This master thesis discusses about designing and realization of a control system for a 6-axis robotic arm. The controlling system consist in a microcontroller LPC1756 with its firmware implemented under the Real-time operating system FreeRTOS and GUI application, running on a PC. The Microcontroller communicates with the PC through a serial line via SLIP protocol. Theoretically, it will deal with an explanation of the important terms, and describes the used robotic arm and its controlling unit. The practical part describes kinematics problems solving, firmware’s realization and GUI application.

Introdução: A HD está presente em aproximadamente 50% dos pacientes com OIV devido HPB e 30% dos casos não apresentarão melhora após o tratamento cirúrgico. Até o momento, nenhuma característica clínica pode predizer acuradamente quais pacientes serão beneficiados. Neste estudo nós analisamos o papel de seis marcadores moleculares na resolução da HD após a RTUP. Método: Um estudo prospectivo e controlado analisou 43 pacientes com OIV devido HPB, submetidos a RTUP de 2011 a 2012. O grupo controle foi composto por espécimes de músculo vesical de 10 pacientes com menos de 60 anos, submetidos a prostatectomia radical devido câncer de próstata, apresentando IPSS menor que 8 e volume prostático menor que 30 gramas. Todos os pacientes realizaram estudo urodinâmico no pré-operatório e com 6 meses de pós-operatório. Nós analisamos a presença, o período de início (primeira vs segunda metade do enchimento vesical) e a amplitude ( 40 cmH2O) das CVIs, assim como sua resolução após 6 meses de tratamento cirúrgico. Uma biópsia de músculo vesical foi efetuada no final da RTUP para análise do perfil de expressão gênica do NGF, NGFr, VEGF, CD-105, CHRM2 e CHRM3. Para este propósito foi utilizado a técnica de qRT-PCR. Além disso, correlacionamos variáveis clínicas pré-operatórias com a evolução da HD no pós-operatório. Resultados: A idade média dos pacientes foi 63 anos (50 a 75). A HD estava presente em 21 (48,8%) pacientes. De acordo com aferições pré-operatórias, a média de expressão gênica do NGF foi 3,3 vezes maior nos pacientes que iniciaram CVI precocemente quando comparados àqueles que iniciaram as contrações na fase final de enchimento vesical (p=0,047). A presença e a amplitude das CVIs não apresentaram correlações estatísticas com os genes estudados. Em relação a resolução da HD, a média de expressão de CHRM2 foi 2 vezes maior entre os pacientes que evoluíram com melhora da HD (p=0,072). Após 6 meses da RTUP, 77,8% dos pacientes que possuíam expressão aumentada (maior que a mediana) de CHRM2 CHRM3 evoluíram com resolução da HD (p=0,030). Além disso, pacientes com menos de 60 anos obtiveram uma probabilidade 5 vezes maior de evoluírem com melhora da HD (p=0,056) após 6 meses do tratamento cirúrgico. Conclusão: Vias neuronais parecem estar relacionadas com o período de início das CVIs durante a fase de enchimento vesical. A idade dos pacientes e a expressão de receptores muscarínicos pode ter um papel prognóstico na resolução da hiperatividade após o tratamento cirúrgico. A análise de um número maior de pacientes é necessário para confirmar estes resultados / Objective: Non-inhibited contractions (NIC) are present in about 50% of patients with bladder outlet obstruction (BOO) due to benign prostatic hyperplasia (BPH) and 30% of cases persist after surgery. To date, no clinical characteristic can predict accurately which patients are going to improve. We analyzed the role of six detrusor molecular markers in the resolution of NIC after transurethral resection of the prostate (TURP). Methods: We performed a prospective and controlled analysis of 43 patients with BOO due to BPH who underwent TURP from 2011 to 2012. The control group comprised 10 bladder specimens from patients younger than 60 years who underwent radical prostatectomy with an IPSS < 8 and prostate volume < 30 grams. All patients underwent urodynamic analysis pre and post operatively after 6 months. We analyzed the presence, time to occurrence (first vs second half of the filling phase) and grade (40 cmH2O) of NIC as well as its resolution after 6 months of surgery. A biopsy of the bladder muscle was performed at the end of TURP for analysis of nerve growth factor receptor (NGFr), nerve growth factor (NGF), vascular endothelial growth factor (VEGF), endoglin (CD105), muscarinic cholinergic receptor 2 (CHRM2) and muscarinic cholinergic receptor 3 (CHRM3) genes expression. For this purpose, we used the quantitative real time polymerase chain reaction method (qRT-PCR). Results: Mean patient age was 63 years (50 to 75). NIC were present in 21 (48.8%) patients. According to pre-operative measures, NGF gene expression was 3.3 times greater in patients who presented early NIC as compared to those who presented late contractions (p=0.047). The presence or grade of NIC failed to present statistical correlations with the genes. With regard to the outcome, CHRM2 expression was 2.0 times greater among patients who presented resolution of NIC (p=0.072). After 6 months of TURP, 77,8% of patients with DO resolution had increased expression of CHRM2 and CHRM3 genes compared with others cases (p=0,030). Additionally, patients younger than 60 years obtained a 5.0 times more likely to evolve with improved NIC (p=0,056). Conclusion: Neural pathways seem to be more important in the time to NIC occurrence during the filling phase. Muscarinic cholinergic receptors seem to have a prognostic value in the resolution of NIC after surgery. Analysis of greater number of patients is necessary to confirm these results

