One of the applications where the use of robots can be beneficial is Wilderness Search and Rescue (WiSAR), which involves the search for a possibly mobile but non-trackable lost person (i.e., the target) in wilderness environments. A mobile target implies that the search area grows continuously and potentially without bound. This fact, combined with the presence of typically rugged, varying terrain and the possibility of inclement weather, poses a considerable challenge to human Search and Rescue (SAR) personnel with respect to the time and effort required to perform the search and the danger entailed to the searchers. Mobile robots can be advantageous in WiSAR due to their ability to provide consistent performance without getting tired and their lower susceptibility to harsh weather conditions compared to humans. Thus, a coordinated team of robots that can assist human SAR personnel by autonomously performing searches in WiSAR scenarios would be of great value. However, to date, a suitable multi-robot coordination methodology for autonomous search that can satisfactorily address the issues relevant to WiSAR is lacking. The objective of this Dissertation is, thus, to develop a methodology that can autonomously coordinate the search strategy of a multi-robot team in wilderness environments to locate a moving target that is neither continuously nor intermittently observed during the search process. Three issues in particular are addressed: (i) target-location prediction, (ii) robot deployment, and (iii) robot-path planning. The corresponding solution approaches devised to address these issues incorporate the influence of varying terrain that may contain a priori known and unknown obstacles, and deal with unique target physiology and psychology as well as found clues left behind by the target. The solution methods for these three tasks work seamlessly together resulting in a tractable MRC methodology for autonomous robotic WiSAR. Comprehensive simulations have been performed that validate the overall proposed methodology. Moreover, the tangible benefits provided by this methodology were further revealed through its comparison with an alternative search method.

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A heuristic approach to the application of bandwidth-oriented signal coordination is proposed based on a system partition technique. The proposed approach divides a large signalized arterial into subsystems based on clustering results considering factors such as block distance and turning movements. Each subsystem is optimized to achieve the maximum bandwidth efficiency. Evaluation of the system includes two parts, THOS (through opportunity) comparison and simulation evaluation. Two case studies are presented to illustrate how the proposed approach can be applied, and the influence of clustering method on signal coordination is presented with comparison of three scenarios, no partition, 2 clusters and 3 clusters. Evaluation of the case study shows that clustering method is beneficial in improving progression bandwidth, bandwidth efficiency, bandwidth attainability and THOS. Clustering is good for signal coordination in that either 2 clusters or 3 clusters will result in better performance measures that no partition. However, clustering is not always good for signal coordination in certain conditions. Though bandwidth and bandwidth efficiency of each sub-system can be improved after partition, control delay or number of stops for the corridor might be increased instead for certain conditions of the entire corridor. Whether or not clustering method can be used to partition a signalized system for the purpose of better signal coordination depends on specific traffic and geometric conditions of the corridor. When bandwidth capacity is exceeded by demand, bandwidth optimization should better give way to delay-based optimization strategies.

Abstract Methyldiphenylphosphonium cyclopentadienylide, C5H4PMePh2 (II), has been synthesized and characterized spectroscopically and crystallographically, and has been found to exhibit properties consistent with the zwitterionic structure IIb. New group 6 complexes, (η5-C5H4PMePh2)M(CO)3, have been synthesized and fully characterized. Comparisons of ν(CO) of these complexes with those of the isoelectronic (η6-C6H6)M(CO)3 and [(η5-C5H5)M(CO)3]- suggest that the electron donating ability of the ylide is between that of the cyclopentadienyl anion (Cp-) and benzene, but closer to Cp-. The electronic structures of II and of (η5- C5H4PMePh2)Cr(CO)3 have been investigated using ab initio methodologies. Thermal and photochemical substitutions of the CO ligands of (η5-C5H4PMePh2)M(CO)3 (M = Cr, Mo) by equimolar amounts of PMe3 and PPh3 were not observed, but the ylide is displaced photochemically from (η5-C5H4PMePh2)Mo(CO)3 by excess PMe3 to form fac- Mo(CO)3(PMe3)3 while (η5-C5H4PMePh2)Mo(CO)3 reacts with I2 to form [(η5- C5H4PMePh2)Mo(CO)3I]I. One electron oxidations of (η5-C5H4PMePh2)M(CO)3 (M = Cr, Mo, W) have been performed to give the cationic radicals [(η5-C5H4PMePh2)M(CO)3]+, which undergo dimerization to give dicationic metal-metal bonded dimers ((η5-C5H4PMePh2)M(CO)3)2 2+ in the solid state. These complexes have been fully characterized spectroscopically and crystallographically. It has been determined that the chromium dimer ((η5- C5H4PMePh2)Cr(CO)3)2 2+ undergoes dissociation extensively in solution to the persistent radical cation monomer (η5-C5H4PMePh2)Cr(CO)3 +, but that the heavier metal analogues iii ((η5-C5H4PMePh2)M(CO)3)2 2+ (M = Mo, W) dissociate very little, if at all. The Cr-Cr bond distance of the chromium complex is 3.3509(7) Å, which is the longest Cr-Cr bond distance known for a compound not containing some type of ligand bridging the metalmetal bond. The hitherto unknown indenyl-derived ylide, C9H6PMePh2, has been synthesized and characterized spectroscopically and crystallographically. The chromium tricarbonyl complex of this ligand, (η5-C9H6PMePh2)Cr(CO)3, has been synthesized and characterized spectroscopically and crystallographically. This complex is a mixture of two isomers exhibiting planar chirality generated upon coordination of the ligand. This complex represents the first structurally characterized phosphorus noncyclopentadienylide coordinated in an η5 manner. The spectroscopic and crystallographic behaviour of C9H6PMePh2 demonstrates that this ylide behaves much like the related cyclopentadienylides. / Thesis (Ph.D, Chemistry) -- Queen's University, 2007-09-07 11:46:39.391

