994 resultados para All-terrain robots


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La présente étude vise à explorer l’univers de la cohabitation entre les activités prostitutionnelles de rue et résidentielles du quartier Hochelaga-Maisonneuve. Précisément, elle s’attarde aux effets d’une telle pratique sur l’environnement du secteur résidentiel. Ancrée dans une perspective constructiviste, l’étude s’attarde aux discours de 35 acteurs-clés qui relatent leurs expériences de cohabitation. Ces acteurs sont des commerçants, des résidents du secteur, des intervenants de proximité ainsi que des travailleuses du sexe. À travers l’analyse d’entretiens et d’une centaine d’heures d’observations sur le terrain avec des agents du service de police de Montréal, l’étude expose les enjeux en matière de cohabitation, introduit l’idée d’une tolérance négociée et dresse un portrait de la narcoprostitution de rue, spécifique au quartier Hochelaga-Maisonneuve. À la lumière des résultats, on constate qu’il est difficile de dissocier les activités prostitutionnelles, des habitudes de toxicomanie. Précisément, la prostitution de rue, la présence de cracks house dans le secteur, la consommation et l’intoxication d’individus sur les voies publiques ainsi que l’attroupement de personnes au mode de vie underground sont tous des éléments, bien souvent inter-reliés, présentés par les acteurs interrogés. L’étude met en lumière les effets qu’ont ces éléments sur l’environnement résidentiel du quartier.

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En 1903, paraît le magnum opus de William Edward Burghardt Du Bois, The Souls of Black Folk. Ce dernier écrit cet ouvrage en poursuivant trois objectifs. Primo, il souhaite démontrer que Booker T. Washington et ses supporters font fausse route en défendant l’idée selon laquelle les Afro-américains pourront accéder à un avenir meilleur en échangeant leurs droits politiques contre des opportunités économiques. Secundo, Du Bois cherche à faire la lumière sur les talents distinctifs et les grandes réalisations de son peuple afin de convaincre les Blancs que les Noirs ne leur sont pas biologiquement ou moralement inférieurs et, par conséquent, que l’égalité raciale doit être totale et immédiate. Tertio, il veut persuader les Américains de devenir de meilleurs citoyens, en renouant avec les idéaux de leur République et en vivant en fonction de principes moraux élevés. L’écriture de Souls marque un tournant majeur dans la vie intellectuelle de son auteur, car il renonce à cette époque au discours conciliatoire qu’il avait tenu dans sa jeunesse. Les idées qu’il défend dans son livre ont germé quelques années plus tôt, au contact de certains de ses professeurs de l’Université de Berlin, d’Alexander Crummell et surtout, en effectuant une étude de terrain sur la communauté noire de Philadelphie. Du Bois réalise alors l’ampleur des injustices dont sont victimes les Noirs et contre lesquelles la bonne volonté et le travail acharné ne peuvent rien.

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Speech delivered to the Federation of European Securities Exchanges' 7th European Financial Markets Convention in London in June 2003.

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This Thesis deals with the fabrication and characterization of novel all-fiber components for access networks. All fiber components offer distinctive advantages due to low forward and backward losses, epoxy free optical path and high power handling. A novel fabrication method for monolithic 1x4 couplers, which are vital components in distributed passive optical networks, is realized. The fabrication method differs from conventional structures with a symmetric coupling profile and hence offers ultra wideband performance and easy process control. New structure for 1x4 couplers, by fusing five fibers is proposed to achieve high uniformity, which gives equivalent uniformity performance to 1x4 planar lightwave splitters, isolation in fused fiber WDM is improved with integration of long period gratings. Packaging techniques of fused couplers are analyzed for long term stability.

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We demonstrate the possibility of realizing, all-optical switching in gold nanosol. Two overlapping laser beams are used for this purpose, due to which a low-power beam passing collinear to a high-power beam will undergo cross phase modulation and thereby distort the spatial profile. This is taken to advantage for performing logic operations. We have also measured the threshold pump power to obtain a NOT gate and the minimum response time of the device. Contrary to the general notion that the response time of thermal effects used in this application is of the order of milliseconds, we prove that short pump pulses can result in fast switching. Different combinations of beam splitters and combiners will lead to the formation of other logic functions too.

