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The purpose of this thesis is to investigate different control strategies on a differential drive vehicle. The vehicle should be able to drive in turns at high speed and slowly when it should park next to a charger. In both these cases, good precision in both orientation and distance to the path is important. A PID and an LQ controller have been implemented for this purpose. The two controllers were first implemented in a simulation environment. After implementing the controllers on the system itself, tests to evaluate the controllers were made to imitate real-life situations. This includes tests regarding driving with different speeds in different turns, tests with load distributions, and tests with stopping accuracy. The existing controller on the system was also tested and compared to the new controllers. After evaluating the controllers, it was stated that the existing controller was the most robust. It was not affected much by the load distribution compared to the new controllers. However, the LQ controller was slightly better in most cases, even though it was highly affected by the load distribution. The PID controller performed best regarding stopping accuracy but was the least robust controller by the three. Since the existing controller has a similar performance as the LQ controller but is more robust, the existing controller was chosen as the best one.

In eukaryotes, the spliceosome is a macromolecular ribonucleoprotein machine that excises introns from pre-mRNAs through two sequential transesterification reactions. The chemistry and fidelity of pre-mRNA splicing are dependent upon a series of spliceosomal rearrangements, which are mediated by trans-acting splicing factors. One key class of these factors is the DEAH-box ATPase subfamily of proteins, whose members couple ATP hydrolysis to promote RNP structural rearrangements within the spliceosome. This is typified by Prp22, which promotes release of the spliced mRNA from the spliceosome and ensures fidelity of the second step of splicing. This role is well documented through classical biochemical and yeast genetics methods. Yet very little is known regarding the comings and goings of Prp22 relative to the spliceosome. My thesis research investigated the dynamics of Prp22 during splicing by using single-molecule fluorescence methods that allowed direct observation of these events. To do this, I helped construct a toolkit that combined yeast genetics, chemical biology and Colocalization Single Molecule Spectroscopy (CoSMoS) with in vitro splicing assays. Specifically, my thesis research consisted of CoSMoS splicing experiments in which fluorescently labeled pre-mRNA, spliceosome components and Prp22 were directly visualized and analyzed. Using these methods, I found that Prp22’s interactions with the spliceosome are highly dynamic and reversible. By simultaneously monitoring Prp22 and individual spliceosome subcomplexes, I was able to frame these Prp22 binding events in context relative to specific steps in spliceosome assembly and splicing. These experiments provide insight into how Prp22 promotes mRNA release from the spliceosome and maintains splicing fidelity.

Ship roll motion has been the subject of many studies, because of the complexities associated with this mode of ship motion, and its impact on operability, safety, and survivability. Estimation and prediction of the energy transfer and dissipation of the hydrodynamic components, added inertia and damping, is essential to accurately describe the roll motions of a ship. This is especially true for ship operations in moderate to extreme sea conditions. In these conditions, a complex process of energy transfer occurs, which alters the physical behavior of the hydrodynamic components, and ultimately affects the amplitude of ship roll motion. Bilge keels have been used on ships for nearly two centuries, to increase damping and reduce the severity of roll motions experienced by a ship in waves. Because ship motions are more severe in extreme sea conditions, large roll angles may occur. With the possibility of crew injury, cargo damage, or even capsize, it is important to understand the behavior of the roll added inertia and damping for these conditions. Dead ship conditions, where ships may experience excitation from beam, or near beam, seas present a worst case scenario in heavy weather. The behavior of a ship in this condition should be considered in both the design and assessment of seakeeping performance. In this study, hydrodynamic component models of roll added inertia and roll damping were examined and assessed to be unsuitable for accurate prediction of ship motions in heavy weather. A series of model experiments and numerical studies were carried out and analyzed to provide improved understanding of the essential physical phenomena which affect the hydrodynamic components and occur during large amplitude roll motion. These observations served to confirm the hypothesis that the existing models for roll added inertia and damping in large amplitude motions are not sufficient. The change in added inertia and damping behavior for large roll motion is largely due to the effects of hull form geometry, including the bilge keels and topside geometry, and their interactions with the free surface. Therefore, the changes in added inertia and damping must be considered in models to describe and predict roll motions in severe wave environments. Based on the observations and analysis from both experimental and numerical methods, several time-domain model formulations were proposed and examined to model hydrodynamic components of large amplitude roll motions. These time-domain formulations included an analytical model with memory effects, a piecewise formulation, and several possibilities for a bilge keel force model. Although a piecewise model for roll damping was proposed, which can improve the applicability of traditional formulations for roll damping to heavy weather conditions, a further attempt was undertaken to develop a more detailed model specifically for the bilge keel force. This model was based on the consideration of large amplitude effects on the hydrodynamic components of the bilge keel force. Both the piecewise and bilge keel force models have the possibility to enable improved accuracy of potential flow-based numerical prediction of ship roll motion in heavy weather. However, additional development remains to address issues for further practical implementation. / Ph. D.

Studien har använt ny metod för att klassificera vitryggig hackspetts skogarförutsättningar för häckande revir. 287 hektar skog värdeklassades med minstav värdeklass 1 (42 ha) och mest av värdeklass 2 (195 ha). Död ved måste ökaför att populationen av vitryggig hackspett ska öka. De åtgärder som behövergöras är ringbarkning och att minska granvolymen för att värdeklasserna ska nånästa värdeklass. Resultatet tyder på att förutsättningarna för häckningsrevir ärgoda, dock måste vissa restaureringar göras för att vitryggig hackspett skaetablera sig i området.

