TOGGLE PRM: A SIMULTANEOUS MAPPING OF CFREE AND COBSTACLE FOR USE IN PROBABILISTIC ROADMAP METHODS

Motion planning for robotic applications is difficult. This is a widely studied problem in which the best known deterministic solution is doubly exponential in the dimensionality of the problem. A class of probabilistic planners, called sampling-based planners, have shown much success in this area, but still show weakness for planning in difficult parts of the space, namely narrow passages. The problem space is made of two subsets - free space and collision space, representing valid and invalid robot positions. A general method for probabilistic planners is the probabilistic roadmap method (PRM) which maps only free space to find a solution. This thesis proposes a new strategy, Toggle PRM, for probabilistic roadmap planners, which simultaneously maps both free space and collision space in order to guide the solution more efficiently. All sampled robotic configurations are kept in two separate maps. When the connection attempts between configurations in one roadmap fail, the witness to the failure is retained as a configuration in the opposing roadmap. By mapping both spaces, sampling density in narrow passages is greatly increased. A theoretical and experimental analysis of Toggle PRM shows the independence from the volume of a narrow passage and the volume of the obstacles surrounding the passage for sampling, overcoming a previous challenge of probabilistic planning. Additionally, Toggle PRM has increased efficiency as compared to other common sampling techniques in various motion planning problems because of this improved sampling in narrow passages

Hybrid modelling of time-variant heterogeneous objects.

The physical world consists of a wide range of objects of a diverse constitution. Past research was mainly focussed on the modelling of simple homogeneous objects of a uniform constitution. Such research resulted in the development of a number of advanced theoretical concepts and practical techniques for describing such physical objects. As a result, the process of modelling and animating certain types of homogeneous objects became feasible. In fact most physical objects are not homogeneous but heterogeneous in their constitution and it is thus important that one is able to deal with such heterogeneous objects that are composed of diverse materials and may have complex internal structures. Heterogeneous object modelling is still a very new and evolving research area, which is likely to prove useful in a wide range of application areas. Despite its great promise, heterogeneous object modelling is still at an embryonic state of development and there is a dearth of extant tools that would allow one to work with static and dynamic heterogeneous objects. In addition, the heterogeneous nature of the modelled objects makes it appealing to employ a combination of different representations resulting in the creation of hybrid models. In this thesis we present a new dynamic Implicit Complexes (IC) framework incorporating a number of existing representations and animation techniques. This framework can be used for the modelling of dynamic multidimensional heterogeneous objects. We then introduce an Implicit Complexes Application Programming Interface (IC API). This IC API is designed to provide various applications with a unified set of tools allowing these to model time-variant heterogeneous objects. We also present a new Function Representation (FRep) API, which is used for the integration of FReps into complex time-variant hybrid models. This approach allows us to create a practical multilevel modelling system suited for complex multidimensional hybrid modelling of dynamic heterogeneous objects. We demonstrate the advantages of our approach through the introduction of a novel set of tools tailored to problems encountered in simulation applications, computer animation and computer games. These new tools empower users and amplify their creativity by allowing them to overcome a large number of extant modelling and animation problems, which were previously considered difficult or even impossible to solve