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Màster Oficial en Gestió del Patrimoni Cultural

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This thesis Entitled Studies on transport and magnetic properties of nano particle doped mgb2 superconductor for technological applications.The thesis ahead focuses on the establishment of enhanced superconducting properties in bulk MgB2 via nano particle doping and its conversion into mono/multifilamentary wires. Further, an attempt has also been made to develop prototypes of MgB2 coil and conduction cooled current lead for technological applications. The thesis is configured into 6 chapters. The opening chapter gives an idea on the phenomenon of superconductivity, the various types of superconductors and its applications in different fields. The second chapter is an introduction on MgB2 superconductor and its relevance which includes crystal and electronic structure, superconducting mechanism, basic superconducting properties along with its present international status. The third chapter provides details on the preparation and characterization techniques followed through out the study on MgB2. Fourth chapter discusses the effect of processing temperature and chemical doping using nano sized dopants on the superconducting properties of MgB2• Fifth chapter deals with the optimization of processing parameters and novel preparation techniques for wire fabrication. Sixth chapter furnishes the preparation of multifilamentary wires with various filament configurations, their electromechanical properties and it also incorporates the development of an MgB2 coil and a general purpose conduction cooled current lead.

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A new localization approach to increase the navigational capabilities and object manipulation of autonomous mobile robots, based on an encoded infrared sheet of light beacon system, which provides position errors smaller than 0.02m is presented in this paper. To achieve this minimal position error, a resolution enhancement technique has been developed by utilising an inbuilt odometric/optical flow sensor information. This system respects strong low cost constraints by using an innovative assembly for the digitally encoded infrared transmitter. For better guidance of mobile robot vehicles, an online traffic signalling capability is also incorporated. Other added features are its less computational complexity and online localization capability all these without any estimation uncertainty. The constructional details, experimental results and computational methodologies of the system are also described