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Inledning: Psykoterapisamtal kan vara till hjälp för att minska lidande när en människa drabbas av dödlig sjukdom. Terapier med patienter med dödlig sjukdom kan väcka starka känslomässiga reaktioner hos terapeuten. Forskning gjord inom det psykodynamiska fältet utgår övervägande från fallstudier, varför denna kvalitativa intervjustudie skulle kunna tillföra ytterligare kunskap om hur de känslomässiga upplevelserna beskrivs av psykodynamiska terapeuter. Syftet med studien var att undersöka den psykodynamiska psykoterapeutens upplevelse av terapisamtal med patienter som drabbats av dödlig sjukdom, för att skapa en förståelse för de känslomässiga reaktionerna hos terapeuten.  Frågeställningar: Hur beskriver psykoterapeuten de känslomässiga upplevelserna i det terapeutiska samtalet med patienter med dödlig sjukdom?Vad upplever den psykodynamiska psykoterapeuten är betydelsefullt i samtalen med patienter med dödlig sjukdom?  Metod: En semistrukturerad kvalitativ intervjustudie av fem legitimerade psykodynamiska psykoterapeuter med erfarenhet av terapier med patienter med dödlig sjukdom. Materialet bearbetades med hjälp av tematisk analys.  Resultat: Studien visar att terapisamtal med patienter med döende patienter väcker starka känslomässiga reaktioner hos terapeuten där känslor av hjälplöshet var framträdande. Terapeutens hantering av de starka känslomässiga reaktionerna och relationen till sin egen dödlighet inverkade på hur terapeuten påverkades av samtalen. I en nära och känslomässig relation och med en flexibel terapeutisk ram kunde terapeuten möta patientens starka känslor i processen mot döden, där också en känsla av tacksamhet uppstod hos terapeuten.  Diskussion: Studien belyser på vilket sätt terapeuten påverkas av arbetet med patienter med dödlig sjukdom och hur terapeuten handskas med starka känslomässiga upplevelser. Betydelsen av psykoterapeutens personliga förhållningssätt och flexibla ram och vilka resurser och erfarenheter den psykodynamiska psykoterapeuten behöver för att kunna utföra detta arbete. / Introduction: Psychotherapy can be helpful in reducing suffering when a person is affected by a fatal disease. Psychotherapy with patients who suffer from fatal diseases might provoke strong emotional reactions within the therapist. Research within the field of psychodynamic therapy is predominantly based on case studies, which is why this qualitative interview study could add further knowledge about how the emotional experiences are described by psychodynamic therapists. The purpose of this study was to explore the psychodynamic psychotherapist's experience of therapies with patients who suffer from fatal disease, in order to get an understanding of the therapist's emotional reactions.  Questions: How does the psychotherapist describe the emotional experiences of the psychotherapy with patients suffering from a fatal disease? What does the psychotherapist consider to be important in psychotherapies with patients carrying a fatal disease?  Method: A semi-structured qualitative interview study was conducted with five licensed psychodynamic psychotherapists with experience in psychotherapies with patients who suffer from a fatal disease. A thematic analysis was used to organize the material.  Results: The study shows that psychotherapy with patients who suffer from a fatal disease evoke strong emotional reactions in the therapist, where feelings of helplessness were prominent. The therapist's coping with strong emotional reactions and the relationship to his own mortality affected how the therapist was affected by the therapies. In a close and emotional relationship and with a flexible therapeutic framework, the therapist was able to meet the patient's strong feelings in the process towards death, where a feeling of gratitude also arose in the therapist.  Discussion: The study discusses how the therapist is affected by the work with patients with a fatal disease and how the therapist deals with strong emotional reactions. The importance of the psychotherapist's personal approach and flexible framework and what resources and experiences the psychodynamic psychotherapist needs to be able to undertake these psychotherapies.

<p>There are several techniques and methods on how to capture data during a Live Box response in computer forensics, but the key towards these acquisitions is to keep the collected data admissible in a judicial court process. Different approaches during a Live Box examination will lead to data changes in the computer, due to the volatile nature of data stored in memory. The inevitable changes of volatile data are what cause the controversy when admitting digital evidence to court room proceedings.</p> <p>The main goal of this dissertation was to create a process model, titled Live Box Computer Preservation Response(LBCPR), that would assist in ensuing validity, reliably and accuracy of evidence in a court of law. This approach maximizes the admissibly of digital data derived from a Live Box response. </p> <p>The LBCPR was created to meet legal and technical requirements in acquiring data from a live computer. With captured Live Box computer data, investigators can further add value to their investigation when processing and analyzing the captured data set, that would have otherwise been permanently unrecoverable upon powering down the machine. By collecting the volatile data prior to conducting Dead Box forensics, there is an increased amount of information that that can be a utilized to understand the state of the machine upon collection when combined with the stored data contents. </p> <p>This study created a comparative analysis on data collection with the LBCPR method versus traditional Dead Box forensics techniques, further proving the expected results of Live Box techniques capturing volatile data. However, due to the structure of the LBCPR, there were enhanced capabilities of obtaining value from the randomization of memory dumps, because of the assistance of the collected logs in the process model. In addition, with the legal admissibility focus, there was incorporation of techniques to keep data admissible in a court of law. </p>