Inertial Navigation and Position Uncertainty during a Blind Safe Stop of an Autonomous Vehicle

This work considers the problem of position and position-uncertainty estimation for atonomous vehicles during power black-out, where it cannot be assumed that any position data is accessible. To tackle this problem, the position estimation will instead be performed using power separated and independent measurement devices, including one inertial 6 Degrees of Freedom (DOF) measurement unit, four angular wheel speed sensors and one pinion angle sensor. The measurement unit\u27s sensors are initially characterized in order to understand conceptual limitations of the inertial navigation and also to be used in a filtering process. Measurement models are then fused together with vehicle dynamics process models using the architecture of an Extended Kalman Filter (EKF). Two different EKF filter concepts are developed to estimate the vehicle position during a safe stop; one simpler filter for smooth manoeuvres and a complex filter for aggressive manoeuvres. Both filter designs are tested and evaluated with data gathered from an experimental vehicle for selected manoeuvres of developed safe-stop scenarios. The experimental results from a set of use-case manoeuvres show a trend where the size of the position estimation errors significantly grows above an initial vehicle speed of 70 km/h. This paper contributes to develop vehicle dynamics models for the purpose of a blind safe stop

Hur lärare anpassar undervisningen för elever med språkstörning i årskursintervallet 1-9 i ämnet matematik.

Vi använde oss av en kvalitativ forskningsansats, och som metod använde vi oss av kvalitativa intervjuer, där vi intervjuade tolv lärare/speciallärare i årskursintervallet 1 - 9. Syftet var att undersöka hur lärare/speciallärare beskriver undervisningens hinder och möjligheter för elever med diagnosen språkstörning, i ämnet matematik, inom årskursintervallet 1 - 9. Ytterligare ett syfte var att se hur lärare anpassar undervisningen  för elever med diagnosen språkstörning och matematiksvårigheter. Som dataanalys använde vi oss av att transkribera intervjuerna, koda och kategorisera nyckelord, för att sedan utkristallisera tre huvudteman, Lärarnas undervisningssituation, Svårigheter i undervisningen och Lärares arbete med anpassningar. När vi analyserade resultatet utgick vi från två teoretiska utgångspunkter, det sociokulturella och det rationella perspektivet. Resultatet visade att de områden lärare/speciallärare pratade mest om var begrepp, tid, tydlighet, brist på arbetsminne relationer och anpassningar. De flesta lärare var eniga om att det krävdes en hel del anpassningar, när man hade elever med språkstörning i klassrummet. Som slutsats vill vi säga att alla pedagoger var överens om, att det fanns en tydlig brist på kunskap om att undervisa elever med språkstörning och att mer kunskap önskades

Alien species in Norway: Results from quantitative ecological impact assessments

1. Due to globalisation, trade and transport, the spread of alien species is increasing dramatically. Some alien species become ecologically harmful by threatening native biota. This can lead to irreversible changes in local biodiversity and ecosystem functioning, and, ultimately, to biotic homogenisation. 2. We risk-assessed all alien plants, animals, fungi and algae, within certain delimitations, that are known to reproduce in Norway. Mainland Norway and the Arctic archipelago of Svalbard plus Jan Mayen were treated as separate assessment areas. Assessments followed the Generic Ecological Impact Assessment of Alien Species (GEIAA) protocol, which uses a fully quantitative set of criteria. 3. A total of 1519 species were risk-assessed, of which 1183 were species reproducing in mainland Norway. Among these, 9% were assessed to have a severe impact, 7% high impact, 7% potentially high impact, and 49% low impact, whereas 29% had no known impact. In Svalbard, 16 alien species were reproducing, one of which with a severe impact. 4. The impact assessments also covered 319 so-called door-knockers, i.e. species that are likely to establish in Norway within 50 years, and 12 regionally alien species. Of the door-knockers, 8% and 10% were assessed to have a severe and high impact, respectively. 5. The impact category of most species was driven by negative interactions with native species, transformation of threatened ecosystems, or genetic contamination. The proportion of alien species with high or severe impact varied significantly across the different pathways of introduction, taxonomic groups, time of introduction, and the environments colonised, but not across continents of origin. 6. Given the large number of alien species reproducing in Norway and the preponderance of species with low impact, it is neither realistic nor necessary to eradicate all of them. Our results can guide management authorities in two ways. First, the use of quantitative assessment criteria facilitates the prioritisation of management resources across species. Second, the background information collected for each species, such as introduction pathways, area of occupancy and ecosystems affected, helps designing appropriate management measures