Introdução: A HD está presente em aproximadamente 50% dos pacientes com OIV devido HPB e 30% dos casos não apresentarão melhora após o tratamento cirúrgico. Até o momento, nenhuma característica clínica pode predizer acuradamente quais pacientes serão beneficiados. Neste estudo nós analisamos o papel de seis marcadores moleculares na resolução da HD após a RTUP. Método: Um estudo prospectivo e controlado analisou 43 pacientes com OIV devido HPB, submetidos a RTUP de 2011 a 2012. O grupo controle foi composto por espécimes de músculo vesical de 10 pacientes com menos de 60 anos, submetidos a prostatectomia radical devido câncer de próstata, apresentando IPSS menor que 8 e volume prostático menor que 30 gramas. Todos os pacientes realizaram estudo urodinâmico no pré-operatório e com 6 meses de pós-operatório. Nós analisamos a presença, o período de início (primeira vs segunda metade do enchimento vesical) e a amplitude ( 40 cmH2O) das CVIs, assim como sua resolução após 6 meses de tratamento cirúrgico. Uma biópsia de músculo vesical foi efetuada no final da RTUP para análise do perfil de expressão gênica do NGF, NGFr, VEGF, CD-105, CHRM2 e CHRM3. Para este propósito foi utilizado a técnica de qRT-PCR. Além disso, correlacionamos variáveis clínicas pré-operatórias com a evolução da HD no pós-operatório. Resultados: A idade média dos pacientes foi 63 anos (50 a 75). A HD estava presente em 21 (48,8%) pacientes. De acordo com aferições pré-operatórias, a média de expressão gênica do NGF foi 3,3 vezes maior nos pacientes que iniciaram CVI precocemente quando comparados àqueles que iniciaram as contrações na fase final de enchimento vesical (p=0,047). A presença e a amplitude das CVIs não apresentaram correlações estatísticas com os genes estudados. Em relação a resolução da HD, a média de expressão de CHRM2 foi 2 vezes maior entre os pacientes que evoluíram com melhora da HD (p=0,072). Após 6 meses da RTUP, 77,8% dos pacientes que possuíam expressão aumentada (maior que a mediana) de CHRM2 CHRM3 evoluíram com resolução da HD (p=0,030). Além disso, pacientes com menos de 60 anos obtiveram uma probabilidade 5 vezes maior de evoluírem com melhora da HD (p=0,056) após 6 meses do tratamento cirúrgico. Conclusão: Vias neuronais parecem estar relacionadas com o período de início das CVIs durante a fase de enchimento vesical. A idade dos pacientes e a expressão de receptores muscarínicos pode ter um papel prognóstico na resolução da hiperatividade após o tratamento cirúrgico. A análise de um número maior de pacientes é necessário para confirmar estes resultados / Objective: Non-inhibited contractions (NIC) are present in about 50% of patients with bladder outlet obstruction (BOO) due to benign prostatic hyperplasia (BPH) and 30% of cases persist after surgery. To date, no clinical characteristic can predict accurately which patients are going to improve. We analyzed the role of six detrusor molecular markers in the resolution of NIC after transurethral resection of the prostate (TURP). Methods: We performed a prospective and controlled analysis of 43 patients with BOO due to BPH who underwent TURP from 2011 to 2012. The control group comprised 10 bladder specimens from patients younger than 60 years who underwent radical prostatectomy with an IPSS < 8 and prostate volume < 30 grams. All patients underwent urodynamic analysis pre and post operatively after 6 months. We analyzed the presence, time to occurrence (first vs second half of the filling phase) and grade (40 cmH2O) of NIC as well as its resolution after 6 months of surgery. A biopsy of the bladder muscle was performed at the end of TURP for analysis of nerve growth factor receptor (NGFr), nerve growth factor (NGF), vascular endothelial growth factor (VEGF), endoglin (CD105), muscarinic cholinergic receptor 2 (CHRM2) and muscarinic cholinergic receptor 3 (CHRM3) genes expression. For this purpose, we used the quantitative real time polymerase chain reaction method (qRT-PCR). Results: Mean patient age was 63 years (50 to 75). NIC were present in 21 (48.8%) patients. According to pre-operative measures, NGF gene expression was 3.3 times greater in patients who presented early NIC as compared to those who presented late contractions (p=0.047). The presence or grade of NIC failed to present statistical correlations with the genes. With regard to the outcome, CHRM2 expression was 2.0 times greater among patients who presented resolution of NIC (p=0.072). After 6 months of TURP, 77,8% of patients with DO resolution had increased expression of CHRM2 and CHRM3 genes compared with others cases (p=0,030). Additionally, patients younger than 60 years obtained a 5.0 times more likely to evolve with improved NIC (p=0,056). Conclusion: Neural pathways seem to be more important in the time to NIC occurrence during the filling phase. Muscarinic cholinergic receptors seem to have a prognostic value in the resolution of NIC after surgery. Analysis of greater number of patients is necessary to confirm these results