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The country has witnessed tremendous increase in the vehicle population and increased axle loading pattern during the last decade, leaving its road network overstressed and leading to premature failure. The type of deterioration present in the pavement should be considered for determining whether it has a functional or structural deficiency, so that appropriate overlay type and design can be developed. Structural failure arises from the conditions that adversely affect the load carrying capability of the pavement structure. Inadequate thickness, cracking, distortion and disintegration cause structural deficiency. Functional deficiency arises when the pavement does not provide a smooth riding surface and comfort to the user. This can be due to poor surface friction and texture, hydro planning and splash from wheel path, rutting and excess surface distortion such as potholes, corrugation, faulting, blow up, settlement, heaves etc. Functional condition determines the level of service provided by the facility to its users at a particular time and also the Vehicle Operating Costs (VOC), thus influencing the national economy. Prediction of the pavement deterioration is helpful to assess the remaining effective service life (RSL) of the pavement structure on the basis of reduction in performance levels, and apply various alternative designs and rehabilitation strategies with a long range funding requirement for pavement preservation. In addition, they can predict the impact of treatment on the condition of the sections. The infrastructure prediction models can thus be classified into four groups, namely primary response models, structural performance models, functional performance models and damage models. The factors affecting the deterioration of the roads are very complex in nature and vary from place to place. Hence there is need to have a thorough study of the deterioration mechanism under varied climatic zones and soil conditions before arriving at a definite strategy of road improvement. Realizing the need for a detailed study involving all types of roads in the state with varying traffic and soil conditions, the present study has been attempted. This study attempts to identify the parameters that affect the performance of roads and to develop performance models suitable to Kerala conditions. A critical review of the various factors that contribute to the pavement performance has been presented based on the data collected from selected road stretches and also from five corporations of Kerala. These roads represent the urban conditions as well as National Highways, State Highways and Major District Roads in the sub urban and rural conditions. This research work is a pursuit towards a study of the road condition of Kerala with respect to varying soil, traffic and climatic conditions, periodic performance evaluation of selected roads of representative types and development of distress prediction models for roads of Kerala. In order to achieve this aim, the study is focused into 2 parts. The first part deals with the study of the pavement condition and subgrade soil properties of urban roads distributed in 5 Corporations of Kerala; namely Thiruvananthapuram, Kollam, Kochi, Thrissur and Kozhikode. From selected 44 roads, 68 homogeneous sections were studied. The data collected on the functional and structural condition of the surface include pavement distress in terms of cracks, potholes, rutting, raveling and pothole patching. The structural strength of the pavement was measured as rebound deflection using Benkelman Beam deflection studies. In order to collect the details of the pavement layers and find out the subgrade soil properties, trial pits were dug and the in-situ field density was found using the Sand Replacement Method. Laboratory investigations were carried out to find out the subgrade soil properties, soil classification, Atterberg limits, Optimum Moisture Content, Field Moisture Content and 4 days soaked CBR. The relative compaction in the field was also determined. The traffic details were also collected by conducting traffic volume count survey and axle load survey. From the data thus collected, the strength of the pavement was calculated which is a function of the layer coefficient and thickness and is represented as Structural Number (SN). This was further related to the CBR value of the soil and the Modified Structural Number (MSN) was found out. The condition of the pavement was represented in terms of the Pavement Condition Index (PCI) which is a function of the distress of the surface at the time of the investigation and calculated in the present study using deduct value method developed by U S Army Corps of Engineers. The influence of subgrade soil type and pavement condition on the relationship between MSN and rebound deflection was studied using appropriate plots for predominant types of soil and for classified value of Pavement Condition Index. The relationship will be helpful for practicing engineers to design the overlay thickness required for the pavement, without conducting the BBD test. Regression analysis using SPSS was done with various trials to find out the best fit relationship between the rebound deflection and CBR, and other soil properties for Gravel, Sand, Silt & Clay fractions. The second part of the study deals with periodic performance evaluation of selected road stretches representing National Highway (NH), State Highway (SH) and Major District Road (MDR), located in different geographical conditions and with varying traffic. 8 road sections divided into 15 homogeneous sections were selected for the study and 6 sets of continuous periodic data were collected. The periodic data collected include the functional and structural condition in terms of distress (pothole, pothole patch, cracks, rutting and raveling), skid resistance using a portable skid resistance pendulum, surface unevenness using Bump Integrator, texture depth using sand patch method and rebound deflection using Benkelman Beam. Baseline data of the study stretches were collected as one time data. Pavement history was obtained as secondary data. Pavement drainage characteristics were collected in terms of camber or cross slope using camber board (slope meter) for the carriage way and shoulders, availability of longitudinal side drain, presence of valley, terrain condition, soil moisture content, water table data, High Flood Level, rainfall data, land use and cross slope of the adjoining land. These data were used for finding out the drainage condition of the study stretches. Traffic studies were conducted, including classified volume count and axle load studies. From the field data thus collected, the progression of each parameter was plotted for all the study roads; and validated for their accuracy. Structural Number (SN) and Modified Structural Number (MSN) were calculated for the study stretches. Progression of the deflection, distress, unevenness, skid resistance and macro texture of the study roads were evaluated. Since the deterioration of the pavement is a complex phenomena contributed by all the above factors, pavement deterioration models were developed as non linear regression models, using SPSS with the periodic data collected for all the above road stretches. General models were developed for cracking progression, raveling progression, pothole progression and roughness progression using SPSS. A model for construction quality was also developed. Calibration of HDM–4 pavement deterioration models for local conditions was done using the data for Cracking, Raveling, Pothole and Roughness. Validation was done using the data collected in 2013. The application of HDM-4 to compare different maintenance and rehabilitation options were studied considering the deterioration parameters like cracking, pothole and raveling. The alternatives considered for analysis were base alternative with crack sealing and patching, overlay with 40 mm BC using ordinary bitumen, overlay with 40 mm BC using Natural Rubber Modified Bitumen and an overlay of Ultra Thin White Topping. Economic analysis of these options was done considering the Life Cycle Cost (LCC). The average speed that can be obtained by applying these options were also compared. The results were in favour of Ultra Thin White Topping over flexible pavements. Hence, Design Charts were also plotted for estimation of maximum wheel load stresses for different slab thickness under different soil conditions. The design charts showed the maximum stress for a particular slab thickness and different soil conditions incorporating different k values. These charts can be handy for a design engineer. Fuzzy rule based models developed for site specific conditions were compared with regression models developed using SPSS. The Riding Comfort Index (RCI) was calculated and correlated with unevenness to develop a relationship. Relationships were developed between Skid Number and Macro Texture of the pavement. The effort made through this research work will be helpful to highway engineers in understanding the behaviour of flexible pavements in Kerala conditions and for arriving at suitable maintenance and rehabilitation strategies. Key Words: Flexible Pavements – Performance Evaluation – Urban Roads – NH – SH and other roads – Performance Models – Deflection – Riding Comfort Index – Skid Resistance – Texture Depth – Unevenness – Ultra Thin White Topping