Fremmede arter i Norge: resultater fra kvantitative økologiske risikovurderinger

1. Due to globalisation, trade and transport, the spread of alien species is increasing dramatically. Some alien species become ecologically harmful by threatening native biota. This can lead to irreversible changes in local biodiversity and ecosystem functioning, and, ultimately, to biotic homogenisation. 2. We risk-assessed all alien plants, animals, fungi and algae, within certain delimitations, that are known to reproduce in Norway. Mainland Norway and the Arctic archipelago of Svalbard plus Jan Mayen were treated as separate assessment areas. Assessments followed the Generic Ecological Impact Assessment of Alien Species (GEIAA) protocol, which uses a fully quantitative set of criteria. 3. A total of 1519 species were risk-assessed, of which 1183 were species reproducing in mainland Norway. Among these, 9% were assessed to have a severe impact, 7% high impact, 7% potentially high impact, and 49% low impact, whereas 29% had no known impact. In Svalbard, 16 alien species were reproducing, one of which with a severe impact. 4. The impact assessments also covered 319 so-called door-knockers, i.e. species that are likely to establish in Norway within 50 years, and 12 regionally alien species. Of the door-knockers, 8% and 10% were assessed to have a severe and high impact, respectively. 5. The impact category of most species was driven by negative interactions with native species, transformation of threatened ecosystems, or genetic contamination. The proportion of alien species with high or severe impact varied significantly across the different pathways of introduction, taxonomic groups, time of introduction, and the environments colonised, but not across continents of origin. 6. Given the large number of alien species reproducing in Norway and the preponderance of species with low impact, it is neither realistic nor necessary to eradicate all of them. Our results can guide management authorities in two ways. First, the use of quantitative assessment criteria facilitates the prioritisation of management resources across species. Second, the background information collected for each species, such as introduction pathways, area of occupancy and ecosystems affected, helps designing appropriate management measures.1. Globalisering, handel og transport fører til en dramatisk økning i spredningen av fremmede arter. Noen fremmede arter er skadelige og truer det stedegne naturmangfoldet. Lokalt kan dette medføre irreversible endringer i det lokale biologiske mangfoldet og økosystemenes funksjon; globalt en homogenisering av artssammensetningen. 2. Vi har gjennomført risikovurderinger av alle fremmede planter, dyr, sopper og alger som reproduserer i Norge og oppfyller visse avgrensninger. Svalbard og Jan Mayen ble behandla som et eget vurderingsområde, adskilt fra Fastlands‐Norge. Risikovurderingene ble gjort i tråd med GEIAA (Generic Ecological Impact Assessment of Alien Species), som benytter et rent kvantitativt kriteriesett. 3. Totalt ble 1519 arter risikovurdert, hvorav 1183 reproduserte i Fastlands‐Norge. Av disse ble 9 % vurdert til å utgjøre en svært høy risiko, 7 % en høy risiko, 7 % en potensielt høy risiko, 49 % en lav risiko og 29 % ingen kjent risiko. På Svalbard forekom 16 reproduserende fremmede arter, hvorav én med svært høy risiko. 4. Risikovurderingene omfatta også 319 såkalte dørstokkarter, dvs. fremmede arter som antas å kunne etablere seg i Norge innen 50 år, samt 12 regionalt fremmede arter. Blant dørstokkartene ble 8 % og 10 % vurdert til å utgjøre en svært høy respektive høy risiko. 5. For de fleste arter ble risikokategorien bestemt av artenes interaksjoner med stedegne arter, tilstandsendringer i trua naturtyper eller genetisk forurensning. Andelen av fremmede arter med høy eller svært høy risiko varierte signifikant på tvers av ulike introduksjonsveier, artsgrupper, tidspunkt for introduksjon og koloniserte naturtyper, men ikke på tvers av opphavsområder. 6. Gitt det store antallet av fremmede arter som reproduserer i Norge, og overvekten av arter som har lav risiko, er det verken realistisk eller nødvendig å utrydde alle. Resultatene våre kan hjelpe forvaltningsmyndighetene på to måter. For det første gjør bruken av kvantitative kriterier det lettere å prioritere ressurser på tvers av arter. For det andre kan passende forvaltningstiltak utarbeides på grunnlag av den innsamla bakgrunnsinformasjonen om artene, f.eks. deres spredningsveier, forekomstareal og berørte naturtyper.publishedVersionpublishedVersio

