983 resultados para Motion Planning
Resumo:
In recent years coastal resource management has begun to stand as its own discipline. Its multidisciplinary nature gives it access to theory situated in each of the diverse fields which it may encompass, yet management practices often revert to the primary field of the manager. There is a lack of a common set of “coastal” theory from which managers can draw. Seven resource-related issues with which coastal area managers must contend include: coastal habitat conservation, traditional maritime communities and economies, strong development and use pressures, adaptation to sea level rise and climate change, landscape sustainability and resilience, coastal hazards, and emerging energy technologies. The complexity and range of human and environmental interactions at the coast suggest a strong need for a common body of coastal management theory which managers would do well to understand generally. Planning theory, which itself is a synthesis of concepts from multiple fields, contains ideas generally valuable to coastal management. Planning theory can not only provide an example of how to develop a multi- or transdisciplinary set of theory, but may also provide actual theoretical foundation for a coastal theory. In particular we discuss five concepts in the planning theory discourse and present their utility for coastal resource managers. These include “wicked” problems, ecological planning, the epistemology of knowledge communities, the role of the planner/ manager, and collaborative planning. While these theories are known and familiar to some professionals working at the coast, we argue that there is a need for broader understanding amongst the various specialists working in the increasingly identifiable field of coastal resource management. (PDF contains 4 pages)
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In Washington State, the Department of Natural Resources (WA DNR) is responsible for managing state-owned aquatic lands. Aquatic reserves are one of many Marine Protected Area (MPA) designations in WA State that aim to protect sensitive aquatic and ecological habitat. We analyzed the designation and early planning processes of WA State aquatic reserves, identified gaps in the processes, and recommend action to improve the WA State aquatic reserve early planning approach. (PDF contains 4 pages)
Resumo:
Competing uses, sensitive and valuable marine resources, and overlapping jurisdictions complicate management decision making in the marine environment. States are developing marine spatial planning capacity to help make better decisions, particularly as demand for ocean space and resources is growing because of emerging human uses (renewable energy, aquaculture) and traditional human uses (commercial fishing, commerce). This paper offers perspectives on marine spatial planning efforts being carried out in four states across the US, and demonstrates similarities and differences between them. The approach to marine spatial planning in each state is discussed with specific attention given to issues such as what is driving the effort, data availability, maturity of the effort, and level of resources devoted to it. Highlighting the similarities and differences illustrates state and region specific challenges and the approaches being used to meet them. (PDF contains 4 pages)
Resumo:
Efficient and effective coastal management decisions rely on knowledge of the impact of human activities on ecosystem integrity, vulnerable species, and valued ecosystem services—collectively, human impact on environmental quality (EQ). Ecosystem-based management (EBM) is an emerging approach to address the dynamics and complexities of coupled social-ecological systems. EBM “is intended to directly address the long-term sustainable delivery of ecosystem services and the resilience of marine ecosystems to perturbations” (Rosenberg and Sandifer, 2009). The lack of a tool that integrates human choices with the ecological connections between contributing watersheds and nearshore areas, and that incorporates valuation of ecosystem services, is a critical missing piece needed for effective and efficient coastal management. To address the need for an integrative tool for evaluation of human impacts on ecosystems and their services, Battelle developed the EcoVal™ Environmental Quality Evaluation System. The EcoVal system is an updated (2009) version of the EQ Evaluation System for Water Resources developed by Battelle for the U.S. Bureau of Reclamation (Dee et al., 1972). The Battelle EQ evaluation system has a thirty-year history of providing a standard approach to evaluate watershed EQ. This paper describes the conceptual approach and methodology of the updated EcoVal system and its potential application to coastal ecosystems. (PDF contains 4 pages)
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We propose a universal quantum computation scheme for trapped ions in thermal motion via the technique of adiabatic passage, which incorporates the advantages of both the adiabatic passage and the model of trapped ions in thermal motion. Our scheme is immune from the decoherence due to spontaneous emission from excited states as the system in our scheme evolves along a dark state. In our scheme the vibrational degrees of freedom are not required to be cooled to their ground states because they are only virtually excited. It is shown that the fidelity of the resultant gate operation is still high even when the magnitude of the effective Rabi frequency moderately deviates from the desired value.
Resumo:
Designing for all requires the adaptation and modification of current design best practices to encompass a broader range of user capabilities. This is particularly the case in the design of the human-product interface. Product interfaces exist everywhere and when designing them, there is a very strong temptation to jump to prescribing a solution with only a cursory attempt to understand the nature of the problem. This is particularly the case when attempting to adapt existing designs, optimised for able-bodied users, for use by disabled users. However, such approaches have led to numerous products that are neither usable nor commercially successful. In order to develop a successful design approach it is necessary consider the fundamental structure of the design process being applied. A three stage design process development strategy which includes problem definition, solution development and solution evaluation, should be adopted. This paper describes the development of a new design approach based on the application of usability heuristics to the design of interfaces. This is illustrated by reference to a particular case study of the re-design of a computer interface for controlling an assistive device.