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Aufgrund der breiten aktuellen Verwendung des Mythen-Begriffs in Kunst und Werbung, aber darüber hinaus auch in nahezu allen Bereichen gesellschaftlichen Lebens und vor allem in der Philosophie ergibt sich die Notwendigkeit, einen erweiterten Mythos-Begriff über das Historisch-Authentische hinaus zu verfolgen. Ausgehend von einer strukturalen Annäherung an den Mythos-Begriff im Sinne des von Roland Barthes vorgeschlagenen sekundären semiologischen Systems, d.h. einer semiologischen Sinnverschiebung zur Schaffung einer neuen – mythischen – Bedeutung, fordert diese neue Bedeutung eine Analyse, eine Mythenanalyse heraus. Dies ist deshalb so entscheidend, weil eben diese neue Bedeutung ihr mythisches Profil im Sinne von Hans Blumenberg durch forcierte Bedeutsamkeit für Individuen oder für bestimmte gesellschaftliche Gruppierungen unterlegt, z.B. durch bewusst intensive Wiederholung eines Themas oder durch unerwartete Koinzidenzen von Ereignissen oder durch Steigerung bzw. Depotenzierung von Fakten. Der erweiterte Mythen-Begriff verlangt nach einer Strukturierung und führt dabei zu unterschiedlichen Mythen-Ansätzen: zum Ursprungsstoff des authentischen Mythos und darauf basierender Geisteslage, zum Erkennen eines reflektierten Mythos, wenn es um das Verhältnis Mythos/Aufklärung geht, zum Zeitgeist-Mythos mit seinen umfangreichen Ausprägungen ideologischer, affirmativer und kritischer Art oder zu Alltagsmythen, die sich auf Persönlichkeitskulte und Sachverherrlichungen beziehen. Gerade der letztere Typus ist das Terrain der Werbung, die über den Gebrauchswert eines Produktes hinaus Wert steigernde Tauschwerte durch symbolische Zusatzattribute erarbeiten möchte. Hierbei können Markenmythen unterschiedlichster Prägung entstehen, denen wir täglich im Fernsehen oder im Supermarkt begegnen. Die Manifestation des Mythos in der Kunst ist einerseits eine unendliche Transformationsgeschichte mythischer Substanzen und andererseits ein überhöhender Bezug auf Zeitgeisterscheinungen, etwa bei dem Mythos des Künstlers selbst oder der durch ihn vorgenommenen „Verklärung des Gewöhnlichen“. Die Transformationsprozesse können u.a . prototypisch an zwei Beispielketten erläutert werden, die für den Kunst/Werbung-Komplex besonders interessant sind, weil ihr Charakter sich in einem Fall für die Werbung als äußerst Erfolg versprechend erwiesen hat und weil sich im zweiten Fall geradezu das Gegenteil abzeichnet: Zum einen ist es die Mythengestalt der Nymphe, jene jugendliche, erotisch-verführerische Frauengestalt, die über ihre antiken Wurzeln als Sinnbild der Lebensfreude und Fruchtbarkeit hinaus in und nach der Renaissance ihre Eignung als Verbildlichung der Wiederzulassung des Weiblichen in der Kunst beweist und schließlich der Instrumen-talisierung der Werbung dient. Im anderen Fall ist es die Geschichte der Medusa, die man idealtypisch als die andere Seite der Nympha bezeichnen kann. Hier hat Kunst Auf-klärungsarbeit geleistet, vor allem durch die Verschiebung des medusischen Schreckens von ihr weg zu einer allgemein-medusischen Realität, deren neue Träger nicht nur den Schrecken, sondern zugleich ihre Beteiligung an der Schaffung dieses Schreckens auf sich nehmen. Mythosanalyse ist erforderlich, um die Stellungnahmen der Künstler über alle Epochen hinweg und dabei vor allem diese Transformationsprozesse zu erkennen und im Sinne von Ent- oder Remythologisierung einzuordnen. Die hierarchische Zuordnung der dabei erkannten Bedeutungen kann zu einem Grundbestandteil einer praktischen Philosophie werden, wenn sie einen Diskurs durchläuft, der sich an Jürgen Habermas’ Aspekt der Richtigkeit für kommunikatives Handeln unter dem Gesichtspunkt der Toleranz orientiert. Dabei ist nicht nur zu beachten, dass eine verstärkte Mythenbildung in der Kunst zu einem erweiterten Mythen-begriff und damit zu dem erweiterten, heute dominierenden Kunstbegriff postmoderner Prägung geführt hat, sondern dass innerhalb des aktuellen Mythenpakets sich die Darstellungen von Zeitgeist- und Alltagsmythen zu Lasten des authentischen und des reflektierten Mythos entwickelt haben, wobei zusätzlich werbliche Markenmythen ihre Entstehung auf Verfahrensvorbildern der Kunst basieren. Die ökonomische Rationalität der aktuellen Gesellschaft hat die Mythenbildung keines-wegs abgebaut, sie hat sie im Gegenteil gefördert. Der neuerliche Mythenbedarf wurde stimuliert durch die Sinnentleerung der zweckrationalisierten Welt, die Ersatzbedarf anmeldete. Ihre Ordnungsprinzipien durchdringen nicht nur ihre Paradedisziplin, die Ökonomie, sondern Politik und Staat, Wissenschaft und Kunst. Das Umschlagen der Aufklärung wird nur zu vermeiden sein, wenn wir uns Schritt für Schritt durch Mythenanalyse unserer Unmündigkeit entledigen.

