Model-based objects recognition in man-made environments

We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems Engineering and Automatic Control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm

A survey on coverage path planning for robotics

Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works

On Transmission System Design for Wireless Broadcasting

This thesis considers aspects related to the design and standardisation of transmission systems for wireless broadcasting, comprising terrestrial and mobile reception. The purpose is to identify which factors influence the technical decisions and what issues could be better considered in the design process in order to assess different use cases, service scenarios and end-user quality. Further, the necessity of cross-layer optimisation for efficient data transmission is emphasised and means to take this into consideration are suggested. The work is mainly related terrestrial and mobile digital video broadcasting systems but many of the findings can be generalised also to other transmission systems and design processes. The work has led to three main conclusions. First, it is discovered that there are no sufficiently accurate error criteria for measuring the subjective perceived audiovisual quality that could be utilised in transmission system design. Means for designing new error criteria for mobile TV (television) services are suggested and similar work related to other services is recommended. Second, it is suggested that in addition to commercial requirements there should be technical requirements setting the frame work for the design process of a new transmission system. The technical requirements should include the assessed reception conditions, technical quality of service and service functionalities. Reception conditions comprise radio channel models, receiver types and antenna types. Technical quality of service consists of bandwidth, timeliness and reliability. Of these, the thesis focuses on radio channel models and errorcriteria (reliability) as two of the most important design challenges and provides means to optimise transmission parameters based on these. Third, the thesis argues that the most favourable development for wireless broadcasting would be a single system suitable for all scenarios of wireless broadcasting. It is claimed that there are no major technical obstacles to achieve this and that the recently published second generation digital terrestrial television broadcasting system provides a good basis. The challenges and opportunities of a universal wireless broadcasting system are discussed mainly from technical but briefly also from commercial and regulatory aspect

Simulació del comportament d'uns individus en un entorn i desenvolupament d'un videojoc educatiu de programació

Aquest projecte tracta la implementació d’una aplicació capaç de simular el comportament d’uns individus que segueixen el seu propi algorisme en un entorn que planteja certes dificultat per a la supervivència: hi ha obstacles i fonts que proveeixen energia que els individus necessiten per existir. S’han desenvolupat les eines necessàries perquè l’usuari pugui visualitzar, recollir dades i interactuar amb l’entorn d’una forma còmoda i intuïtiva. Sobre aquesta base, s’ha implementat un videojoc que planteja reptes a l’usuari que es poden resoldre a través de l’edició dels algorismes d’un o més individus, és a dir, a través de la programació. D’aquesta manera s’introdueix a l’usuari en els principis de l’algorismia d’una forma lúdica i molt visual.

Akku ja vetypolttokenno sähköauton voimanlähteenä

Tässä kandidaatintyössä on käsitelty akkuja ja vetypolttokennoja sähköauton voimanlähteenä. Työssä on esitelty sähköautojen ja niiden voimanlähteiden teknologioiden periaatteita, energiankantajia, hyötysuhteita ja päästöjä. Lisäksi on tarkasteltu polttomoottorikäyttöisiä autotekniikoita vertailukohdan saamiseksi. Työn lopuksi on analysoitu sähköautojen markkinoita ja niiden yleistymiseen vaikuttavia tekijöitä. Sähköautot mahdollistavat vaihtoehtoisten energialähteiden käytön, joka antaa tilaisuuden saasteiden ja päästöjen keskitettyyn vähentämiseen ja talteenottoon. Niiden avulla päästään myös pois öljyriippuvuudesta ja paikallisesti aiheutuneista päästöistä. Nykyisten polttoaineiden helpon käsiteltävyyden, kohtuullisien energiatiheyksien ja laajojen infrastruktuurien vuoksi käytössä olevien tekniikoiden syrjäyttäminen on vaikeaa. Uusien tekniikoiden etuja ja haittoja voidaan tarkastella yksinkertaisilla metodeilla, kuten kustannusten, hyötysuhteiden, päästöjen ja polttoaineiden elinkaarien vertailulla. Vertailua vaikeuttaa tosin hintatasojen ja verotuksen eroavaisuudet eri maissa, ja se on siksi suoritettava osin maakohtaisesti. Suurimpia esteitä uusille tekniikoille ovat tällä hetkellä niiden tuomat lisäkustannukset, infrastruktuurien puuttuminen ja nykyisten polttoaineiden korvaaminen toisella.

