SCTP (Stream Control Transmission Protocol) was proposed by IETF. It shows superior extensibility and compatibility as compared to other transport layer protocols, such as TCP and UDP. In addition, it supports multi-streaming and multi-homing. Although an SCTP connection can convey many video streams from different applications, it lacks the provision of different QoS for different streams in the same association. On the other hand, more and more mobile devices are equipped with multiple network (e.g., UMTS/WLAN) interfaces to transmit packets over 3G cellular networks or wireless local area networks. This thesis presents a dynamic chunk adjustment scheme for SCTP-based video streaming in an integrated UMTS and WLAN network. The proposed scheme can support QoS guarantees for different streams in an SCTP association whenever a mobile node moves across the two networks or remains service by either network. Besides, when a mobile node roams from a WLAN to a UMTS, the proposed ¡§deassociation¡¨ capability is applied to increase the channel utilization in 3G cellular networks. Performance evaluations on NS-2 are presented to demonstrate the effectiveness and the advantage of our proposed scheme over the original SCTP.

Intracellular transport of membrane-bound vesicles and organelles is a process fundamental for many cellular functions including cell morphogenesis and signaling. The transport is mediated by ensembles of motor proteins, such as kinesins, walking on microtubule tracks. When transporting membrane-bound cargo inside a cell, the motors are linked to diffusive lipid bilayers either directly or via adaptor molecules. The fluidity of the lipid bilayers induces loose inter-motor coupling which is likely to impact the collective motor dynamics and may induce cooperativity. Here, we investigate the influence of loose coupling of kinesin motors on its transport characteristics. In the first part of this thesis, we used truncated kinesin-1 motors with a streptavidin-binding-peptide (SBP) tag and performed gliding motility assays on streptavidin-loaded biotinylated supported lipid bilayers (SLBs), so called ‘membrane-anchored’ gliding motility assays. We show that the membrane-anchored motors act cooperatively; the microtubule gliding velocity increases with increasing motor density. This is in contrast to the transport behavior of multiple motors rigidly bound to a substrate. There, the motility is either insensitive to the motor density or shows negative interference at higher motor density, depending on the structure of the motors. The cooperativity in transport driven by membrane-anchored motors can be explained as following: while stepping on a microtubule, membrane-anchored motors slip backwards in the viscous membrane, thus propelling the microtubule in the solution at a velocity, given by the difference of the motor stepping velocity and the slipping velocity. The motor stepping on the microtubule occurs at maximal stepping velocity because the load on the membrane-anchored motors is minute. Thus, the slipping velocity of membrane-anchored motors determines the microtubule gliding velocity. At steady state, the drag force on the microtubule in the solution is equal to the collective drag force on the membrane-anchored motors slipping in the viscous membrane. As a consequence, at low motor density, membrane-anchored motors slip back faster to balance the drag force of the microtubule in the solution. This results in a microtubule gliding velocity significantly lower than the maximal stepping velocity of the individual motors. In contrast, at high motor density, the microtubules are propelled faster with velocities equal to the maximal stepping velocity of individual motors. Because, in this case, the collective drag force on the motors even at very low slipping velocity, is large enough to balance the microtubule drag in the solution. The theoretical model developed based on this explanation is in good agreement with the experimental data of gliding velocities at different motor densities. The model gives information about the distance that the diffusing motors can isotropically reach to bind to a microtubule, which for membrane-anchored kinesin-1 is ~0.3 µm, an order of magnitude higher as compared to rigidly bound motors, owing to the lateral mobility of motors on the membrane. In addition, the model can be used to predict the number of motors involved in transport of a microtubule based on its gliding velocity. In the second part of the thesis, we investigated the effect of loose inter-motor coupling on the transport behavior of KIF16B, a recently discovered kinesin motor with an inherent lipid-binding domain. Recent studies based on cell biological and cell extract experiments, have postulated that cargo binding of KIF16B is required to activate and dimerize the motor, making it a superprocessive motor. Here, we demonstrate that recombinant full-length KIF16B is a dimer even in the absence of cargo or additional proteins. The KIF16B dimers are active and processive, which demonstrates that the motors are not auto-inhibited in our experiments. Thus, in cells and cell extracts Kif16B may be inhibited by additional factors, which are removed upon cargo binding. Single molecule analysis of KIF16B-GFP reveals that the motors are not superprocessive but exhibit a processivity similar to kinesin-1 indicating that additional factors are most likely necessary to achieve superprocessivity. Transport on membrane-anchored KIF16B motors exhibited a similar cooperative behavior as membrane-anchored kinesin-1 where the microtubule gliding velocity increased with increasing motor density. Taken together, our results demonstrate that the loose coupling of motors via lipid bilayers provides flexibility to cytoskeletal transport systems and induces cooperativity in multi-motor transport. Moreover, our ‘membrane-anchored’ gliding motility assays can be used to study the effects of lipid diffusivity (e.g. the presence of lipid micro-domains and rafts), lipid composition, and adaptor proteins on the collective dynamics of different motors.

