization method C drove renovation into unreasonable locations in the study area in reliability point of view. Therefore universal rule prioritization methods couldn’t be made from the prioritization methods. This led to the conclusion that every renewing area need to be evaluated in a case by case basis.

Teacher survival : staying alive in the job of teaching /

This study presents information gathered during personal interviews with dynamic and capable teachers in the areas of preparedness for teaching, teaching concerns, survival skills and strategies, and how these teachers support themselves and others in the teaching profession. The data are related to Purkey and Novak's work on invitational education and connections are made to Combs' perceptual orientation. Potential participants were gathered through personal recommendations from their colleagues. All teachers recommended were approached and asked for voluntary participation. Of those who agreed to participate, 6 were selected based on gender and years of experience. There was a male and female participant at each of the following career levels: early, mid, and late. The 4 major survival skills that became apparent were the ability to believe in oneself and others, to act decisively upon that belief through personal and professional goal-setting as well as accessing resources, to actively seek opportunities for interaction with other professionals, and to celebrate personal and professional successes.

Preparing to teach : learning from an exploration of teachers' experiences of teaching in classrooms of difference

This qualitative study explores practicing teachers' experiences of teaching in classrooms of diversity, that is, classrooms where students represent a variety of differences including race, culture, ethnicity, and class. More specifically, this study investigates the types of curricular and pedagogical practices teachers employ in their classrooms. This study attempts to make a contribution to the scholarship of critical pedagogy by drawing upon the works of critical pedagogues to make sense of participants' descriptions oftheir curricular and pedagogical practices. Four participants were involved in this study. Participants were elementary teachers in classrooms of difference in Ontario who contributed the primary sources of data by engaging in 2 individual interviews. Additional sources of data included a focus group meeting that 2 ofthe participants were able to attend, school board curriculum resource documents assisting teachers in teaching critically, as well as a research journal which the researcher kept throughout the study. The scholarship of critical pedagogy (Ellsworth, 1992; Giroux, 1993; McLaren, 1989) informs the analysis of participants' descriptions of their teaching experiences. Many of the participants did not engage in a practice of critical pedagogy. This study explores some of the challenges and possibilities of using critical pedagogy to create spaces in classrooms where teachers can build connections between the curriculum mandated by the government and the multiple identities and experiences that students bring into the classroom. This study concludes with a discussion on what teachers need to know to be able to begin creating equitable and educational experiences in classrooms of difference.

The effects of teaching a mathematics problem solving strategy on the problem solving ability of grade nine students

Forty grade 9 students were selected from a small rural board in southern Ontario. The students were in two classes and were treated as two groups. The treatment group received instruction in the Logical Numerical Problem Solving Strategy every day for 37 minutes over a 6 week period. The control group received instruction in problem solving without this strategy over the same time period. Then the control group received the treat~ent and the treatment group received the instruction without the strategy. Quite a large variance was found in the problem solving ability of students in grade 9. It was also found that the growth of the problem solving ability achievement of students could be measured using growth strands based upon the results of the pilot study. The analysis of the results of the study using t-tests and a MANOVA demonstrated that the teaching of the strategy did not significaritly (at p s 0.05) increase the problem solving achievement of the students. However, there was an encouraging trend seen in the data.

Speak english, little chats a help to learn conversational english,drawn up after the new method of teaching

UANL

Scheduled service network design for integrated planning of rail freight transportation

