Shetland Islands, United Kingdom, Nautical Chart, 1788 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A new hydrographical survey of the islands of Shetland : with many improvements and additions, and the sailing directions, by Captn. Thomas Preston. It was printed for Robert Sayer, chartseller No. 63 Fleet Street 1st. Jany., 1788. Scale [ca. 1:419,830].The image inside the map neatline is georeferenced to the surface of the earth and fit to the European Datum 1950, Universal Transverse Mercator (UTM) Zone 30N projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as rocks, channels, points, ports, coves, islands, anchorage points, and more. Includes also selected land features such as towns and villages, drainage, selected buildings, and more. Relief shown by hachures; depths shown by soundings. Includes also profile views, navigational notes, and insets: Directions for Valey Sound -- The Isles of Feroe. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Strait of Gibraltar, 1761 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Carte du détroit de Gibraltar, dressee au depost de cartes et plans de la marine pour le service des vaisseaux du roy par ordre de M. le Duc de Choiseuil, Ministre de la Guerre et de la Marine; par le S. Bellin Ingeniuer de la Marine et du Depost des Plans, Censeur Royal, de l'Academie de Marine, et de la Societé Royale de Londres. It was published by Minstre de la guerre et de la marine in 1761. Scale [ca 1:2,000]. Covers the Strait of Gibraltar region, including coasts of Gibraltar, Morocco, and Spain. Map in French.The image inside the map neatline is georeferenced to the surface of the earth and fit to the European Datum 1950, Universal Transverse Mercator (UTM) Zone 30N projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, cities and other human settlements, territorial boundaries, shoreline features (including anchorage points), and more. Relief shown pictorially, depths by soundings. Includes also insets: Plan de Gibraltar [with index] -- Tables de marées qui regnent dans le détroit.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

South India & Sri Lanka, 1766 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Carte réduite de la presque isle de l'Inde : contenant les costes depuis Cambaye jusqu'aux bouches du Gange, par le S. Bellin, Ingenieur de la Marine. It was published by Dépost des cartes, plans et journaux de la Marine in 1766. Scale [ca. 1:3,300,000]. Covers South India and Sri Lanka. Map in French. The image inside the map neatline is georeferenced to the surface of the earth and fit to the World Miller Cylindrical projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as rocks, channels, points, ports, coves, islands, shoals, anchorage points, and more. Includes also selected land features such as towns and villages, drainage, roads, and more. Relief shown pictorially.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Boston, Massachusetts Region, Digital Elevation Model with Bathymetry

This raster layer represents surface elevation and bathymetry data for the Boston Region, Massachusetts. It was created by merging portions of MassGIS Digital Elevation Model 1:5,000 (2005) data with NOAA Estuarine Bathymetric Digital Elevation Models (30 m.) (1998). DEM data was derived from the digital terrain models that were produced as part of the MassGIS 1:5,000 Black and White Digital Orthophoto imagery project. Cellsize is 5 meters by 5 meters. Each cell has a floating point value, in meters, which represents its elevation above or below sea level.

Zaliv Lavrentiya, Russia, 1855 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: St. Lawrence Bay showing Lutke's Harbor, by the U.S. Ship Vincennes, Lieutenant John Rodgers ; produced by E.R. Knorr, draughtsman ; sketches by Wm. Brenton Boggs, purser U.S.N. ; engr. by Selmar Siebert ; reduced for engraving by Louis Waldecker. It was published by U.S. Navy Hydrographic Office in 1855. Scale [ca. 1:200,000]. Covers Zaliv Lavrentiya, Russia. The image inside the map neatline is georeferenced to the surface of the earth and fit to the 'Mercator' projection. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, human settlements, shoreline features, bays, harbors, inlets, points, shoals, anchorage points and bottom types, and more. Relief shown by contours and spot heights. Depths shown by soundings. Includes note on Lutke's Harbor and 2 inset profile views. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection and the Harvard University Library as part of the Open Collections Program at Harvard University project: Organizing Our World: Sponsored Exploration and Scientific Discovery in the Modern Age. Maps selected for the project correspond to various expeditions and represent a range of regions, originators, ground condition dates, scales, and purposes.