共一冊，約五萬字，分為： 第一章：緒論 第一節：研究動機與目的。說明本研究之寫作動機，並所欲達成之目的。 第二節：文獻探討。探討有關過度辨正效果，多重充足原因基模，及不同酬賞種類之 文獻，綜合前人研究結果，並檢討結果分歧之原因。 第三節：研究架構與問題。綜合文獻探討結果，擬設研究架構，並列出與研究所欲驗 證之假設如下： 1.多重充足原因基模隨年齡增加發展愈成熟。 2.酬賞對內在興趣之影響視酬賞種類而異。 3.酬賞對內在興趣之影響視酬賞方式而異。 4.酬賞對內在興趣之影響視多重充足原因發展基模而異。 第二章：研究方法 第一節：預試。說明預試所使用之受試樣本，研究工具、實驗程序，以及預試結果。 第二節：正式實驗。說明正式實驗所使用之受試樣本，研究工具、實驗程序，以及實 驗結果之資料處理方式。 第三章：研究結果 第一節：有閱操弄變項之檢驗。 第二節：結果分析。分析所操弄之自變項在依變項各種測量值上，是否有顯著影響。 第三節：討論。 第四章：結論與建議。

Intracellular transport of membrane-bound vesicles and organelles is a process fundamental for many cellular functions including cell morphogenesis and signaling. The transport is mediated by ensembles of motor proteins, such as kinesins, walking on microtubule tracks. When transporting membrane-bound cargo inside a cell, the motors are linked to diffusive lipid bilayers either directly or via adaptor molecules. The fluidity of the lipid bilayers induces loose inter-motor coupling which is likely to impact the collective motor dynamics and may induce cooperativity. Here, we investigate the influence of loose coupling of kinesin motors on its transport characteristics. In the first part of this thesis, we used truncated kinesin-1 motors with a streptavidin-binding-peptide (SBP) tag and performed gliding motility assays on streptavidin-loaded biotinylated supported lipid bilayers (SLBs), so called ‘membrane-anchored’ gliding motility assays. We show that the membrane-anchored motors act cooperatively; the microtubule gliding velocity increases with increasing motor density. This is in contrast to the transport behavior of multiple motors rigidly bound to a substrate. There, the motility is either insensitive to the motor density or shows negative interference at higher motor density, depending on the structure of the motors. The cooperativity in transport driven by membrane-anchored motors can be explained as following: while stepping on a microtubule, membrane-anchored motors slip backwards in the viscous membrane, thus propelling the microtubule in the solution at a velocity, given by the difference of the motor stepping velocity and the slipping velocity. The motor stepping on the microtubule occurs at maximal stepping velocity because the load on the membrane-anchored motors is minute. Thus, the slipping velocity of membrane-anchored motors determines the microtubule gliding velocity. At steady state, the drag force on the microtubule in the solution is equal to the collective drag force on the membrane-anchored motors slipping in the viscous membrane. As a consequence, at low motor density, membrane-anchored motors slip back faster to balance the drag force of the microtubule in the solution. This results in a microtubule gliding velocity significantly lower than the maximal stepping velocity of the individual motors. In contrast, at high motor density, the microtubules are propelled faster with velocities equal to the maximal stepping velocity of individual motors. Because, in this case, the collective drag force on the motors even at very low slipping velocity, is large enough to balance the microtubule drag in the solution. The theoretical model developed based on this explanation is in good agreement with the experimental data of gliding velocities at different motor densities. The model gives information about the distance that the diffusing motors can isotropically reach to bind to a microtubule, which for membrane-anchored kinesin-1 is ~0.3 µm, an order of magnitude higher as compared to rigidly bound motors, owing to the lateral mobility of motors on the membrane. In addition, the model can be used to predict the number of motors involved in transport of a microtubule based on its gliding velocity. In the second part of the thesis, we investigated the effect of loose inter-motor coupling on the transport behavior of KIF16B, a recently discovered kinesin motor with an inherent lipid-binding domain. Recent studies based on cell biological and cell extract experiments, have postulated that cargo binding of KIF16B is required to activate and dimerize the motor, making it a superprocessive motor. Here, we demonstrate that recombinant full-length KIF16B is a dimer even in the absence of cargo or additional proteins. The KIF16B dimers are active and processive, which demonstrates that the motors are not auto-inhibited in our experiments. Thus, in cells and cell extracts Kif16B may be inhibited by additional factors, which are