In this thesis an RGB-D camera was used with the goal to perform dynamic path planning in an initially unknown environment. Depth data from an RGB-D camera together with a discretizising algorithm is continuously used for maintaining an obstacle map of the environment which within the path planning algorithm D* Lite [S. Koening, 2005] is performed on the flight. Experiments were conducted on two

Dagens miljöproblem måste lösas för att skona framtida generationer och miljön. Miljöcertifiering är en bit på vägen. Syftet med denna rapport är att redogöra för vad det innebär att miljöcertifiera en byggnad. Rapporten behandlar hur olika miljöcertifieringsmetoder fungerar och hur arbetsmetodiken för en certifiering ser ut. Eftersom det finns olika miljöcertifieringsmetoder är syftet också att gTitle: Environmental certification of buildings with Miljöbyggnad, Green Building, BREEAM and LEED - A review of the methods with comprehensive comparison Problem: Today's environmental problems must be solved in order to spare future generations and the environment. Environmental certification is a part of the solution. So what is the point with environmental certification and what reasons a

The curtain is a decorative object with at lot of additional functions. We wanted to work with the curtain and our goal was to make people see it with new eyes. We decided to try to raise the value of the curtain by giving the user an excuse to interact with it; through storage. The starting point of the project was a theme we call forgotten rooms and rejected items. To us this talks about how we

Den ekonomiska aspekten är starkt styrande i dagens samhälle. Detta innefattar även byggbranschen, där entreprenörer kan förlora eller vinna ett projekt utifrån deras kostnadskalkyl. Detta medför att materialvalen är starkt knutna till vad som är billigast. Studien startade med frågan med hur materialval hanteras, samt nischades till varför det inte byggs mer med tegel? Utifrån detta intervjuades

Vertical axis wind turbines have vertical rotation axles, unlike traditional wind turbines, which rotate around horizontal axles. Vertical wind turbines convert energy from turbulent winds, pick up wind energy from all directions and are easy to serve. The noise from a vertical axis wind turbine is only one-tenth as strong as horizontal-axle wind turbines, which make it possible to place the verti

Kågeröd is a village in the municipality of Svalöv with about 1500 inhabitants. The village has only one remaining grocery store, Coop Konsum, and the store is currently in a financial struggle due to to the high rate of crime that has affected the store during the past six months. When the inhabitants of Kågeröd found out that the store, which functions as a social meeting point, was threatened t

”Villagisation" är ett koncept som innebär förflyttning eller omlokalisering av personer i utspridda bosättningsområden in till byar. Detta sker ofta i syfte att säkerställa en effektiv kontroll och att för att kunna tillhandahålla grundläggande samhällstjänster och infrastruktur. Denna typ av statliga program har genomförts i olika regioner i Afrika genom åren. Huvudsyftet med omförflyttningThe concept of ‘villagisation’ refers to the resettlement of people from scattered areas into villages, in order to ensure efficient control and to provide basic social services and infrastructure. This kind of governmental practice has been implemented in various regions in Africa throughout the years. The main objective of villagisation is to provide, or improve, access to basic economic and soc

Problem/Bakgrund: Förenta Nationernas säkerhetsråd antog år 2000 resolution 1325 om kvinnor, fred och säkerhet där de riktar tydliga krav på militära organisationer att uppnå intern jämställdhet samt att intensifiera ansträngningarna för att integrera ett externt genderperspektiv i förberedelser, genomförande och utvärdering av fredsfrämjande insatser. Eftersom det finns en klar majoritet kvinnor

Major intrinsic proteins (MIPs) are proteins that allow the passive transfer of uncharged molecules through a membrane. They have many subfamilies the least understood of which is “X” intrinsic proteins (XIPs). The X illustrates that they are functionally uncharacterized. XIPs have previously been shown to facilitate the transport of boric acid, hydrogen peroxide, urea and glycerol across the memb

Title: The relevance of knowledge transfer - A qualitative study of labour-intensive organisations with high employee turnover Seminar date: 2015-06-05 Course: FEKH19, Degree Project in Strategic Management, Undergraduate Level, 15 ECTS Authors: Elina Jonsson, Hanna Sjöstrand, Linnette Ericsson Advisor: Anna Brattström Key Words: Knowledge transfer, Labour-intensive organisations, Employee turnove