Canary Islands, Spain, 1653 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Les Isles Canariespar P. Du Val d'Abbeville, Geographe Ordinaire du Roy. It was published by chez Pierre Mariette, rue S. Jacque a l'Esperance, avec privilege in 1653. Scale [ca. 1:1,050,000]. Covers the Canary Islands, Spain. Map in French.The image inside the map neatline is georeferenced to the surface of the earth and fit to the World Mercator projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, villages and other human settlements, shoreline features, anchorage points, and more. Relief shown pictorially. Includes also notes.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Isla de Fuerteventura, Canary Islands, Spain, 1779 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Mapa de la isla de Fuerteventura, por Don Tomás Lopez, geografo de los dominios de S. M. de las Reales academias de la historia, de San Fernando, de la de buenas letras de Sevilla y de la Sociedad Bascongada de los amigos del pais. It was published by se hallará este con todas las obras del autor en la Calle de las Carretas entrando por la Plazuela del Angel in 1779. Scale [ca. 1:280,000]. Covers Isla de Fuerteventura, Canary Islands, Spain. Map in Spanish.The image inside the map neatline is georeferenced to the surface of the earth and fit to the World Mercator projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, villages and other human settlements, roads, shoreline features, ports and anchorage points, and more. Relief shown by hachures. Includes note on the mapping of Fuerteventura.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Isla de Gran Canaria, Canary Islands, Spain, 1780 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Isla de la Gran Canaria, por Don Tomás Lopez, geografo de los dominios de S. M., de las Reales academias de la historia, de San Fernando, de la de buenas letras de Sevilla y de la Sociedad Bascongada de los amigos del pais. It was published by se hallará este con todas las obras del autor en la Calle de las Carretas entrando por la Plazuela del Angel in 1780. Scale [ca. 1:280,000]. Covers Isla de Gran Canaria, Canary Islands, Spain. Map in Spanish.The image inside the map neatline is georeferenced to the surface of the earth and fit to the World Mercator projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, land cover, cities and towns, villages and other human settlements, towers, hospitals, parishes, shoreline features, ports and anchorage points, and more. Relief shown by hachures. Includes note on the mapping of Isla de Gran Canaria.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Isla de Lanzarote, Canary Islands, Spain, 1779 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Mapa de la isla de Lanzarote, por Don Tomás Lopez, geografo de los dominios de S. M., de las Reales academias de la historia, de San Fernando, de la de buenas letras de Sevilla y de la Sociedad Bascongada de los amigos del pais. It was published by se hallará este con todas las obras del autor en la Calle de las Carretas entrando por la Plazuela del Angel in 1779. Scale [ca. 1:280,000]. Covers Isla de Lanzarote, Canary Islands, Spain. Map in Spanish.The image inside the map neatline is georeferenced to the surface of the earth and fit to the World Mercator projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, land cover, villages and other human settlements, roads, shoreline features, ports and anchorage points, and more. Relief shown by hachures. Includes note on the mapping of Lanzarote and inset map: Mapa de la isla de del Hierro.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Isla de Tenerife, Canary Islands, Spain, 1779 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Mapa de la isla de Tenerife, por Don Tomás Lopez, geografo de los dominios de S. M., de las Reales academias de la historia, de San Fernando, de la de buenas letras de Sevilla y de la Sociedad Bascongada de los amigos del pais. It was published by se hallará este con todas las obras del autor en la Calle de las Carretas entrando por la Plazuela del Angel in 1779. Scale [ca. 1:280,000]. Covers Isla de Tenerife, Canary Islands, Spain. Map in Spanish.The image inside the map neatline is georeferenced to the surface of the earth and fit to the World Mercator projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, land cover, cities and towns, villages and other human settlements, fortification and watch towers, roads, shoreline features, ports and anchorage points, and more. Relief shown by hachures. Includes note on the mapping of Tenerife.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Cape Verde, ca. 1730 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Isles du Cap Verd Hispanis Islas de Cabo Verde Belgis de Soute Eylanden. It was published by chez Jean Cóvens et Corneille Mortier, geographes, ca. 1730. Scale [ca. 1:910,000]. Covers Cape Verde. Map in Dutch and SpanishThe image inside the map neatline is georeferenced to the surface of the earth and fit to the World Mercator projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, villages and other human settlements, shoreline features, ports and anchorage points, and more. Relief shown pictorially. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Cape Verde, 1824 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A new chart of the Cape Verde islands : drawn from the latest authorities by J.W. Norie, hydrographer. It was published by J.W. Norie and Co. in 1824. Scale [ca. 1:810,000]. The image inside the map neatline is georeferenced to the surface of the earth and fit to the World Mercator projected coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, villages and other human settlements, shoreline features, ports and anchorage points, and more. Relief shown by hachures; depths shown by soundings. Includes also profile of the south coast of the Island of St. Iago and a profile of the Island of Mayo and insets: Port Praya in the Island of St. Iago; Porto Grande in the Island of St. Vincent; English Road in the Island of Bonavista.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Piloto automático: Sistema de navegação autónoma

Desde o início do crescente interesse na área de robótica que a navegação autónoma se apresenta como um problema de complexa resolução que, por isso, desperta vasto interesse no meio científico. Além disso, as capacidades da navegação autónoma aliadas à robótica permitem o desenvolvimento de variadas aplicações. O objectivo da navegação autónoma é conferir, a um dispositivo motor, capacidade de decisão relativa à locomoção. Para o efeito, utilizam-se sensores, como os sensores IMU, o receptor GPS e os encoders, para fornecer os dados essenciais à navegação. A dificuldade encontra-se no correcto processamento destes sinais uma vez que são susceptíveis a fontes de ruído. Este trabalho apresenta um sistema de navegação autónomo aplicado ao controlo de um robot. Para tal, desenvolveu-se uma aplicação que alberga todo o sistema de localização, navegação e controlo, acrescido de uma interface gráfica, que permite a visualização em mapa da movimentação autónoma do robot. Recorre-se ao Filtro de Kalman como método probabilístico de estimação de posição, em que os sinais dos vários sensores são conjugados e filtrados. Foram realizados vários testes de modo a avaliar a capacidade do robot atingir os pontos traçados e a sua autonomia no seguimento da trajectória pretendida.

2007 application guidelines : Community Development Assistance Program : economic development.

The following activities are considered ineligible. 1. Construction of buildings, or portions thereof, used predominantly for general conduct of government (e.g. city halls, courthouses, jails, police stations, etc.) 2. General government expenses. 3. Costs of operating and maintaining public facilities and services (e.g. mowing parks and replacing street light bulbs). 4. Servicing or refinancing existing debt.

2008 application guidelines : Community Development Assistance Program : economic development.

The following activities are considered ineligible. 1. Construction of buildings, or portions thereof, used predominantly for general conduct of government (e.g. city halls, courthouses, jails, police stations, etc.) 2. General government expenses. 3. Costs of operating and maintaining public facilities and services (e.g. mowing parks and replacing street light bulbs). 4. Servicing or refinancing existing debt.