removed upon cargo binding. Single molecule analysis of KIF16B-GFP reveals that the motors are not superprocessive but exhibit a processivity similar to kinesin-1 indicating that additional factors are most likely necessary to achieve superprocessivity. Transport on membrane-anchored KIF16B motors exhibited a similar cooperative behavior as membrane-anchored kinesin-1 where the microtubule gliding velocity increased with increasing motor density. Taken together, our results demonstrate that the loose coupling of motors via lipid bilayers provides flexibility to cytoskeletal transport systems and induces cooperativity in multi-motor transport. Moreover, our ‘membrane-anchored’ gliding motility assays can be used to study the effects of lipid diffusivity (e.g. the presence of lipid micro-domains and rafts), lipid composition, and adaptor proteins on the collective dynamics of different motors.:Abstract vii 1 Introduction 1 1.1 Intracellular transport driven by motor proteins 2 1.2 Attachment of motor proteins to cargo 13 1.3 In vitro approaches to study transport by motor proteins 16 1.4 Aim of this study 23 2 Transport by kinesin-1 anchored to supported lipid bilayers 24 2.1 Formation and characterization of biotinylated SLBs 26 2.2 Anchoring kinesin-1 to biotinylated SLBs 28 2.3 Gliding motility of microtubules by kinesin-1 linked to SLBs 34 2.4 Theoretical description of gliding motility on diffusing motor proteins 40 2.5 Comparison of the gliding velocity between experiment and theory 46 2.6 Gliding motility on phase-separated SLBs 53 2.7 Discussion 55 3 Transport by KIF16B with an inherent lipid-binding domain 62 3.2 Biophysical characterization of KIF16B 70 3.3 Gliding motility of microtubules by KIF16B linked to SLBs 78 3.4 Transport of SUVs and lipid-coated beads attached to KIF16B 87 3.5 Discussion 90 4 Conclusion and outlook 96 5 Materials and methods 99 5.1 Reagents and solutions 99 5.2 Molecular biology 100 5.3 Protein expression and purification 104 5.4 In vitro motility assays 110 5.5 Image acquisition and data analysis 118 References 126 List of figures 141 List of tables 143 Abbreviations and symbols 144 Acknowledgements 147

The move from single core and processor systems to multi-core and many-processors systemscomes with the requirement of implementing computations in a way that can utilizethese multiple units eciently. This task of writing ecient multi-threaded algorithmswill not be possible with out improving programming languages and compilers to providethe mechanisms to do so. Computer aided mathematical modeling and simulationis one of the most computationally intensive areas of computer science. Even simpli-ed models of physical systems can impose a considerable amount of computational loadon the processors at hand. Being able to take advantage of the potential computationpower provided by multi-core systems is vital in this area of application. This thesis triesto address how we can take advantage of the potential computation power provided bythese modern processors to improve the performance of simulations. The work presentsimprovements for the Modelica modeling language and the OpenModelica compiler. Two approaches of utilizing the computational power provided by modern multi-corearchitectures are presented in this thesis: Automatic and Explicit parallelization. Therst approach presents the process of extracting and utilizing potential parallelism fromequation systems in an automatic way with out any need for extra eort from the modelers/programmers side. The thesis explains improvements made to the OpenModelicacompiler and presents the accompanying task systems library for ecient representation,clustering, scheduling proling and executing complex equation/task systems with heavydependencies. The Explicit parallelization approach explains the process of utilizing parallelismwith the help of the modeler or programmer. New programming constructs havebeen introduced to the Modelica language in order to enable modelers write parallelizedcode. the OpenModelica compiler has been improved accordingly to recognize and utilizethe information from this new algorithmic constructs and generate parallel code toimprove the performance of computations. / <p>The series name <em>Linköping Studies in Science and Technology Licentiate Thesis</em> is incorrect. The correct series name is <em>Linköping Studies in Science and Technology Thesis.</em></p>