Coming from outside the Academy. Values of 2.0 culture in higher education

This article reflects on how some values, interests, and particularities of 2.0 culture enter on higher and postgraduate education institutions. Through theidentification of the features of 2.0, this document visualizes some of the resistances, obstacles, possibilities, and opportunities detected in these institutions, many of them focusing on the core of the higher education and postgraduate institutions (i.e. strategic vision, methodology, role of teachers and students, relation between formal and informal learning, contents and assessment). Responsibility in the training and updating of current and future professionals places these institutions under the discussion and decision-making process related to the role that 2.0 tools should play. We wonder if it implies a crossroad which affects the whole set of attitudes and values on the role of training institutions in the context of the construction of socialized knowledge.

The Role of Firm Size in Training Provision Decisions: evidence from Spain

The level of training provided by small firms to their employees is below that provided by their larger counterparts. The provision of firm-related training is believed to be associated to certain characteristics of the firm. In this paper we argue that small firms provide fewer training opportunities as they are less likely to be associated with these characteristics than large firms. The suitability of estimating training decisions as a double-decision process is examined here: first, a firm has to decide whether to provide training or not and, second, having decided to do so, the amount of training to provide. The differences in training provision between small and large firms are decomposed in order to analyse the individual contribution of these characteristics to explaining the gap. The results show that small firms face greater obstacles in accessing training and that the main reasons for that are related to their technological activity and the geographical scope of the market in which they operate.

Technical Wind Energy Potential in Russia

The goal of the master's thesis is a detailed research of the technical wind energy potential in Russian Federation: the distribution of the potential all over the territory of the country and the possibility of the application of the potential for power supply of various objects. The main attention of the thesis is devoted to the assessment of wind energy resources (potential) of Russian Federation, both for the territory of country in whole and for every region. Theoretical basic wind energy concepts and the scheme of transformation of kinetic energy of a wind into electric energy by modern wind turbines are given in the work. Also the costs of energy, stimuli of development of wind-engineering and obstacles which impact the industry development are analyzed. The review of existent and projected wind power plants in Russia is carried out.

Kaukojäähdytysverkon rakennevaihtoehdot

Kaukojäähdytyksellä tarkoitetaan keskitetysti tuotetun jäähdytysenergian jakamista kiinteistöihin jakeluverkossa kiertävän kylmän veden välityksellä, eli kaukojäähdytys on ulkoistettu jäähdytysratkaisu. Jäähdytysenergiaa tarvitaan työtehon, viihtyisyyden ja sisäilman laadun parantamiseksi, sekä joidenkin prosessien tarpeisiin. Siinä missä perinteinen kiinteistökohtainen jäähdytysjärjestelmä tuottaa jäähdytysenergian sähköllä, käytetään kaukojäähdytyksessä jäähdytysenergian tuottamiseen sellaisia resursseja, jotka muuten jäisivät käyttämättä. Tästä syystä kaukojäähdytys vähentää merkittävästi hiilidioksidipäästöjä, jonka lisäksi kaukojäähdytys vähentää kylmäkoneissa käytettävien kylmäaineiden aiheuttamia kasvihuonekaasupäästöjä. Kaukolämpöverkkoa muistuttavan kaukojäähdytysverkon rakentaminen vaatii suuria investointeja. Nykyisin jakeluverkon rakenteena käytetään 2Mpuk- rakennetta, jonka todettiin olevan teknistaloudellisesti soveltuvin vaihtoehto Helsingin Energian kaukojäähdytysverkkoon. Myös PE 100 putkia voitaisiin käyttää PN 16 paineluokassa alle DN 300 kokoluokkaa vastaavissa johdoissa, ja PN 10 paineluokassa alle DN 400 johdoissa. Kaukolämpöverkon paineluokan valinta vaikuttaa oleellisesti investointikustannuksiin PE- putkilla ja joillekin alueille kannattanee rakentaa alemman paineluokan omaava erillisverkko PE- putkista. Happidiffuusion kautta PE- putkista pääsee jonkin verran happea verkkoon, mutta määrät ovat melko pieniä, eikä muitakaan teknisiä esteitä hyvin korroosiota kestävien PE- putkien käytölle ole. 2Mpuk- rakenteelle suurimman riskin aiheuttaa elementtien liitoskohdista teräsputken pinnalle pääsevä ulkopuolinen vesi. Koska kaukojäähdytysjohdot ovat lisäksi yleensä ympäristöä kylmempiä, kondensoivat ne vettä pinnallensa kaukolämpöjohdoista poiketen. Ulkopuolisen veden aiheuttamaa riskiä voitaisiin pienentää eristämällä liitoskohdat sähkömuhveilla. Verkoston rakentamiskustannuksia ja liikenteelle aiheutuvia haittoja voidaan vähentää ojattomia rakentamismenetelmiä, kuten suuntaporausta käyttämällä.