Alien species in Norway: results from quantitative ecological impact assessments

1. Due to globalisation, trade and transport, the spread of alien species is increasing dramatically. Some alien species become ecologically harmful by threatening native biota. This can lead to irreversible changes in local biodiversity and ecosystem functioning, and, ultimately, to biotic homogenisation. 2. We risk-assessed all alien plants, animals, fungi and algae, within certain delimitations, that are known to reproduce in Norway. Mainland Norway and the Arctic archipelago of Svalbard plus Jan Mayen were treated as separate assessment areas. Assessments followed the Generic Ecological Impact Assessment of Alien Species (GEIAA) protocol, which uses a fully quantitative set of criteria. 3. A total of 1519 species were risk-assessed, of which 1183 were species reproducing in mainland Norway. Among these, 9% were assessed to have a severe impact, 7% high impact, 7% potentially high impact, and 49% low impact, whereas 29% had no known impact. In Svalbard, 16 alien species were reproducing, one of which with a severe impact. 4. The impact assessments also covered 319 so-called door-knockers, i.e. species that are likely to establish in Norway within 50 years, and 12 regionally alien species. Of the door-knockers, 8% and 10% were assessed to have a severe and high impact, respectively. 5. The impact category of most species was driven by negative interactions with native species, transformation of threatened ecosystems, or genetic contamination. The proportion of alien species with high or severe impact varied significantly across the different pathways of introduction, taxonomic groups, time of introduction, and the environments colonised, but not across continents of origin. 6. Given the large number of alien species reproducing in Norway and the preponderance of species with low impact, it is neither realistic nor necessary to eradicate all of them. Our results can guide management authorities in two ways. First, the use of quantitative assessment criteria facilitates the prioritisation of management resources across species. Second, the background information collected for each species, such as introduction pathways, area of occupancy and ecosystems affected, helps designing appropriate management measures

Alien species in Norway: results from quantitative ecological impact assessments

1. Due to globalisation, trade and transport, the spread of alien species is increasing dramatically. Some alien species become ecologically harmful by threatening native biota. This can lead to irreversible changes in local biodiversity and ecosystem functioning, and, ultimately, to biotic homogenisation. 2. We risk-assessed all alien plants, animals, fungi and algae, within certain delimitations, that are known to reproduce in Norway. Mainland Norway and the Arctic archipelago of Svalbard plus Jan Mayen were treated as separate assessment areas. Assessments followed the Generic Ecological Impact Assessment of Alien Species (GEIAA) protocol, which uses a fully quantitative set of criteria. 3. A total of 1519 species were risk-assessed, of which 1183 were species reproducing in mainland Norway. Among these, 9% were assessed to have a severe impact, 7% high impact, 7% potentially high impact, and 49% low impact, whereas 29% had no known impact. In Svalbard, 16 alien species were reproducing, one of which with a severe impact. 4. The impact assessments also covered 319 so-called door-knockers, i.e. species that are likely to establish in Norway within 50 years, and 12 regionally alien species. Of the door-knockers, 8% and 10% were assessed to have a severe and high impact, respectively. 5. The impact category of most species was driven by negative interactions with native species, transformation of threatened ecosystems, or genetic contamination. The proportion of alien species with high or severe impact varied significantly across the different pathways of introduction, taxonomic groups, time of introduction, and the environments colonised, but not across continents of origin. 6. Given the large number of alien species reproducing in Norway and the preponderance of species with low impact, it is neither realistic nor necessary to eradicate all of them. Our results can guide management authorities in two ways. First, the use of quantitative assessment criteria facilitates the prioritisation of management resources across species. Second, the background information collected for each species, such as introduction pathways, area of occupancy and ecosystems affected, helps designing appropriate management measures