Resumo:
The motion of a single Brownian particle of arbitrary size through a dilute colloidal dispersion of neutrally buoyant bath spheres of another characteristic size in a Newtonian solvent is examined in two contexts. First, the particle in question, the probe particle, is subject to a constant applied external force drawing it through the suspension as a simple model for active and nonlinear microrheology. The strength of the applied external force, normalized by the restoring forces of Brownian motion, is the Péclet number, Pe. This dimensionless quantity describes how strongly the probe is upsetting the equilibrium distribution of the bath particles. The mean motion and fluctuations in the probe position are related to interpreted quantities of an effective viscosity of the suspension. These interpreted quantities are calculated to first order in the volume fraction of bath particles and are intimately tied to the spatial distribution, or microstructure, of bath particles relative to the probe. For weak Pe, the disturbance to the equilibrium microstructure is dipolar in nature, with accumulation and depletion regions on the front and rear faces of the probe, respectively. With increasing applied force, the accumulation region compresses to form a thin boundary layer whose thickness scales with the inverse of Pe. The depletion region lengthens to form a trailing wake. The magnitude of the microstructural disturbance is found to grow with increasing bath particle size -- small bath particles in the solvent resemble a continuum with effective microviscosity given by Einstein's viscosity correction for a dilute dispersion of spheres. Large bath particles readily advect toward the minimum approach distance possible between the probe and bath particle, and the probe and bath particle pair rotating as a doublet is the primary mechanism by which the probe particle is able to move past; this is a process that slows the motion of the probe by a factor of the size ratio. The intrinsic microviscosity is found to force thin at low Péclet number due to decreasing contributions from Brownian motion, and force thicken at high Péclet number due to the increasing influence of the configuration-averaged reduction in the probe's hydrodynamic self mobility. Nonmonotonicity at finite sizes is evident in the limiting high-Pe intrinsic microviscosity plateau as a function of bath-to-probe particle size ratio. The intrinsic microviscosity is found to grow with the size ratio for very small probes even at large-but-finite Péclet numbers. However, even a small repulsive interparticle potential, that excludes lubrication interactions, can reduce this intrinsic microviscosity back to an order one quantity. The results of this active microrheology study are compared to previous theoretical studies of falling-ball and towed-ball rheometry and sedimentation and diffusion in polydisperse suspensions, and the singular limit of full hydrodynamic interactions is noted.
Second, the probe particle in question is no longer subject to a constant applied external force. Rather, the particle is considered to be a catalytically-active motor, consuming the bath reactant particles on its reactive face while passively colliding with reactant particles on its inert face. By creating an asymmetric distribution of reactant about its surface, the motor is able to diffusiophoretically propel itself with some mean velocity. The effects of finite size of the solute are examined on the leading order diffusive microstructure of reactant about the motor. Brownian and interparticle contributions to the motor velocity are computed for several interparticle interaction potential lengths and finite reactant-to-motor particle size ratios, with the dimensionless motor velocity increasing with decreasing motor size. A discussion on Brownian rotation frames the context in which these results could be applicable, and future directions are proposed which properly incorporate reactant advection at high motor velocities.
Resumo:
In this thesis, we develop an efficient collapse prediction model, the PFA (Peak Filtered Acceleration) model, for buildings subjected to different types of ground motions.
For the structural system, the PFA model covers modern steel and reinforced concrete moment-resisting frame buildings (potentially reinforced concrete shear wall buildings). For ground motions, the PFA model covers ramp-pulse-like ground motions, long-period ground motions, and short-period ground motions.
To predict whether a building will collapse in response to a given ground motion, we first extract long-period components from the ground motion using a Butterworth low-pass filter with suggested order and cutoff frequency. The order depends on the type of ground motion, and the cutoff frequency depends on the building’s natural frequency and ductility. We then compare the filtered acceleration time history with the capacity of the building. The capacity of the building is a constant for 2-dimentional buildings and a limit domain for 3-dimentional buildings. If the filtered acceleration exceeds the building’s capacity, the building is predicted to collapse. Otherwise, it is expected to survive the ground motion.
The parameters used in PFA model, which include fundamental period, global ductility and lateral capacity, can be obtained either from numerical analysis or interpolation based on the reference building system proposed in this thesis.
The PFA collapse prediction model greatly reduces computational complexity while archiving good accuracy. It is verified by FEM simulations of 13 frame building models and 150 ground motion records.
Based on the developed collapse prediction model, we propose to use PFA (Peak Filtered Acceleration) as a new ground motion intensity measure for collapse prediction. We compare PFA with traditional intensity measures PGA, PGV, PGD, and Sa in collapse prediction and find that PFA has the best performance among all the intensity measures.
We also provide a close form in term of a vector intensity measure (PGV, PGD) of the PFA collapse prediction model for practical collapse risk assessment.
Resumo:
36 p.