Hammaslääkärin ura. Odotukset ja kokemukset. [Career Expectations and Experiences of Dentists]

Tutkimuksella selvitettiin eri tekijöiden merkitystä hammaslääkärien tehdessä uraansa koskevia valintoja lähtien ammatinvalinnasta. Tutkimuksessa verrattiin erilaisissa työpaikoissa toimivien hammaslääkärien sekä hammaslääketieteen opiskelijoiden odotuksia ja kokemuksia. Tutkimus tehtiin kyselynä postitse lähetetyin lomakkein. Kyselyyn osallistui 350 hammaslääkäriä ja 115 opiskelijaa. Kiinnostus lääketieteeseen ja työn konkreettisuus olivat keskeisimmät syyt lähteä hammaslääketiedettä opiskelemaan. Suurin osa sekä hammaslääkäreistä että opiskelijoista valitsisi vähintään todennäköisesti saman ammatin uudelleen, hammaslääkäreistä yksityishammaslääkärit useimmin. 69 % hammaslääkäreistä oli aloittanut työuransa terveyskeskuksessa, opiskelijoista 46 % toivoi työpaikkaa yksityissektorilta ja 37 % terveyskeskuksesta. Hammaslääkärit kokivat työn mielekkyyden, positiivisen kaiun, työn ja elämän reunaehtojen sekä taloudellisen turvallisuuden vaikuttaneen ensimmäiseen työpaikkaan menoon vähemmän kuin opiskelijat arvioivat niiden vaikuttavan. Työssä tärkeänä sekä hammaslääkärit että opiskelijat pitivät hyviä työolosuhteita ja mielekästä työn sisältöä. Toimiva yhteistyö työparin kanssa oli myös erittäin tärkeää. Hammaslääkärit pitivät hyviä työoloja ja autonomiaa tärkeämpinä kuin opiskelijat, joille puolestaan uralla eteneminen ja työajan joustot olivat tärkeämpiä. Hammaslääkärit arvostivat työtä ja työssä suoriutumista sekä hyvää työpaikkaa enemmän kuin opiskelijat. Parhaiten työssään toteutuvana suhteessa asian merkitykseen hammaslääkärit kokivat autonomian ja huonoiten ilmapiirin. Naiset kokivat asioiden toteutumisessa enemmän puutteita kuin miehet. Työpaikkaansa heikosti sitoutuneita oli 8 %, joista valtaosa terveyskeskushammaslääkäreitä. Heikosti sitoutuneet kokivat sitoutuneita huonompina varsinkin työilmapiirin, työolosuhteet ja mahdollisuuden uralla etenemiseen. Hammaslääkärit olivat halukkaampia jatkokoulutukseen kuin kokivat siihen olevanmahdollisuuksia; 25 % oli harkinnut erikoistumista, mutta luopunut ajatuksesta, ja20 % halusi erikoistua, mutta koki siihen käytännön esteitä. Jatkossa tulisi tarkemmin analysoida ja toistettavin tutkimuksin seurata hammaslääkärien urakokemuksia ja valintoja sekä koetun työssä vallitsevan tilanteen ja asioiden merkityksen välistä suhdetta. Myös opiskelijoiden urasuunnitelmia ja arvostuksia tulisi tutkia säännöllisin väliajoin.

