RISK-BASED MULTIOBJECTIVE PATH PLANNING AND DESIGN OPTIMIZATION FOR UNMANNED AERIAL VEHICLES

Safe operation of unmanned aerial vehicles (UAVs) over populated areas requires reducing the risk posed by a UAV if it crashed during its operation. We considered several types of UAV risk-based path planning problems and developed techniques for estimating the risk to third parties on the ground. The path planning problem requires making trade-offs between risk and flight time. Four optimization approaches for solving the problem were tested; a network-based approach that used a greedy algorithm to improve the original solution generated the best solutions with the least computational effort. Additionally, an approach for solving a combined design and path planning problems was developed and tested. This approach was extended to solve robust risk-based path planning problem in which uncertainty about wind conditions would affect the risk posed by a UAV.

Linking heritage: Yenya Punhi Festival a path to reinforce identity. The Katmandu experience

In today’s world heritage worldwide are at the risk not only because of natural process of decay and destruction but also by social change like urbanization, globalization and homogenization of cultures. With these emerging problems, the heritage conservation discourse also has reached to a new dimension including broader range of concepts like tangible heritage, intangible heritage, community participation, indigenous knowledge and many more. Even with the changing scenario in the international context about the heritage conservation, Nepal’s heritage conservation still focus on monuments, sites and buildings. In add to that the conservation practices are still top-down approach and community involvements are limited only in plans. While numerous intangible heritages like masking dances chariot processions, festivals and rituals, which form an integral part of the daily social life of people are still being continued and managed by the community and its people, without with out serious attention form the government. In Kathmandu Valley these heritages has been maintained with the traditional social association of people known as “Guthi” which has been continuing since 5th Century. Most of the tangible and intangible heritages have survived for centuries because of this unique association of people. Among the numerous festivals of the Kathmandu Valley, the festival Yenya Punhi was chosen as a case for this study, which is also a major festival of Kathmandu. This festival is the perfect example for the study as its celebrated in the city that is the most urbanized city of Nepal with the challenges of the every modern city like social changes and urbanization. Despite modern challenges Guthi still plays a major role in the heritage conservation in Kathmandu Valley. Now there are some interventions of the various formal institutions. So this study will be focusing on the management, continuity and problems of the festival along with Nepal’s position in terms of intangible heritage conservation. The problem of Kathmandu and Yenya Punhi festival is the problem of every country in the similar situation so with this case study it can be a good example for finding solutions of the similar problem not only the other festivals within Nepal but also elsewhere in the world; Resumo: Conexão de Património: Festival Yenya Punhi um caminho de fortalecimento de identidade: A experiência de Catmandu Nos dias de hoje, os patrimónios mundiais encontram-se em risco, não só devido ao processo natural de degradação e destruição, mas também pelas mudanças sociais, tais como a urbanização, globalização e homogeneização de culturas. Com o emergir destes problemas, o discurso de conservação de Património atingiu também uma nova dimensão, incluíndo uma área mais abrangente de conceitos, como por exemplo, património material, património imaterial, participação da comunidade, conhecimento indígena, entre outros. Mesmo com este cenário de mudança no contexto mundial de conservação do património, a preservação do património do Nepal continua a focar-se em monumentos, sítios e edíficios. A acrescentar a isso, as práticas de conservação ainda têm uma abordagem descendente e os envolvimentos da comunidade são limitados por planificações. Enquanto que os numerosos patrimónios imateriais como danças com máscaras, procissões, festivais e rituais, os quais formam uma parte integral da vida diária social das pessoas que as continuam e as gerem em comunidade, sem uma atenção séria por parte do governo. No Vale de Catmandu, este património tem sido mantido pela associação tradicional de pessoas conhecidas como ''Guthi'' desde o século V. A maior parte destes patrimónios materiais e imateriais tem sobrevivido durante séculos graças a esta associação única de pessoas. Entre os numerosos festivais do Vale de Catmandu, o festival Yenya Puhni foi escolhido para este estudo, pois é também um grande festival em Catmandu. Este festival é o exemplo perfeito para este estudo, pois é celebrado na cidade mais urbanizada do Nepal, com os desafios das cidades modernas tais como mudanças sociais e urbanização. Apesar dos desafios da modernização, os ''Guthi'' ainda desempenham um papel importante na preservação do património do Vale de Catmandu. Agora, existem algumas intervenções de várias instituições formais Então, este estudo irá focar-se na gestão, continuidade e problemas do festival, juntamente com a posição do Nepal em termos de conservação de património imaterial. O problema de Catmandu e do festival Yenya Punhi é o problema de todos os países em situação semelhante então, este estudo pode ser um bom exemplo para encontrar soluções de problemas parecidos, não só em outros festivais no Nepal mas também para qualquer parte do mundo.