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The electron screening correction in the X-ray transitions in muonic atoms is calculated within a relativistic SCF Hartree-Fock procedure for many transitions and all Z.

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Context awareness, dynamic reconfiguration at runtime and heterogeneity are key characteristics of future distributed systems, particularly in ubiquitous and mobile computing scenarios. The main contributions of this dissertation are theoretical as well as architectural concepts facilitating information exchange and fusion in heterogeneous and dynamic distributed environments. Our main focus is on bridging the heterogeneity issues and, at the same time, considering uncertain, imprecise and unreliable sensor information in information fusion and reasoning approaches. A domain ontology is used to establish a common vocabulary for the exchanged information. We thereby explicitly support different representations for the same kind of information and provide Inter-Representation Operations that convert between them. Special account is taken of the conversion of associated meta-data that express uncertainty and impreciseness. The Unscented Transformation, for example, is applied to propagate Gaussian normal distributions across highly non-linear Inter-Representation Operations. Uncertain sensor information is fused using the Dempster-Shafer Theory of Evidence as it allows explicit modelling of partial and complete ignorance. We also show how to incorporate the Dempster-Shafer Theory of Evidence into probabilistic reasoning schemes such as Hidden Markov Models in order to be able to consider the uncertainty of sensor information when deriving high-level information from low-level data. For all these concepts we provide architectural support as a guideline for developers of innovative information exchange and fusion infrastructures that are particularly targeted at heterogeneous dynamic environments. Two case studies serve as proof of concept. The first case study focuses on heterogeneous autonomous robots that have to spontaneously form a cooperative team in order to achieve a common goal. The second case study is concerned with an approach for user activity recognition which serves as baseline for a context-aware adaptive application. Both case studies demonstrate the viability and strengths of the proposed solution and emphasize that the Dempster-Shafer Theory of Evidence should be preferred to pure probability theory in applications involving non-linear Inter-Representation Operations.

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Proyecto de iniciativa juvenil financiado por el Programa Europeo Juventud en Acción, junto con la Consejería de Educación, Formación y Empleo de la Región de Murcia, en colaboración con el Instituto de la Juventud. - Textos en distintas lenguas.

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Research on autonomous intelligent systems has focused on how robots can robustly carry out missions in uncertain and harsh environments with very little or no human intervention. Robotic execution languages such as RAPs, ESL, and TDL improve robustness by managing functionally redundant procedures for achieving goals. The model-based programming approach extends this by guaranteeing correctness of execution through pre-planning of non-deterministic timed threads of activities. Executing model-based programs effectively on distributed autonomous platforms requires distributing this pre-planning process. This thesis presents a distributed planner for modelbased programs whose planning and execution is distributed among agents with widely varying levels of processor power and memory resources. We make two key contributions. First, we reformulate a model-based program, which describes cooperative activities, into a hierarchical dynamic simple temporal network. This enables efficient distributed coordination of robots and supports deployment on heterogeneous robots. Second, we introduce a distributed temporal planner, called DTP, which solves hierarchical dynamic simple temporal networks with the assistance of the distributed Bellman-Ford shortest path algorithm. The implementation of DTP has been demonstrated successfully on a wide range of randomly generated examples and on a pursuer-evader challenge problem in simulation.

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We introduce basic behaviors as primitives for control and learning in situated, embodied agents interacting in complex domains. We propose methods for selecting, formally specifying, algorithmically implementing, empirically evaluating, and combining behaviors from a basic set. We also introduce a general methodology for automatically constructing higher--level behaviors by learning to select from this set. Based on a formulation of reinforcement learning using conditions, behaviors, and shaped reinforcement, out approach makes behavior selection learnable in noisy, uncertain environments with stochastic dynamics. All described ideas are validated with groups of up to 20 mobile robots performing safe--wandering, following, aggregation, dispersion, homing, flocking, foraging, and learning to forage.