Lorraine and Savoie were both occupied twice by French armies during the personal rule of Louis XIV. Lorraine was initially invaded and occupied in 1670 to support the French strategic and logistic position in the Dutch War, yet due to political expediency this developed into a policy of outright annexation. The French relinquished Lorraine due to international pressures in 1697, but partially reoccupied it from 1702 to 1714, again as a result of strategic and logistical necessity. Savoie was occupied from 1690 to 1696 and again from 1703 to 1713 as a response to successive breakdowns in Franco-Savoyard relations, and to guarantee the south-eastern frontier of the kingdom. There was no pre-conceived or uniform policy practiced by the French when it came to the occupations of these territories, and these instead developed on the basis of events and pressures that were often beyond the control of the French government. In essence, the principal French approach to occupied territories was paternalistic, their main priority being to uphold Louis’s newly-asserted sovereignty and pay the costs of the occupation while impressing upon the local elites the benefits of collaboration and the pitfalls of continued loyalty to their old ruler. The French became more sophisticated generally towards occupied territories as the reign progressed, at least as far as circumstances allowed. In sum, the key variables that influenced how the French handled these lands, other than time and place, were security issues, local loyalties, and the expectation of either retention by France or restitution to the original sovereign.

This thesis is focused on a firmware for robotic vehicle based on the ARM Cortex-M3 architecture that is running a real-time operating system (RTOS). Theoretical part describes available solutions of embedded RTOS and concrete HW implementation of the robotic vehicle. There is also comparison of the three selected RTOS with their measurements. Result of this thesis is base firmware compounded by a program modules that controls HW parts. There is also a sample PC and firmware application that extends base firmware. This sample application is able to communicate with robotic vehicle, control wheel motion and measure process data.

This thesis deals with an electronic circuit and a PCB of a modular RGB LED display with the Ehernet interface. Firstly, author describes a RGB colour model, features of RGB LED displays, ways of control them. The next chapter contains a short description of the Ethernet interface, UDP and TCP protocols and a lwIP TCP/IP stack. The last theoretical chapter is an introduction to ARM Cortex-M3 and Cortex-M4 based microcontrollers. The next chaper is deals with a hardware design of the modular RGB LED display. The device is designed to be modular. Individual devices can be combosed together and create a larger display. Data from the Ethernet interface will be displayed on the RGB LED matrix, resolution of the matrix is 32 × 32 (1024 diodes). A refresh frequency is 100 Hz, a color depth is High color (16 bits) and a scanning 1/16 (two rows is driven at the same time). The next chapter describes the firmware for the RGB LED display, all its logical parts including a web page. Author also created the PC application, which sends pictures using UDP protocol to individual modules.

This thesis describes playing draughts game by 6 axis manipulator Lynxmotion AL5D controlled by ARM Cortex M3 MCU. It involves algorithms for image recognition, artificial intelligence and algorithms for controlling 6 axis manipulator in real-time.

