Mobile robots and vehicles motion systems: a unifying framework

Robots perform many different activities in order to accomplish their tasks. The robot motion capability is one of the most important ones for an autonomous be- havior in a typical indoor-outdoor mission (without it other tasks can not be done), since it drastically determines the global success of a robotic mission. In this thesis, we focus on the main methods for mobile robot and vehicle motion systems and we build a common framework, where similar components can be interchanged or even used together in order to increase the whole system performance

Metrizable uniform spaces

Three themes of general topology: quotient spaces; absolute retracts; and inverse limits - are reapproached here in the setting of metrizable uniform spaces, with an eye to applications in geometric and algebraic topology. The results include: 1) If f: A -> Y is a uniformly continuous map, where X and Y are metric spaces and A is a closed subset of X, we show that the adjunction space X\cup_f Y with the quotient uniformity (hence also with the topology thereof) is metrizable, by an explicit metric. This yields natural constructions of cone, join and mapping cylinder in the category of metrizable uniform spaces, which we show to coincide with those based on subspace (of a normed linear space); on product (with a cone); and on the isotropy of the l_2 metric. 2) We revisit Isbell's theory of uniform ANRs, as refined by Garg and Nhu in the metrizable case. The iterated loop spaces \Omega^n P of a pointed compact polyhedron P are shown to be uniform ANRs. Four characterizations of uniform ANRs among metrizable uniform spaces X are given: (i) the completion of X is a uniform ANR, and the remainder is uniformly a Z-set in the completion; (ii) X is uniformly locally contractible and satisfies the Hahn approximation property; (iii) X is uniformly \epsilon-homotopy dominated by a uniform ANR for each \epsilon>0; (iv) X is an inverse limit of uniform ANRs with "nearly splitting" bonding maps.Comment: 93 pages. v5: a little bit of new stuff added. Proposition 8.7, entire section 10, Lemma 14.11, Proposition 18.4. Possibly something els

Theology, science and the topos of the Logos: a stable, dynamic topology of Creation

This thesis argues that an integrated, dynamically stable theo-science may be explored by considering scientific and theological perspectives regarding stability itself, combining them in one overarching framework by embedding a scientific conception of stability within a broader theological conception thereof. Our very capacity to perceive ‘reality’ in a functionally consistent manner is dependent upon the physical cosmos presenting a particular, dynamic stability, allowing for the sustainable emergence of life in the first place. Stability is hierarchically qualified, with higher-order functional systems such as those pertaining to life being an emergent result of particular modes of interaction between lower-level degrees of stability, ultimately right down to fundamental particles or fields. Theologically, any stability inherent to ‘reality’ must furthermore be considered to derive from the fact that such reality is, at its profoundest, a manifestation of God’s revealing, Creative Activity through the Logos. The thesis considers, qualitatively, the scientific and theological ‘place’ and relevance of stability from a holistic perspective regarding our anthropological development. Scientifically this is viewed in layered, evolutionary terms. Theologically, the Incarnation is considered of central relevance to our anthropological journey, transfiguring the process of its development so as to draw human nature into its intended eschatological stability ‘at the right hand of the Father’. Since stability can be considered scientifically in topological terms, the framework is developed by means of a ‘theological topology’ centred, as the etymology suggests, on the idea of a sacramentally stable, pervasive topos indicative of God’s ‘motioning’, Creative Activity through the Logos. Such Activity becomes sense-objectified in the Incarnation, considered figuratively-speaking as a ‘phase transition’, the net effect of which is argued as a ‘drawing in’ (cf. John 12:32), reordering and enhancing all meaningful, creaturely contribution to the ‘content’ of Creation – content actively generated according to our iconic, creative capacity for conceiving (of) the Logos

Social networks of friendship in the writings of early medieval english women

Communities of women is a topic in Early Medieval English Studies that has largely been overlooked unless it's researched and discussed in the context of men, marriage, and religion. One obstacle that has prevented scholarship from researching and discussing communities of women outside of patriarchal and religious contexts is the continued focus on male-authored texts. Even though scholarship has progressed towards more feminist readings of the corpus, there is still a problem of which primary sources scholars choose to use as the focus of their feminist arguments. Female-composed texts of this period are often overlooked, are used as references for larger arguments about male-authored texts, or are discussed within male-centered contexts even if those arguments have a feminist lens. On the path to discovering women's perspectives in the corpus, I found that a majority of the sources composed by women were historical documents. These documents include wills and correspondence composed by women and lawsuit records that document the actions of women and their perspectives. These historical documents exhibit rhetorical features that express women's value of social networking, drive to maintain social networks, and desire to form new networks with other women. The main argument presented in this dissertation contends that early medieval English women formed social networks, in some cases friendships, with other women in order to maintain productive networks of women that yielded preservation of their properties and assets, emotional communion with one another, and protection of their persons

Desire and Agency in the Modern Women\u27s Sonnet

This dissertation investigates the ways that women poets, from the late Renaissance to the postmodern age, have used the sonnet form both to critique and to re-envision the female experience, particularly in regard to the cultural value of love. In addition to its analysis of poetic form, this dissertation also engages a cultural/feminist critique based on an enduring theme in women\u27s writing: the power of patriarchal constructs to prevent women\u27s individuation within traditional, middle-class cultural norms

Exploring the Visual Landscape: Advances in Physiognomic Landscape Research in the Netherlands

Exploring the Visual Landscape is about the combination of landscape research and planning, visual perception and Geographic Information Science. It showcases possible ways of getting a grip on themes like: landscape openness, cluttering of the rural landscape, high-rise buildings in relation to cityscape, historic landscapes and motorway panoramas. It offers clues for visual landscape assessment of spaces in cities, parks and rural areas. In that respect, it extends the long tradition in the Netherlands on physiognomic landscape research and shows the state of the art at this moment. Exploring the Visual Landscape offers important clues for theory, methodology and application in research and development of landscapes all over the world, from a specifically Dutch academic context. It provides a wide range of insights into the psychological background of landscape perception, the technical considerations of geomatics and methodology in landscape architecture, urban planning and design. Furthermore, there are some experiences worthwhile considering, which demonstrate how this research can be applied in the practice of landscape policy making

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

HPCCP/CAS Workshop Proceedings 1998

This publication is a collection of extended abstracts of presentations given at the HPCCP/CAS (High Performance Computing and Communications Program/Computational Aerosciences Project) Workshop held on August 24-26, 1998, at NASA Ames Research Center, Moffett Field, California. The objective of the Workshop was to bring together the aerospace high performance computing community, consisting of airframe and propulsion companies, independent software vendors, university researchers, and government scientists and engineers. The Workshop was sponsored by the HPCCP Office at NASA Ames Research Center. The Workshop consisted of over 40 presentations, including an overview of NASA's High Performance Computing and Communications Program and the Computational Aerosciences Project; ten sessions of papers representative of the high performance computing research conducted within the Program by the aerospace industry, academia, NASA, and other government laboratories; two panel sessions; and a special presentation by Mr. James Bailey