Mission and Scenario Planning for Unmanned Aerial Vehicles (Path Planning and Collision Avoidance Systems)

As unmanned autonomous vehicles (UAVs) are being widely utilized in military and civil applications, concerns are growing about mission safety and how to integrate dierent phases of mission design. One important barrier to a coste ective and timely safety certication process for UAVs is the lack of a systematic approach for bridging the gap between understanding high-level commander/pilot intent and implementation of intent through low-level UAV behaviors. In this thesis we demonstrate an entire systems design process for a representative UAV mission, beginning from an operational concept and requirements and ending with a simulation framework for segments of the mission design, such as path planning and decision making in collision avoidance. In this thesis, we divided this complex system into sub-systems; path planning, collision detection and collision avoidance. We then developed software modules for each sub-system

Insights into the Fallback Path of Best-Effort Hardware Transactional Memory Systems

Current industry proposals for Hardware Transactional Memory (HTM) focus on best-effort solutions (BE-HTM) where hardware limits are imposed on transactions. These designs may show a significant performance degradation due to high contention scenarios and different hardware and operating system limitations that abort transactions, e.g. cache overflows, hardware and software exceptions, etc. To deal with these events and to ensure forward progress, BE-HTM systems usually provide a software fallback path to execute a lock-based version of the code. In this paper, we propose a hardware implementation of an irrevocability mechanism as an alternative to the software fallback path to gain insight into the hardware improvements that could enhance the execution of such a fallback. Our mechanism anticipates the abort that causes the transaction serialization, and stalls other transactions in the system so that transactional work loss is mini- mized. In addition, we evaluate the main software fallback path approaches and propose the use of ticket locks that hold precise information of the number of transactions waiting to enter the fallback. Thus, the separation of transactional and fallback execution can be achieved in a precise manner. The evaluation is carried out using the Simics/GEMS simulator and the complete range of STAMP transactional suite benchmarks. We obtain significant performance benefits of around twice the speedup and an abort reduction of 50% over the software fallback path for a number of benchmarks.

Path-integral and Coarse-graining Strategies for Complex Molecular Phenomena

Molecular simulation provides a powerful tool for connecting molecular-level processes to physical observables. However, the facility to make those connections relies upon the application and development of theoretical methods that permit appropriate descriptions of the systems or processes to be studied. In this thesis, we utilize molecular simulation to study and predict two phenomena with very different theoretical challenges, beginning with (1) lithium-ion transport behavior in polymers and following with (2) equilibrium isotope effects with relevance to position-specific and clumped isotope studies. In the case of ion transport in polymers, there is motivation to use molecular simulation to provide guidance in polymer electrolyte design, but the length and timescales relevant for ion diffusion in polymers preclude the use of direct molecular dynamics simulation to compute ion diffusivities in more than a handful of candidate systems. In the case of equilibrium isotope effects, the thermodynamic driving forces for isotopic fractionation are often fundamentally quantum mechanical in nature, and the high precision of experimental instruments demands correspondingly accurate theoretical approaches. Herein, we describe respectively coarse-graining and path-integral strategies to address outstanding questions in these two subject areas.

MODELING OF TRANSFER PATH FOR DETERMINATION OF COMBUSTION AND NOISE METRICS ON DIESEL ENGINES

Determination of combustion metrics for a diesel engine has the potential of providing feedback for closed-loop combustion phasing control to meet current and upcoming emission and fuel consumption regulations. This thesis focused on the estimation of combustion metrics including start of combustion (SOC), crank angle location of 50% cumulative heat release (CA50), peak pressure crank angle location (PPCL), and peak pressure amplitude (PPA), peak apparent heat release rate crank angle location (PACL), mean absolute pressure error (MAPE), and peak apparent heat release rate amplitude (PAA). In-cylinder pressure has been used in the laboratory as the primary mechanism for characterization of combustion rates and more recently in-cylinder pressure has been used in series production vehicles for feedback control. However, the intrusive measurement with the in-cylinder pressure sensor is expensive and requires special mounting process and engine structure modification. As an alternative method, this work investigated block mounted accelerometers to estimate combustion metrics in a 9L I6 diesel engine. So the transfer path between the accelerometer signal and the in-cylinder pressure signal needs to be modeled. Depending on the transfer path, the in-cylinder pressure signal and the combustion metrics can be accurately estimated - recovered from accelerometer signals. The method and applicability for determining the transfer path is critical in utilizing an accelerometer(s) for feedback. Single-input single-output (SISO) frequency response function (FRF) is the most common transfer path model; however, it is shown here to have low robustness for varying engine operating conditions. This thesis examines mechanisms to improve the robustness of FRF for combustion metrics estimation. First, an adaptation process based on the particle swarm optimization algorithm was developed and added to the single-input single-output model. Second, a multiple-input single-output (MISO) FRF model coupled with principal component analysis and an offset compensation process was investigated and applied. Improvement of the FRF robustness was achieved based on these two approaches. Furthermore a neural network as a nonlinear model of the transfer path between the accelerometer signal and the apparent heat release rate was also investigated. Transfer path between the acoustical emissions and the in-cylinder pressure signal was also investigated in this dissertation on a high pressure common rail (HPCR) 1.9L TDI diesel engine. The acoustical emissions are an important factor in the powertrain development process. In this part of the research a transfer path was developed between the two and then used to predict the engine noise level with the measured in-cylinder pressure as the input. Three methods for transfer path modeling were applied and the method based on the cepstral smoothing technique led to the most accurate results with averaged estimation errors of 2 dBA and a root mean square error of 1.5dBA. Finally, a linear model for engine noise level estimation was proposed with the in-cylinder pressure signal and the engine speed as components.