Alien species in Norway: results from quantitative ecological impact assessments

1. Due to globalisation, trade and transport, the spread of alien species is increasing dramatically. Some alien species become ecologically harmful by threatening native biota. This can lead to irreversible changes in local biodiversity and ecosystem functioning, and, ultimately, to biotic homogenisation. 2. We risk-assessed all alien plants, animals, fungi and algae, within certain delimitations, that are known to reproduce in Norway. Mainland Norway and the Arctic archipelago of Svalbard plus Jan Mayen were treated as separate assessment areas. Assessments followed the Generic Ecological Impact Assessment of Alien Species (GEIAA) protocol, which uses a fully quantitative set of criteria. 3. A total of 1519 species were risk-assessed, of which 1183 were species reproducing in mainland Norway. Among these, 9% were assessed to have a severe impact, 7% high impact, 7% potentially high impact, and 49% low impact, whereas 29% had no known impact. In Svalbard, 16 alien species were reproducing, one of which with a severe impact. 4. The impact assessments also covered 319 so-called door-knockers, i.e. species that are likely to establish in Norway within 50 years, and 12 regionally alien species. Of the door-knockers, 8% and 10% were assessed to have a severe and high impact, respectively. 5. The impact category of most species was driven by negative interactions with native species, transformation of threatened ecosystems, or genetic contamination. The proportion of alien species with high or severe impact varied significantly across the different pathways of introduction, taxonomic groups, time of introduction, and the environments colonised, but not across continents of origin. 6. Given the large number of alien species reproducing in Norway and the preponderance of species with low impact, it is neither realistic nor necessary to eradicate all of them. Our results can guide management authorities in two ways. First, the use of quantitative assessment criteria facilitates the prioritisation of management resources across species. Second, the background information collected for each species, such as introduction pathways, area of occupancy and ecosystems affected, helps designing appropriate management measures

Alien plants, animals, fungi and algae in Norway: an inventory of neobiota

We present the results of an inventory and status assessment of alien species in Norway. The inventory covered all known multicellular neobiota, 2496 in total, 1039 of which were classified as naturalised. The latter constitute c. 3% of all species known to be stably reproducing in Norway. These figures are higher than expected from Norway’s latitude, which may be due a combination of climatic and historical factors, as well as sampling effort. Most of the naturalised neobiota were plants (71%),followed by animals (21%) and fungi (8%). The main habitat types colonised were open lowlands (79%), urban environments (52%) and woodlands (42%). The main areas of origin were Europe (67%), North America (15%) and Asia (13%). For most taxa, the rate of novel introductions seems to have been increasing during recent decades. Within Norway, the number of alien species recorded per county was negatively correlated with latitude and positively correlated with human population density. In the high-Arctic territories under Norwegian sovereignty, i.e. Svalbard and Jan Mayen, 104 alien species were recorded, of which 5 were naturalised

A családi szerepek és a szocializáció változásának bemutatása

Célom a dolgozattal és a kutatással, hogy rávilágítsak településünk gyermekinek szocializációjának buktatóihoz vezető problémákra, utat találjak az esetleges megoldáshoz, a problémák kiküszöböléséhez, és ezzel tudatosabban tudjak részt vállalni a problémás gyermekek szocializálásában, közösségformálásában. Munkám során abból indultam ki, hogy az ember szükségszerűen kapcsolatba kerül a közösségi életformával, mindenekelőtt családja van és óvodai, majd iskolai keretek között tanul. Dolgozatomban azt elemeztem, hogy milyen formában lehet létjogosultsága a közösségeknek a szocializáció során, hogyan valósul meg a közösségi nevelés a családban és az óvodai csoportban. A téma feldolgozása során kutattam, megfigyeltem, milyen a szülők nevelési attitűdje, hogyan viszonyulnak a szocializációhoz (óvodai szokásrendszerhez). Milyen a gyermekek viszonya egymáshoz (más-más családi háttérből érkező gyermekek szocializációja). Milyen módon befolyásolja a média hatása a szocializációt.BSc/BAÓvodapedagógu