Hybrid modelling of time-variant heterogeneous objects

The physical world consists of a wide range of objects of a diverse constitution. Past research was mainly focussed on the modelling of simple homogeneous objects of a uniform constitution. Such research resulted in the development of a number of advanced theoretical concepts and practical techniques for describing such physical objects. As a result, the process of modelling and animating certain types of homogeneous objects became feasible. In fact most physical objects are not homogeneous but heterogeneous in their constitution and it is thus important that one is able to deal with such heterogeneous objects that are composed of diverse materials and may have complex internal structures. Heterogeneous object modelling is still a very new and evolving research area, which is likely to prove useful in a wide range of application areas. Despite its great promise, heterogeneous object modelling is still at an embryonic state of development and there is a dearth of extant tools that would allow one to work with static and dynamic heterogeneous objects. In addition, the heterogeneous nature of the modelled objects makes it appealing to employ a combination of different representations resulting in the creation of hybrid models. In this thesis we present a new dynamic Implicit Complexes (IC) framework incorporating a number of existing representations and animation techniques. This framework can be used for the modelling of dynamic multidimensional heterogeneous objects. We then introduce an Implicit Complexes Application Programming Interface (IC API). This IC API is designed to provide various applications with a unified set of tools allowing these to model time-variant heterogeneous objects. We also present a new Function Representation (FRep) API, which is used for the integration of FReps into complex time-variant hybrid models. This approach allows us to create a practical multilevel modelling system suited for complex multidimensional hybrid modelling of dynamic heterogeneous objects. We demonstrate the advantages of our approach through the introduction of a novel set of tools tailored to problems encountered in simulation applications, computer animation and computer games. These new tools empower users and amplify their creativity by allowing them to overcome a large number of extant modelling and animation problems, which were previously considered difficult or even impossible to solve.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Public Health Ethics: Cases Spanning the Globe

Public health ethics can be seen both as the application of principles and norms to guide the practice of public health and as a process for identifying, analyzing, and resolving ethical issues inherent in the practice of public health. Public health ethics helps us decide what we should do and why. Although the practice of public health has always considered ethical issues, the emergence of public health ethics as a discipline is relatively new. Although rooted in bioethics and clinical and research ethics, public health ethics has many characteristics that set it apart. The defining characteristics are its focus on achieving social goods for populations while respecting individual rights and recognizing the interdependence of people. Currently there are few practical training resources for public health practitioners that consider ethical issues and dilemmas likely to arise in the practice of public health. In public health ethics training, we have found it advantageous to use cases to illustrate how ethical principles can be applied in practical ways to decision making. The use of cases encourages reflection and discussion of ethics, reinforces basic ethical concepts through application to concrete examples, highlights practical decision making, allows learners to consider different perspectives, and sensitizes learners to the complex, multidimensional context of issues in public health practice. The case-based approach (known as casuistry) contrasts with the theoretical approach to considering moral principles, rules, and theories. By describing scenarios, cases allow the learner to use ethical principles in the context of a realistic situation that sheds light on ethical challenges and illustrates how ethical principles can help in making practical decisions. This casebook comprises a broad range of cases from around the globe to highlight the ethical challenges of public health. For those new to public health ethics, Section I introduces public health ethics. Chapter 1, “Public Health Ethics: Global Cases, Practice, and Context” by Ortmann and colleagues, summarizes basic concepts and describes how public health ethics differ from bioethics, clinical ethics, and research ethics. The chapter also includes an approach for conducting an ethical analysis in public health. In Chap. 2, “Essential Cases in the Development of Public Health Ethics,” Lee, Spector-Bagdady, and Sakhuja highlight important events that shaped the practice of public health and explain how practitioners address and prevent ethical challenges. Section II is organized into chapters that discuss the following public health topics: • Resource allocation and priority setting • Disease prevention and control • Chronic disease prevention and health promotion • Environmental and occupational public health • Vulnerability and marginalized populations • International collaboration for global public health • Public health research We have invited some of the leading writers and thinkers in public health ethics to provide an overview of the major ethical considerations associated with each topic. The topic overviews offer the authors’ perspectives about applicable ethical theories, frameworks, and tools and draw attention to the cases that follow. The cases are meant to highlight the ethical issues in practice. Each represents the work of authors from around the globe who responded to a solicitation from the U.S. Centers for Disease Control and Prevention. We worked with the authors to ensure that each case included a concise articulation of a public health situation that raises ethical tensions, challenges, or concerns that require decisions or recommendations from public health officials or practitioners. The cases are presented in a standard format that includes a background, case description, discussion questions, and references. However, we also allowed for variation in the amount of detail provided in each section and the approach used to set up the case. Our goal was to include just enough contextual information to orient the reader who is not an expert in the case topic. We include the case setting, population, or intervention in question, legal or regulatory landscape, and questions to stimulate discussion on core ethical issues. Each case—although fictionalized—is as realistic as possible to reflect the ethical challenges that public health practitioners face daily. Sometimes the cases were based on actual or composite events. In these instances, the case details were modified to exclude identifying information that could be considered private, sensitive, or disputable by others involved in the case. We deliberately did not attempt to provide a resolution or solution for the cases. Often in public health practice, there is no single correct answer. Instead, ethical analysis in public health is a process to identify the ethical dimensions of the options available and to arrive at a decision that is ethically justifiable, through deliberation and consideration of relevant facts, values, and contexts. The cases and other writings in this book represent the opinions, findings, and conclusions of the authors and do not necessarily reflect the official position, views, or policies of the editors, the editors’ host institutions, or the authors’ host institutions. We decided which topic category to place the case in to best distribute the cases across chapters. However, you may note that some cases cross topic areas and could just as easily have been included in another chapter. This casebook is written for public health practitioners, including frontline workers, field epidemiology trainers and trainees, and managers, planners, and decision makers with an interest in learning about how to integrate ethical analysis in their day-to-day public health practice. However, the casebook will also be useful to instructors in schools of public health and public health students as well as to academic ethicists who can use the book to teach public health ethics and distinguish it from clinical and research ethics. Our hope is that the casebook will increase awareness and understanding of public health ethics and the value of ethical analysis in public health practice in all of its forms. This includes applied public health research; public health policy development, implementation, and evaluation; and public health decision making in national and international field settings and training programs. By emphasizing prospective practical decision making, rather than just presenting a theoretical academic discussion of ethical principles, we hope this casebook will serve as a useful tool to support instruction, debate, and dialogue about the nature of ethical challenges encountered in public health practice and how to resolve these challenges. We recommend discussing the cases in small groups and using the discussion questions, the ethical framework described in Chap. 1, and the information provided in the topic area overview sections as a starting place for exploring the ethical issues reflected in the cases. The ultimate goal of case-based learning is to develop skills in ethical analysis and decision making in daily public health practice. The ethical framework provides a convenient tool for putting our ideas into practice