La hipnosis en el tratamiento del dolor crónico

For a long time, hypnosis has been associated with knowledge areas of little apparent scientific validity. Fourtanely, in recent years, hypnosis has proved to be a useful technique for intervention in the health area. The area where mor estudies have been conducted and with greater success is on treatment of chronic pain. However, some obstacles must yet be overcome: the limited use of hypnosis in the public health services in Spain, and the resources assigned by universities for researchand professional trainingon these techniques are scarce. This paper aims to briefly review the current state of hypnosis in the treatment of chronic pain, and advocates for its integration within a multidisciplinary treatment of chronic pain.

Ikääntyvät työelämässä. Päihittääkö nuoruus ja koulutus aikuisuuden ja kokemuksen?

The Ageing in Working Life. Do Adolescence and Schooling Beat Adulthood and Experience? This study examines the changes in the work and the work organisations of employees in the fields of health care and retail trade who have turned 45 and their experience of change. In addition, the question of how ageing employees experience their status in post-modern working life is explored. Attention is also focused on the choices and decisions connected with staying at work and retiring. These views are examined in relation to professions and professional cultures. Thematic interviews (N=98) were used to gather the material. The effects of the market liberalistic turn in welfare policy are clearly seen in the everyday work of the health care professions. These changes were examined from the point of view of managing by outcomes and quality assurance, multi-professional cooperation, flexibility in the division of labour, and the spread of market-like procedures. The discourse of those in involved retail trade was dominated by extremely tight global market competition and control of outcomes, and by the structural changes taking place in the retail trade sector. This change discourse was to a large extent a reaction to those changes in the functional environment which were experienced as negative and to the conflict between their own professional identity and professional ethics on the one hand, and their functional environment on the other. There were also obstacles connected with professional culture: defending one's own station and power, guarding the 'frontier', showed up in attitudes towards new management and organisation models or towards structural and functional reforms. The deep structures of professional culture and the mindset of the actors change much more slowly than the functional practices of organisations. For those in a supervisory position, the loss of power due to becoming part of a chain or because of the introduction of a team organisation model was not an easy thing to accept. The nurses and others in related fields felt that they were forced to do work that was below their level of training and professional skill. For sales personnel and those who did assisting work in health care, power and the possibility of having an influence were not so important, as long as they were able to do their work in their own way and were trusted. This view is often completely forgotten, for example, in various organisation models in which power and the possibility of having an influence entwined with power are taken for granted as being clearly positive and desired aspects of job satisfaction. Up to date professional skills were experienced as being important from the point of view of professional identity and self-worth. Thus, training can be understood as a moral obligation, which in turn is intertwined with professional ideology. In the rhetoric of adult education, an adult is expected to be an active player who will seek training again and again if working life so requires. The dark side of this ideology, which leads to feelings of guilt, was apparent in the thoughts of the respondents. Am I never good enough at my job; why must I continually strive for better, additional qualifications? The majority of the respondents evaluated their expertise as being at quite a high level. This self-confidence did not extend to applying for a job. Job recruitment was seen as a situation in which age discrimination reached its peak. The interviewees were unanimous about the idea that society favours the young. Especially among those in the retail trade sector, there was a feeling that it would be difficult, if not impossible, to find a new job of the same level or a permanent post if they were made redundant. Age discrimination was also apparent in the retail trade field in the form of older employees being retired against their will or transferred to other tasks. It was felt that ruthless forced retirement of older workers was part of the personnel policy of some organisations. The importance of one's outward appearance was connected with the theme of discrimination. This phenomenon is described using the concept of the double standard of ageing in feminist research. An ageing woman is relegated to an inferior position due to both her age and her sex. A culture that would both make possible and allow various types of choices regardless of age, which is described as being characteristic of the post-modern era, does not seem to be very topical in the practice of working life. It is important for employees that the management and the personnel policy that is being implemented makes them feel like both their contribution and they as individuals are appreciated, that their opinions are listened to and that they are noticed as persons. The interviewees hoped for gratitude and a concern for the well-being of employees that shows in everyday life. They valued training and activities aimed at maintaining their work ability, but thought that better coping at work and a pleasant working environment cannot be achieved through such measures as along as the foundation is 'in a mess'. Development of the quality of working life is the only thing that can improve job satisfaction and get people to remain in the work force longer than at present. There should be a sufficient number of properly trained employees at the work place. It was important to the respondents that they be able to stay on their job to the end with honour, since compromising with their own quality standards or acting contrary to their ideal self-image in terms of professional ethics would strike a blow to their professional self-esteem. They called for the development of various types of workplace flexibility, and felt that they have the right to a lightened workload and to early retirement. Early retirement was even seen as an altruistic deed: it would free up a place for younger workers. Thoughts of retirements were explained by familiar factors such as health and finances, life situation, the enticement of free-time, as well as by various factors related to work. It is very important to ageing employees that their work has meaningful content. The values related to self-fulfilment are felt to be of great importance, and if they cannot be realised at work, the respondents wanted more free time, either through retirement or in the form of flexibility in working life.