Professional furniture movers must carry objects of all shapes, sizes and weights. When carrying boxes between a house and the moving van, professional movers will carry boxes two different ways. The first way is holding the box in their hands in front of their body, and the second way is holding the box behind them and leaning forward so the box can rest on their backs while walking. The Mover’s Assistive Device (MAD) is an aid developed to decrease the effort of movers when carrying boxes and has been shown to reduce the amount of needed grip strength. The goals of this research were to compare the effects of technique (carrying in front or behind the body) as well as the effects of using the MAD on the way movers coordinate their 1) legs and 2) trunk and hips. Movement was tracked using a camera system and reflective markers attached to the participants. In study 1 ten male participants completed the four different carrying conditions on a treadmill. The different segments of the leg did not change coordination patterns between the front and back carries, however, the coordination was more stable (similar across all steps) in the front carry. When participants used the MAD, their legs moved in a more coordinated motion than when they did not use the MAD, and is considered to be useful in maintaining balance and control while carrying a box. In study 2 thirteen male participants completed the four different carrying conditions on a treadmill. The trunk and the hips did not change coordination between the front and back carries, but they became more coordinated when participants were wearing the MAD. A more coordinated motion between the trunk and hips is suggested to be beneficial to low back health. / Thesis (Master, Kinesiology & Health Studies) -- Queen's University, 2012-10-01 21:43:33.045

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THE EFFICIENCY OF KINESITHERAPY IN ORDER TO REHABILITATE THE MOVEMENT, COORDINATION AND BALANCE IN PRESENCE OF THE PROLONGED ISCHEMIC NEUROLOGICAL DEFICIENCY Izolda Jurjoniene Summary Key words: basic/ functional treatment, balance, coordination, movement The disorder of the brain blood circulation is a very important medical and social problem in Lithuania. Every year because of these diseases more than 2000 people become disabled ( V.Zulys, 1995). The brain circulation disorder is one of the most frequent and economically detrimental diseases. Kinesitherapy as one of the means of rehabilitation plays a very important and often an essential role. The training of movement is an urgent task of the theory and practice of kinesitherapy. The analysis of movement in neurophysiological aspect creates wider possibilities for patients’ testing and treatment. It can be maintained that in order to rehabilitate the disorders of the movement, coordination and balance of the patients in presence of the prolonged temporal ischemic brain stroke functional treatment is more efficient than basic one. The aim of this study is to establish the efficiency of kinesitherapy in order to rehabilitate the movement, coordination and balance of the patients in presence of the prolonged temporal ischemic brain stroke. The tasks to reach the aim of this study were: 1) to establish the efficiency of the basic and functional kinesitherapic treatment in order to rehabilitate the movement of the... [to full text]