Detailed chemical abundances of globular clusters in the Milky Way and M31 (the Andromeda Galaxy) are presented based on analyses of high resolution spectra. The unusual Milky Way cluster Palomar 1 (Pal 1) is studied through spectra of individual red giant branch stars; these abundances show that Pal 1 is not a classical globular cluster, and may have been accreted from a dwarf satellite of the Milky Way. The Milky Way globular clusters 47 Tuc, M3, M13, NGC 7006, and M15 are studied through their integrated light (i.e. a single spectrum is obtained for each cluster) in order to test high resolution integrated light analyses. The integrated abundances from these clusters reproduce the average abundances from individual stellar analyses for elements that do not vary within a cluster (e.g. Fe, Ca, and Ni). For elements that do vary within the clusters (e.g. Na and Mg) the integrated abundances fall within the observed ranges from individual stars. Certain abundance ratios are found to be extremely sensitive to uncertainties in the underlying stellar populations, such as input models, empirical relations to determine atmospheric parameters, interloping field stars, etc., while others (such as [Ca I/Fe I]) are largely insensitive to these effects. With these constraints on the accuracy and precision of high resolution integrated light analyses, detailed abundances are obtained for seven clusters in the outer halo of M31 that were recently discovered in the Pan-Andromeda Archaeological Survey (PAndAS) and are likely to have originated in dwarf galaxy satellites. Three clusters are relatively metal rich ([Fe/H] > −1.5) for their locations in the outer halo; their chemical abundances suggest that they likely originated in one or more fairly massive dwarf satellities. The other four are more metal-poor, and may have originated in less massive dwarf satellites. These results indicate that the Milky Way and M31 have both experienced some amount of accretion from dwarf satellites, though M31 may have had a more active accretion history. / Graduate

The thesis examined the comprehensive causal relationship between the banking sector, stock market development and economic growth in a multi-variate framework using Zimbabwean time series data from 1988 to 2015. Three banking sector development proxies (total financial sector credit, banking credit to private sector and broad money M3) and three stock market development proxies (stock market capitalization, value traded and turnover ratio) were employed to estimate both long and short run relationships between banking sector, stock market and economic growth in Zimbabwe. The study employs the vector error correction model (VECM) as the main estimation technique and the autoregressive distributed lag (ARDL) approach as a robustness testing technique. Results showed that in Zimbabwe a significant causal relationship from banking sector and stock market development to economic growth exists in the long run without any feedback effects. In the short run, however, a negative yet statistically significant causal relationship runs from economic growth to banking sector and stock market development in Zimbabwe. The study further concludes that there is a unidirectional causal relationship running from stock market development to banking sector development in Zimbabwe in both short and long run periods. Nonetheless this relationship between banking sector and stock markets has been found to be more significant in the short run than in the long run. The thesis adopts the complementary view and recommends for the spontaneity implementation of monetary policies as the economy grows. Monetary authorities should thus formulate policies to promote both banks and stock markets with corresponding growth in Zimbabwe’s economy. / Business Management / M. Com. (Business Management)

The Hispanic phenomenon of the pronunciamiento, particularly prominent in nineteenth-century Mexico, is just one example of an insurrectionary political act that has contributed to the traditional portrait of chaos and disorder that has tainted much of our interpretation of the country‟s socio-political history. Once considered to be a violent, non-ideological, praetorian military act, recent studies reveal that the pronunciamiento was primarily a written petition that sought to further political proposals or address particular grievances through negotiation (albeit often backed by the threat of force). Although the military were largely the most visible leaders of the pronunciamiento, a plethora of political and civilian actors and interest groups partook in the practice with the intention of having their grievances/demands attended to by the national government. As well as being viewed as one of the causes of chronic instability, the pronunciamiento was also the primary mechanism employed to bring about tangible political changes throughout the country. At the local level of San Luis Potosí, the pronunciamiento seed also germinated and was used by all political groups and factions in their negotiations with local and national authorities alike. Local interests were often at the heart of these negotiations and so dictated the nature of the pronunciamiento in San Luis Potosí. This dissertation will explore and analyse the pronunciamiento practice, its origins, dynamics and nature, from the regional perspective of San Luis Potosí. Bearing in mind that the pronunciamiento was borne out of, and operated in a specific socio-political-economic context of constitutional disarray and transition, its analysis will also further our understanding of the broader socio-political culture not only of San Luis Potosí, but of Mexico in general. This in turn will contribute to the acknowledged need for reinterpretation and revaluation of the tumultuous period of early nineteenth-century Mexico. It will expose the period as an age of democratic revolutions; of intense political debate between emergent political groups and factions, who increasingly used the pronunciamiento to further an ideological stance, represent a spectrum of interests and force some kind of political change both at a national and regional level when all other constitutional options had been exhausted.