How the Qaddafi regime was driven into nuclear disarmament

How can we drive atomic renegades – states that run illegal nuclear weapons programs – into disarmament with the help of negotiations? This question, which puts the design of negotiation strategies at the focus of attention, has puzzled foreign policy makers for decades. It has, thus far, lost nothing of its relevance. But despite its importance, bargaining dynamics with atomic renegade states – so-called Nuclear Reversal Negotiations (NRN) – were largely omitted in International Relations (IR) literature. A systematic and theoretically grounded analysis on NRN is still missing.[...

Ressourcennutzung und Umweltverhalten prähistorischer Bauern. Eine Analyse archäologischer und ethnographischer Untersuchungen

Die Ur- und Frühgeschichtliche Archäologie erforscht den Umgang des Menschen mit seiner Umwelt in erster Linie mit naturwissenschaftlichen Methoden. Die daraus gewonnenen Erkenntnisse erlauben es vor allem, Aussagen über die Wirtschaftsweise zu treffen. Ungleich schwerer ist es, auf die soziokulturellen Ursachen bzw. die Verflechtung von Ökonomie, Sozialstruktur, Religion usw. bei der Ressourcennutzung zu schließen. Diese Arbeit legt eine systematische Sammlung und vergleichende Auswertung archäozoologischer und archäobotanischer sowie ethnographischer Befunde und daraus abgeleiteter Aussagen zum Umweltverhalten bäuerlich wirtschaftender Menschen vor. Mit einem komparativen und analogischen Ansatz sowie einem generellen Modell werden Möglichkeiten der Deutung und wahrscheinliche Verknüpfungen von Umwelt, Ökonomie und Kultur aufgezeigt.Bestellung möglich über: https://www.buchhandel.de/buch/Ressourcennutzung-und-Umweltverhalten-praehistorischer-Bauern-978394655205