The problem of globally stabilizing the attitude of a rigid body is considered. Topological and geometric properties of the space of rotations relevant to the stabilization problem, are discussed. Chevalley's exponential coordinates for a Lie group are used to represent points in this space. An appropriate attitude error is formulated and used for control design. A control Lyapunov function app...

when any extraordinary sacrifice or expenditure is intentionally and reasonably made or incurred for the common safety for the purpose of preserving from peril, the property (ship and cargoes) involved in a common maritime adventure, the interests saved , are required to make contributions in general average to the owner of lost or damaged property . general average rules originates from ancien...

In the field of safety, accidents and injuries, laws and regulations can either ensure a passive protection of persons, or need their active participation. In the latter situation, beside the use of health indicators (rates of fatalities, accidents, injuries), the evaluation will also focus on changes of behaviour. In the case of mandatory restraint devices for young children, the evaluation of...

When voters in two US states approved the recreational use of marijuana in 2012, public debates for how best to promote and protect public health and safety started drawing implications from states' medical marijuana laws. However, many of the discussions were simplified to the notion that states either have a medical marijuana law or do not; little reference was made to the fact that legal pro...

Research about the nature of psychology, its subject matter, its level of analysis, its scientific laws, its relationship with other disciplines, and its social relevance has been a matter of great concern and interest during the development of psychology. This problem can be analyzed in terms of the dilemmas of the psychological discipline, which have been choice points, crossroads, alternativ...

At many circumstances, in heat exchange processes several exchangers were used with different cost laws due to their pressure ratings, materials of construction and exchange3r types. In such circumstances traditional methods of pinch technology can not be led to minimum total annual cost may cause some other disadvantages like more complexity or higher maintenance. In this research work a n...

Legal compliance in software systems is one of the most important problems in the field of software engineering. Laws, regulations, and organizational policies describe societal values that impose serious challenges and requirements to software engineers building systems. My dissertation examines how software engineers can ensure software requirements comply with relevant laws, regulations, and...