Staten har under olika perioder de senaste 100 åren avvecklat statliga verksamheter som bedrivits i myndighetsform genom att avknoppa dessa verksamheter till aktiebolag, stiftelser eller genom att lägga ned verksamheterna. Vid övergångar av statliga verksamheter till andra driftsformer har avsikten varit att skilja staten från eventuellt ansvar hänförligt till den överlåtna verksamheten genom att The Swedish state has at different times over the last 100 years closed down governmental activities performed in government agencies by transforming these agencies, or divisions of agencies, into joint-stock companies, trusts or just terminating the activities. At transitions of government activities to the other modes of operation, the intention has always been to separate the State from any res

The purpose of this thesis was to develop a deeper understanding of child pornography as a crime and its sentencing. The main purpose of the study is to relate the current debate regarding the sentencing connected to the crime of child pornography to a standpoint of sociology of law perspective on the law. As our starting point we have considered the question of Thomas Mathiesen, through sociology

Den nuvarande svenska arbetsrätten kan vara på kollisionskurs med EU-rätten avseende tidsbegränsade anställningar när det gäller implementeringen av direktiv 99/70/EG. EU-kommissionen anser att det finns en kollision mellan direktivet och sättet det införlivats i nationell rätt. Det finns bärkraftiga argument att samma skyddsnivå som avses i direktivet uppfylls indirekt genom de svenska arbetsrättCurrent Swedish labor rules may be on a collision with the European legal rules concerning time-limited employments arising from the EU directive 99/70/EC. The view of the European commission is that the directive has not been fulfilled and properly incorporated in the national rules. There are valid arguments that the level of protection as intended in the directive is achieved, regardless of the

With most applications where recommender systems are used, it is impor- tant that they produce a better result than a system with no recommender, or one with a previous recommender. Deploying an untested system, even to a smaller user sample can be very costly if the system produces negative results. It is often in a developer’s interest to create several candidate systems. They need some way of c

Mark Z. Danielewski's House of Leaves is a stunningly complex work, blending elements of the traditional haunted house tale, postmodernism, and film analysis with innovative approaches to textuality and to the format of the novel. This thesis explores House of Leaves with regard to many of these elements, presenting a reading which unifies its various modes of discourse by relating them back t

Eternity and time are central concepts within the Prophetic Works. In the Prophetic universe, eternity is defined as a positive state of infinite potentiality, whereas time is depicted as a state founded on the exclusion of possibilities; hence, the existence of the human mind in time rather than in eternity severely limits the sum of his existence. Viewed as a whole, the Prophetic cycle can be se

Alma Engstedt En våtmark i Skåne under november Många våtmarker har anlagts de sista 20 åren för att försöka fånga upp de mängder kväve och fosfor som sköljs ut från åkermark och tar sig vidare ut i Östersjön där de orsakar övergödning och andra miljöproblem. Det är intressant att ta reda på hur väl de fungerar och hur det kan variera under olika årstider. Vintern är inte den bästa tiden för aA small pond situated south of Helsingborg was studied between November 7th and December 1st 2003, in order to determine the transport and retention of nitrogen and phosphorus during the autumn-winter conditions of high water discharge. Two methods of water sampling were used. One based on random sampling and the other using an automatic sampler i.e. a pump with continuous sampling. Mass balance c

Model Predictive control (MPC) has been studied extensively because of its ability to handle constraints and its great properties in terms of stability and performance [Mayne et al., 2000]. We have in this thesis focused on MPC of Hybrid Systems, i.e. systems with both continuous and discrete dynamics. More specifically, we look at problems that can be cast as Mixed Integer Quadratic Programming (

The object of this essay is to analyze how the great male renunciation have influenced men’s fashion wear, as well as the way men express their interest in fashion. This was achieved by studying the dandy as phenomenon in relation to the contemporary male fashion blogger. Analytical methods such as semiotic analysis has been applied, as well as a qualitative text analysis inspired by discourse ana