Ciência como cultura: paradigmas e implicações epistemológicas na educação científica escolar

"Science as culture" is based on the assumption that science is a valuable component of human culture. We therefore have to build the bridge, in cultural terms, from the scientific community to the common citizen. Teaching science as culture requires the co-construction of knowledge and citizenship. Ways of articulating science/technology with society are invoked, pondering on the ethical ambivalence of such connections. The goals of this reflection are to think about: a) epistemological obstacles that, in favouring the logic of monoculture, oppose the implantation of the science as culture; b) epistemological strategies that point towards a diversity of cultural practices and "constellations" of knowledge leading to the reconfiguration of the being through knowledge; c) imperatives that force us to (re)think the epistemological bases suited to the paradigmatic changes and which translate the dynamics and complexity of the evolution of the frameworks that currently sustain science and school scientific education.

Tutkimus- ja kehitysvaiheen toteuttaminen teknologisessa innovaatioprosessissa

Through the ages technological changes have created new challenges and possibilities to develop products, services, processes or organizations. Management of the technology concerns all of those activities from technical invention to commercial application. Management of the technologic innovation process is the more challenging the more technology is involved in a process. Researches of the technological innovations are seldom concern the implementation of early phases and especially in product manufacturing company. Still there are research and development activities. Therefore the purpose of this research is to develop the pattern for implementation of research and development phases in technological innovation process. This study focuses the main elements of the technological innovation management and main obstacles and drivers. This study also focuses decision making and the other influencing elements of the decision making. The research design of this explorative research applies a qualitative research strategy where a case study method is utilized to collect and analyze the data. The study consisted of a single case to utilize of technological ideas and possibilities. The selected case company was the product manufacturing company which didn’t have own technological research and development organization. The case was a process which was analyzed from two different perspectives. The main unit of analysis was the whole process. The data collecting method of this study included semi-structured and open interviews, participant-observations and experimental tests. Analyzing the case data relies on the theoretical propositions of the framework based on the previous research. Based on this research the key elements of the research and development phases in technological innovation process were technical expertise and preliminary investigation. The obstacles and drivers in the R&D phases by the case were management of the whole process and resources and knowing objectives of process and learning during the process. In addition to the result of the research was the feature of decision making to optimize used time. The findings of this study gave further insight implementation of the technological innovation in the product manufacturing company. The research was based a single case which means the results cannot be generalized to different companies or industry fields. Therefore the results generalizing require further research with multiple researchers.

Platform as a Service - new opportunities for software development companies

Today cloud computing is the next stage in development information-oriented society in field of information technologies. Great attention is paid to cloud computing in general, but the lack of scientific consideration to components brings to the problem, that not all aspects are well examined. This thesis is an attempt to consider Platform as a Service (a technology of providing development environment through the Internet) from divergent angles. Technical characteristics, costs, time, estimation of effectiveness, risks, strategies that can be applied, migration process, advantages and disadvantages and the future of the approach are examined to get the overall picture of cloud platforms. During the work literature study was used to examine Platform as a Service, characteristics of existent cloud platforms were explored and a model of a typical software development company was developed to create a scenario of migration to cloud technologies. The research showed that besides all virtues in reducing costs and time, cloud platforms have some significant obstacles in adoption. Privacy, security and insufficient legislation impede the concept to be widespread.