This thesis documents the successful syntheses of six novel 2,2':6',2"-terpyridine-amine based polydentate ligands and a range of mono-, di-, and polynuclear complexes derived from them. The ability of some dinuclear complexes to affect the rate of hydrolysis of the phosphate diester group in the DNA model compound, bis-p-nitrophenyl phosphate (BNPP) has also been explored. Owing to the presence of two potential ligating groups in each polydentate ligand, a number of dinuclear, tetranuclear and serendipitous supramolecular architectures have been produced and characterised during this research. The polydentate ligands were synthesised by stepwise functionalisation of the progenitor ligand, 4'-(2"'-toluyl)-2,2':6',2"-terpyridine (L2.1), at its ortho methyl position via free radical bromination, and where various amine groups were appended by nucleophilic substitution reactions. The detailed ligand syntheses, and characterisation are discussed in Chapter 2, along with the crystal structures of some ligands. Chapter 3 describes coordination chemistry of 4'-(2"'-toluyl)-2,2':6',2"-terpyridine with transition metal ions. Thirteen new complexes of Ni(II), Cu(II), Zn(II) and Ag(I) are reported, where Ag(I) produced a striking spiral shaped polymer with L2.1 having unusual „hyperdentate‟ nitrogen atoms. Two polydentate ligands, 4'-[2"'-{(2-pyridylmethyl)aminomethyl}phenyl]-2,2':6',2"-terpyridine, L2.3, and 4'-[2"'-{bis(2-pyridylmethyl)aminomethyl}phenyl]-2,2':6',2"-terpyridine, L2.4, produced six different dinuclear and tetranuclear metal complexes (Chapter 4). The Zn(II) dinuclear complexes were used to study kinetics of hydrolysis of BNPP, and the enhanced rates were reported compared to the analogous mononuclear complexes. The detailed experimental methodology and results are discussed in Chapter 5. The most interesting outcome of this research was formation of the box and wheel shaped complexes, where the ligand L2.3 binds with different metal ions via different coordination modes. The box shaped tetranuclear complexes were synthesised deliberately via structural control over the coordination chemistry of terpyridine-type site of L2.3, where the coordination flexibility of the pendent picolylamine-type site of the ligand was used to bind with other metal ions. The tetranuclear [M¹₂M²₂(L2.3)₄X₂]⁶⁺ box shaped complexes were formed when two divalent M¹ ions bridge between the ligands to produce octahedral bis-terpyridine type complex M¹(L2.3)₂, and then two divalent M² ions link two M¹(L2.3)₂ units together through picolylamine binding sites, where X = Cl⁻, Br⁻, CH₃COO⁻; M¹ = Fe(II), Zn(II), Ni(II); M² = Zn(II), Cu(II). The bis-bidentate bridging ligand terephthalate was also deliberately encapsulated in the middle of Fe₂Zn₂L2.3 box to produce the complex where X₂ = terephthalate. These structures invite speculation that it may be possible to bind and react molecules within these boxes. In a more fortuitous outcome, Ni(II) ions were found to bind to both sites of L2.3 to give, exclusively, an unprecedented decanuclear wheel-shaped structure. A halide ion occupies the central position in the wheel, with Br⁻ being preferred over Cl⁻. The detailed crystal structures, and properties of the wheels shaped Ni₁₀(L2.3)₁₀ complexes are discussed in Chapter 6.

Le syndrome de mort subite du nourrisson (SMSN), les malaises graves du nourrisson (ALTE) et les apnées du prématuré sont des pathologies sévères et/ou fréquentes chez le nouveau-né et peuvent être à l'origine d'expériences dramatiques pour les parents. Les observations cliniques et les données actuelles de la littérature nous portent à croire que la laryngite de reflux pourrait être impliquée via son interaction avec la fonction laryngée, incluant les chémoréflexes laryngés, la déglutition et la coordination respiration-déglutition. Notre objectif était d'étudier l'impact d'une laryngite de reflux induite expérimentalement sur la fréquence des déglutitions non nutritives (DNN) et sur la coordination respiration-déglutition dans notre modèle unique d'agneau nouveau-né. Douze agneaux nouveau-nés à terme ont été randomisés dans un groupe contrôle (n=6) et un groupe laryngite (n=6). Après une instrumentation chirurgicale, 2mL d'une solution de pepsine-HCl à pH 2,0 (laryngite) ou de salin 0,9% (contrôle) étaient instillés au niveau de la muqueuse laryngée trois fois par jour pour huit jours. Au dernier jour, une polysomnographie de quatre heures était faite pour enregistrer les DNN et les paramètres cardio-respiratoires. Deux techniques d'analyse complémentaires (qualitative et quantitative) de la coordination respiration-déglutition ont été utilisées sur les données obtenues. Tous les larynx ont été recueillis pour étude histologique et l'application d'un score d'inflammation. Une laryngite de reflux significative d'intensité légère à modérée a été induite dans le groupe laryngite (p= 0,02). Une diminution significative des épisodes de bouffées de DNN en sommeil agité (REM) (p=0,03), ainsi qu'une diminution significative des fréquences cardiaque et respiratoire de base (p < 0,0001) ont été observées dans le groupe laryngite. Aucune altération de la fréquence des DNN isolées (p = 0,9) ou de la coordination respiraton-déglutition (0,3 < p < 1,0) n'a été retrouvée. Nos résultats suggèrent qu'une laryngite de reflux diminue la fréquence des bouffées de DNN en REM, en plus d'augmenter le tonus parasympathique de base dans notre modèle d'ovin nouveau-né.

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