Youth-Physical Activity Towards Health: evidence and background to the development of the Y-PATH physical activity intervention for adolescents

Background: Despite known benefits of regular physical activity for health and well-being, many studies suggest that levels of physical activity in young people are low, and decline dramatically during adolescence. The purpose of the current research was to gather data on adolescent youth in order to inform the development of a targeted physical activity intervention. Methods: Cross-sectional data on physical activity levels (using self report and accelerometry), psychological correlates of physical activity, anthropometic characteristics, and the fundamental movement skill proficiency of 256 youth (53% male, 12.40 ± 0.51 years) were collected. A subsample (n = 59) participated in focus group interviews to explore their perceptions of health and identify barriers and motivators to participation in physical activity. Results: Findings indicate that the majority of youth (67%) were not accumulating the minimum 60 minutes of physical activity recommended daily for health, and that 99.5% did not achieve the fundamental movement skill proficiency expected for their age. Body mass index data showed that 25% of youth were classified as overweight or obese. Self-efficacy and physical activity attitude scores were significantly different (p < 0.05) between low, moderate and high active participants. Active and inactive youth reported differences in their perceived understanding of health and their barriers to physical activity participation, with active youth relating nutrition, exercise, energy and sports with the definition of ‘being healthy’, and inactive youth attributing primarily nutritional concepts to ‘being healthy’. Conclusions: Data show a need for targeting low levels of physical activity in youth through addressing poor health related activity knowledge and low fundamental movement skill proficiency. The Y-PATH intervention was developed in accordance with the present study findings; details of the intervention format are presented.

LIGHTING the PATH 2014 ANNUAL REPORT

Santee Cooper annually publishes a report with statistics, analysis, audit, leadership, and budget statements.

Assessing landscape functional connectivity in a forest carnivore using path selection functions

Context Understanding connectivity patterns in relation to habitat fragmentation is essential to landscape management. However, connectivity is often judged from expert opinion or species occurrence patterns, with very few studies considering the actual movements of individuals. Path selection functions provide a promising tool to infer functional connectivity from animal movement data, but its practical application remains scanty. Objectives We aimed to describe functional connectivity patterns in a forest carnivore using path-level analysis, and to explore how connectivity is affected by land cover patterns and road networks. Methods We radiotracked 22 common genets in a mixed forest-agricultural landscape of southern Portugal. We developed path selection functions discriminating between observed and random paths in relation to landscape variables. These functions were used together with land cover information to map conductance surfaces. Results Genets moved preferentially within forest patches and close to riparian habitats. Functional connectivity declined with increasing road density, but increased with the proximity of culverts, viaducts and bridges. Functional connectivity was favoured by large forest patches, and by the presence of riparian areas providing corridors within open agricultural land. Roads reduced connectivity by dissecting forest patches, but had less effect on riparian corridors due to the presence of crossing structures. Conclusions Genet movements were jointly affected by the spatial distribution of suitable habitats, and the presence of a road network dissecting such habitats and creating obstacles in areas otherwise permeable to animal movement. Overall, the study showed the value of path-level analysis to assess functional connectivity patterns in human-modified landscapes.

Laying the path to consumer-level immersive simulation environment

Since the end of the long winter of virtual reality (VR) at the beginning of the 2010 decade, many improvements have been made in terms of hardware technologies and software platforms performances and costs. Many expect such trend will continue, pushing the penetration rate of virtual reality headsets to skyrocket at some point in the future, just as mobile platforms did before. In the meantime, virtual reality is slowly transitioning from a specialized laboratory-only technology, to a consumer electronics appliance, opening interesting opportunities and challenges. In this transition, two interesting research questions amount to how 2D-based content and applications may benefit (or be hurt) by the adoption of 3D-based immersive environments and to how to proficiently support such integration. Acknowledging the relevance of the former, we here consider the latter question, focusing our attention on the diversified family of PC-based simulation tools and platforms. VR-based visualization is, in fact, widely understood and appreciated in the simulation arena, but mainly confined to high performance computing laboratories. Our contribution here aims at characterizing the simulation tools which could benefit from immersive interfaces, along with a general framework and a preliminary implementation which may be put to good use to support their transition from uniquely 2D to blended 2D/3D environments.

