This thesis studies Path generation for industrial robots of six degrees of freedom. A Path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined Path is permitted. The zone allows the robot to follow the Path at a constant speed, but the acceleration needed may vary. Some means of calculating the zone Path as to make the acceleration continuous will be presented.

Denna rapport har jämfört olika Path tracking-algoritmer för att se vilken som presterar bäst för spelagenter som färdas i konstant hastighet. Tre vanliga Path tracking algoritmer som ofta används inom robotik har valts ut för undersökningen, Follow The Carrot, Pure Pursuit och Vector Pursuit. Algoritmerna har implementerats i C# och simuleringarna har genomförts i Unity 4.0. Path tracking-algoritmerna har testats på ett antal olika vägar för att se hur de lyckas följa vägen. Av simuleringarna så visar det sig att Pure Pursuit och Vector Pursuit presterade likvärdigt för spelagenter i konstant hastighet samt att de presterade bättre än Follow The Carrot..

A proposal of a new Path from the inner town of Gävle to a small cultural area in the seaside. The thesis contains historical background, analysis over town and the area, and a proposal of a new shape for the postindustrial area near the stream called Gavleån. .

The aim of this paper is to examine the layout of public spaces and its effect on human behavior with focus on the relation between pedestrians and cyclists movement patterns in a specific Path. The study emanates from the security aspect of pedestrians and cyclists, and builds upon previous theories and empirical studies about perception, security, information design, environmental psychology and behavior. The result shows that individual behavior and movement pattern differs with age, purpose, physical- and other conditions, and layout of the surroundings. A design proposal for improved layout of a Path and a node between different oncoming Paths has been developed to aid the users? needs, where a separation of walkways and bike lanes forms zones of security for the purpose of better orientation and a better flow between the users..

Ett spels karta är begränsande i det att när man valt en viss storlek kan man inte gå utanför den ramen utan att göra relativt resurskrävande operationer. Denna undersökning genomfördes för att se om en trädstruktur kan användas som lösning att hantera en honeycomb-struktur på ett lämpligt sätt för att ständigt kunna utöka ett spels karta. Resultatet visar att det är möjligt att använda trädstrukturen relativt bra till växande kartor men att det inte är att rekommendera till spel, eftersom strukturen i sig är en omväg. I samband med denna karta skapades en slumpmässig Path-generator som skulle kunna användas till att generellt skapa slumpmässiga kartor i spel. För att se vad försvårigheter man stöter på när man utvecklar en slumpad map-generator, vilket visade sig vara svårt i och med att man hittade många specialfall..

The essay aims to compare Swedish and Finnish decisions regarding refugee policies by tracing them back to the critical junctures when the policies were established, in order to explain why there are big differences prevalent today. The questions asked involve the motivations of the refugee policies and how they have changed over time.The theoretical framework employed is based on historical institutionalism and Path dependency. By using a most similar system design and process tracing, material in the form of government declarations and government bills are studied and summed up in two analytical models. The results show that there might be a weak Path dependency in the case of Finland. However it is more apparent in the case of Sweden, with frequent statements of a generous refugee policy that is characterised by humanity.

In 2002, the euro as a common currency did replace the national currencies in the EU member-states that did choose to take part in the EMU. It was then viewed as one of the greatest accomplishments ever to be made by the EU. However, during the latest years, the economic situation has deteriorated in several EMU member-states. This affected the whole euro-area and the current situation is referred upon as the euro-crisis. In 2011, at the time of the euro-crisis, the Heads of State or Government of the euro-area did reaffirm their full commitment to strengthen EMU.

AbstractOil rich states all over the world share a common feature. They are less likely than other states, depending on other resources, to be ruled democratically. In this essay Saudi Arabia has been studied with the purpose of trying to find which mechanisms that lie behind why oil rich states do not have institutions or institutional change that promotes democracy.Saudi Arabia has the world's largest known reservoir of oil. The oil brings huge revenue each year to the Saudi Arabian government. Why have Saudi Arabia not developed democratically when their economic growth suggests that to be a natural step? Under the framework of historical institutionalism and Path dependency theory, I have used process tracing trying to track the mechanisms behind Saudi Arabia's authoritarian rule down.

This essay brings up how experienced texture artists in game development can get comfortable in their workflow and therefore not spend time on learning new techniques that in the end could be more efficient. We base this on theories that people often choose the Path of least resistance, which in the case of an experienced texture artist would be the Path they have learned and are comfortable with. We also talk about the popularity of Photoshop and that many of today?s texture artists in the game industry are using it and that this could be because Photoshop was one of the first programs that could be used well for texturing. Because of this many learned to use it and stuck by it and then taught Photoshop to new texture artists because that is the program that they know.

Järnvägen transporterar människor samt gods billigt och miljövänligt. I Sverige identifierar Trafikverket flera alternativa sträckningar när de planerar en ny järnväg. Landskapets karaktär, miljöförhållanden, geologi, tätortsstruktur, befolkningsutveckling, resande och transporter är exempel på kriterier som kan påverka beslutet om var dessa sträckningar ska placeras. Geografiska Informationssystem (GIS) kan standardisera processen för att identifiera flera möjliga korridorer.Syftet med detta examensarbete är att ge rekommendationer på hur GIS, särskilt cost Path och känslighetsanalys, kan användas vid planering av nya järnvägskorridorer. Ett testfall i Blekinge län valdes för att illustrera potentialen i dessa metoder.

Due to deficiency in dementia care, the government has commissioned the National Board of Health and Welfare to develop national guidelines for health care services to people with dementia and support for their relatives. It has been allocated stimulus funds that may be applied for to work on improvements in dementia care. In August 2010 these guidelines formed the basis for a decision made that collaboration would take place between the county and the municipalities regarding dementia care in Halland, named Anna's Path. The aim of this study is to investigate, analyse and describe how our respondents in the project Anna?s Path are planning and preparing for the implementation of the registry of quality BPSD - Behavioural and Psychological Symptoms of Dementia.

The Go Down Arts Centre is a proposal for a new building to an existing organisation in Nairobi, Kenya. The proposal relates to the scale of the city by making a statement on a future urban Path, and by welcoming the city in to the building. The proposal houses both activities affiliated to Go Down, such as studios and rehersal rooms, as well as opportunities for the visitor to meet and interact with the culture produced at Go Down, both in formal and informal settings. The building is closed to its surroundings, apart from a grand entrance towards the urban Path. There, the city passes through the building to an inner courtyard, where the communication to all the rooms and activities takes place.

The purpose of this essay was to compare the Swedish and the Japanese pension system and see if there were any big differences or similarities. I was looking for answers to such questions as if the systems were modelled with the problematic demographic situation in mind and also how these two countries had tried to manage the problems. Path dependency was also a central conception when I studied the reforms of the two pension systems. I mainly used literature and Internet sources in my study. There were many books on the Swedish pension system and the debates that had been going on since the 80's.

Modern air battles are very dynamic and fast, and put extreme pressure on pilots. In some unpredictable situations, like new discovered threats or mission plan deviation because of enemy aircraft, the pilots might need to replan their predefined flight route. This is very difficult, if not impossible, to do since numerous factors affect it. A system that can help the pilots to do such a thing is needed. Previous work in this field has involved methods from artificial intelligence like A*-search.

Within telecommunication and routing of tra?c in IP-networks a protocol named?Open Shortest Path First? (OSPF) is widely used. This means that a server dealswith the routing over a network with given weights by calculating shortest Paths touse for routing. If we assume that a desired tra?c pattern is given the problem isto ?nd out if it is possible to set the weights so that the desired tra?c pattern is apart of a shortest Path graph.