Decision support is needed within design processes in order to take into account all the aspects of life cycle assessments (LCA). In order to develop appropriate tools for decision support in design processes, it is necessary to found them on an understanding of design. The framework of methodical design as developed at the University of Twente is extended to integrate the specific LCA aspects....

rumi’s masnavi is one of the great resources of religious and moral understandings. behind its verses, there are lots of valuable learning and counsels. by studying its form in a more profound way, we can go through the meaning of the first layer to the meaning of the second layer where we can find these learning. in this paper, we consider one of the stories of this book entitled: a king who a...

This master’s project addresses the obstacle avoidance problem in difficult scenarios in three-dimensional workspaces. The main contribution of this project is the theoretical extension of the ObstacleRestriction Method (ORM) in two dimensions to work in 3D workspaces. This master’s thesis describes a reactive obstacle avoidance technique to drive a robot in dense, cluttered and complex environ...

This paper generalizes the concept of velocity obstacles [3] to obstacles moving along arbitrary trajectories. We introduce the non-linear velocity obstacle, which takes into account the shape, velocity and path curvature of the moving obstacle. The non-linear v-obstacle allows selecting a single avoidance maneuver (if one exists) that avoids any number of obstacles moving on any known trajecto...

In this paper we discuss a theoretical model for the interfacial profiles of progressive non-linear waves which result from introducing a triangular obstacle, of finite height, attached to the bottom below the flow of a stratified, ideal, two layer fluid, bounded from above by a rigid boundary. The derived equations are solved by using a nonlinear perturbation method. The dependence of the inte...