Heat kernel and worldline path integrals for the Proca theory

In this thesis we study the heat kernel, a useful tool to analyze various properties of different quantum field theories. In particular, we focus on the study of the one-loop effective action and the application of worldline path integrals to derive perturbatively the heat kernel coefficients for the Proca theory of massive vector fields. It turns out that the worldline path integral method encounters some difficulties if the differential operator of the heat kernel is of non-minimal kind. More precisely, a direct recasting of the differential operator in terms of worldline path integrals, produces in the classical action a non-perturbative vertex and the path integral cannot be solved. In this work we wish to find ways to circumvent this issue and to give a suggestion to solve similar problems in other contexts.

Procedure di Programmazione Dinamica per Determinare le K Migliori Soluzioni del Knapsack Problem 0-1 e dello Shortest Path Problem

In questa tesi viene trattata la problematica di determinare le migliori K soluzioni per due problemi di ottimizzazione, il Knapsack Problem 0-1 e lo Shortest Path Problem. Tali soluzioni possono essere impiegate all'interno di metodi di column generation per la risoluzione di problemi reali, ad esempio Bin Packing Problems e problemi di scheduling di veicoli ed equipaggi. Sono stati implementati, per verificarne sperimentalmente le prestazioni, nuovi algoritmi di programmazione dinamica, sviluppati nell’ambito di un programma di ricerca. Inizialmente, per entrambi i problemi, è stato descritto un algoritmo che determinasse le migliori K soluzioni per ogni possibile sottoproblema; partendo da uno zaino con capacità nulla, nel caso del Knapsack Problem 0-1, e dalla determinazione di un cammino dal vertice sorgente in se stesso per lo Shortest Path Problem, l’algoritmo determina le migliori soluzioni di sottoproblemi via via sempre più grandi, utilizzando le soluzioni costruite per gli stati precedenti, fino a ottenere le migliori soluzioni del problema globale. Successivamente, è stato definito un algoritmo basato su un approccio di ricorsione backward; in questo caso si utilizza una funzione ricorsiva che, chiamata a partire dallo stato corrispondente al problema globale, viene richiamata solo sugli stati intermedi strettamente necessari, e per ognuno di essi non vengono determinate soluzioni superflue.

Doehlert Design-desirability Function Multi-criteria Optimal Separation Of 17 Phenolic Compounds From Extra-virgin Olive Oil By Capillary Zone Electrophoresis.

In Brazil, the consumption of extra-virgin olive oil (EVOO) is increasing annually, but there are no experimental studies concerning the phenolic compound contents of commercial EVOO. The aim of this work was to optimise the separation of 17 phenolic compounds already detected in EVOO. A Doehlert matrix experimental design was used, evaluating the effects of pH and electrolyte concentration. Resolution, runtime and migration time relative standard deviation values were evaluated. Derringer's desirability function was used to simultaneously optimise all 37 responses. The 17 peaks were separated in 19min using a fused-silica capillary (50μm internal diameter, 72cm of effective length) with an extended light path and 101.3mmolL(-1) of boric acid electrolyte (pH 9.15, 30kV). The method was validated and applied to 15 EVOO samples found in Brazilian supermarkets.

Interface Between Intellectual Disability And Mental Health: Hermeneutic Review.

A literature review was conducted aiming to understand the interface between the Intellectual Disability and Mental Health fields and to contribute to mitigating the path of institutionalizing individuals with intellectual deficiencies. The so-called dual diagnosis phenomenon remains underestimated in Brazil but is the object of research and specific public policy internationally. This phenomenon alerts us to the prevalence of mental health problems in those with intellectual disabilities, limiting their social inclusion. The findings reinforce the importance of this theme and indicate possible diagnostic invisibility of the development of mental illness in those with intellectual disabilities in Brazil, which may contribute to sustaining psychiatric institutionalization of this population. 

[lay Agency And Healthcare: Producing Healthcare Maps].

This study aimed to characterize which regulatory logics (other than government regulation) result in healthcare output, using a two-stage qualitative study in two municipalities in the ABCD Paulista region in São Paulo State, Brazil. The first stage included interviews with strategic actors (managers and policymakers) and key health professionals. The second phase collected life histories from 18 individuals with high health-services utilization rates. An analysis of the researchers' involvement in the field allowed a better understanding of the narratives. Four regulatory systems were characterized (governmental, professional, clientelistic, and lay), indicating that regulation is a field in constant dispute, a social production. Users' action produces healthcare maps that reveal the existence of other possible health system arrangements, calling on us to test shared management of healthcare between health teams and users as a promising path to the urgent need to reinvent health.