Cette thèse étudie une approche intégrant la gestion de l’horaire et la conception de réseaux de services pour le transport ferroviaire de marchandises. Le transport par rail s’articule autour d’une structure à deux niveaux de consolidation où l’affectation des wagons aux blocs ainsi que des blocs aux services représentent des décisions qui complexifient grandement la gestion des opérations. Dans cette thèse, les deux processus de consolidation ainsi que l’horaire d’exploitation sont étudiés simultanément. La résolution de ce problème permet d’identifier un plan d’exploitation rentable comprenant les politiques de blocage, le routage et l’horaire des trains, de même que l’habillage ainsi que l’affectation du traffic. Afin de décrire les différentes activités ferroviaires au niveau tactique, nous étendons le réseau physique et construisons une structure de réseau espace-temps comprenant trois couches dans lequel la dimension liée au temps prend en considération les impacts temporels sur les opérations. De plus, les opérations relatives aux trains, blocs et wagons sont décrites par différentes couches. Sur la base de cette structure de réseau, nous modélisons ce problème de planification ferroviaire comme un problème de conception de réseaux de services. Le modèle proposé se formule comme un programme mathématique en variables mixtes. Ce dernie r s’avère très difficile à résoudre en raison de la grande taille des instances traitées et de sa complexité intrinsèque. Trois versions sont étudiées : le modèle simplifié (comprenant des services directs uniquement), le modèle complet (comprenant des services directs et multi-arrêts), ainsi qu’un modèle complet à très grande échelle. Plusieurs heuristiques sont développées afin d’obtenir de bonnes solutions en des temps de calcul raisonnables. Premièrement, un cas particulier avec services directs est analysé. En considérant une cara ctéristique spécifique du problème de conception de réseaux de services directs nous développons un nouvel algorithme de recherche avec tabous. Un voisinage par cycles est privilégié à cet effet. Celui-ci est basé sur la distribution du flot circulant sur les blocs selon les cycles issus du réseau résiduel. Un algorithme basé sur l’ajustement de pente est développé pour le modèle complet, et nous proposons une nouvelle méthode, appelée recherche ellipsoidale, permettant d’améliorer davantage la qualité de la solution. La recherche ellipsoidale combine les bonnes solutions admissibles générées par l’algorithme d’ajustement de pente, et regroupe les caractéristiques des bonnes solutions afin de créer un problème élite qui est résolu de facon exacte à l’aide d’un logiciel commercial. L’heuristique tire donc avantage de la vitesse de convergence de l’algorithme d’ajustement de pente et de la qualité de solution de la recherche ellipsoidale. Les tests numériques illustrent l’efficacité de l’heuristique proposée. En outre, l’algorithme représente une alternative intéressante afin de résoudre le problème simplifié. Enfin, nous étudions le modèle complet à très grande échelle. Une heuristique hybride est développée en intégrant les idées de l’algorithme précédemment décrit et la génération de colonnes. Nous proposons une nouvelle procédure d’ajustement de pente où, par rapport à l’ancienne, seule l’approximation des couts liés aux services est considérée. La nouvelle approche d’ajustement de pente sépare ainsi les décisions associées aux blocs et aux services afin de fournir une décomposition naturelle du problème. Les résultats numériques obtenus montrent que l’algorithme est en mesure d’identifier des solutions de qualité dans un contexte visant la résolution d’instances réelles.

Decision making and planning of children in the reproductive process of males

Reproduction is not restricted to the biological; it is also a complex and dynamic social process. The objective of this paper is to analyze the decision and planning of children as part of the reproductive process in men. Methodologically, a qualitative research was made. The analysis includes in-depth interviews with 30 parents between 20 and 45 years, of medium socio-economic level in México. The results show that the reproductive process incorporates family formation negotiated with their couple the marriage until they had economic potential. In some cases, their decision hastened because the couple was pregnant. The planning was not contemplated but when getting the news, they accept it and get involved in the process, while others see it as a conflict.

Models of teaching foreign languages to young children. 'Modelos de enseñanza de lenguas extranjeras en Educación Infantil'.

Resumen tomado del autor. Resumen también en francés e inglés

The art of teaching writing.

A partir de los conocimientos obtenidos a lo largo de ocho años de investigación sobre el desarrollo de la escritura en los niños, este libro se centra en la enseñanza de ésta en la escuela primaria. A lo largo de los capítulos, se ocupa de varios temas: la creación de un aula para fomentar y apoyar la escritura, las conexiones lectura-escritura, las primeras incursiones en la escritura por los alumnos más pequeños hasta los problemas y éxitos en la adolescencia, el equilibrio entre contenido y forma, redacción de documentos.

Towards quality-CLIL : successful planning and teaching strategies. 'Hacia un CLIL-AICLE de calidad : estrategias efectivas de planificación y enseñanza'.

Resumen basado en el de la publicación

The liberal state and education in Portugal : social integration, freedom of teaching and secularization (1840-1880)

Resumen tomado de la publicaci??n

Scholarship of Teaching and Learning : un modelo de desarrollo profesional de los profesores universitarios

Monogr??fico con el t??tulo: "Formaci??n del profesorado en el Espacio Europeo de Educaci??n Superior"

Mathematics meaning-making and its relation to design of teaching

Resumen tomado de la publicaci??n