\prefacesection{Abstract} Multi-object tracking (MOT) is a key building block in video analytics and finds extensive use in surveillance, search and rescue, and autonomous driving applications. Object detection, a crucial stage in MOT, dominates in the overall tracking inference time due to its reliance on Deep Neural Networks (DNNs). Despite the superior performance of cutting-edge object detectors, their extensive computational demands limit their real-time application on embedded devices that possess constrained processing capabilities. Hence, we aim to reduce the computational burdens of object detection while maintaining tracking performance. As the first approach, we adapt frame resolutions to reduce computational complexity. During inference, frame resolutions can be tuned according to the complexity of visual scenes. We present DeepScale, a model-agnostic frame resolution selection approach that operates on top of existing fully convolutional network-based trackers. By analyzing the effect of frame resolution on detection performance, DeepScale strikes good trade-offs between detection accuracy and processing speed by adapting frame resolutions on-the-fly. Our second approach focuses on enhancing the efficiency of a tracker by model adaptation. We introduce AttTrack to expedite tracking by interleaving the execution of object detectors of different model sizes in inference. A sophisticated network (teacher) runs for keyframes only while, for non-keyframe, knowledge is transferred from the teacher to a smaller network (student) to improve the latter’s performance. Our third contribution involves exploiting temporal-spatial redundancies to enable real-time multi-camera tracking. We propose the MVSparse pipeline which consists of a central processing unit that aggregates information from multiple cameras (on an edge server or in the cloud) and distributed lightweight Reinforcement Learning (RL) agents running on individual cameras that predict the informative blocks in the current frame based on past frames on the same camera and detection results from other cameras. / Thesis / Doctor of Science (PhD)

共一冊，約五萬字，分為： 第一章：緒論 第一節：研究動機與目的。說明本研究之寫作動機，並所欲達成之目的。 第二節：文獻探討。探討有關過度辨正效果，多重充足原因基模，及不同酬賞種類之 文獻，綜合前人研究結果，並檢討結果分歧之原因。 第三節：研究架構與問題。綜合文獻探討結果，擬設研究架構，並列出與研究所欲驗 證之假設如下： 1.多重充足原因基模隨年齡增加發展愈成熟。 2.酬賞對內在興趣之影響視酬賞種類而異。 3.酬賞對內在興趣之影響視酬賞方式而異。 4.酬賞對內在興趣之影響視多重充足原因發展基模而異。 第二章：研究方法 第一節：預試。說明預試所使用之受試樣本，研究工具、實驗程序，以及預試結果。 第二節：正式實驗。說明正式實驗所使用之受試樣本，研究工具、實驗程序，以及實 驗結果之資料處理方式。 第三章：研究結果 第一節：有閱操弄變項之檢驗。 第二節：結果分析。分析所操弄之自變項在依變項各種測量值上，是否有顯著影響。 第三節：討論。 第四章：結論與建議。

Les travaux de cette thèse adressent la problématique de la coopération aéro-terrestre pour la cartographie de l’espace navigable. La nécessité d’une carte pour la navigation et la planification de chemins pour les robots terrestres n’est plus à prouver. L’utilisation d’une coopération aéro-terrestre pour créer une carte navigable à destination du robot terrestre a plusieurs intérêts. Premièrement, le drone peut cartographier rapidement une zone grâce à son champ de vision étendu et ses capacités de déplacement. Deuxièmement, la fusion des cartes créées par ces deux agents permet de tirer le meilleur profit des deux points de vue : la cohérence de la vue aérienne globale et la précision de la vue terrestre locale. Pour répondre à cette problématique, nous proposons une méthode qui s’appuie sur la création de cartes hybrides et leur fusion. Les cartes sont construites en utilisant le squelette de l’espace navigable terrestre comme support d’un graphe contenant également des informations métriques locales de l’environnement. La mise en correspondance des cartes aérienne et terrestre s’effectue à l’aide d’un appariement point à point déterminé grâce à une mesure de dissimilarité appropriée. Cette dernière est définie pour répondre aux critères d’invariance et de discriminance dans ce contexte. La mise en correspondance est ensuite utilisée pour fusionner les cartes entre elles. Les cartes fusionnées peuvent être utilisées par le robot au sol pour effectuer sa mission. Elles permettent également de propager des informations telles que des coordonnées GPS à des robots et dans des lieux où ce dispositif n’est pas disponible. Des expérimentations en environnements virtuels et réels sont réalisées pour valider cette approche et en tracer les perspectives. / This work aims to study the problem of air-ground robotic cooperation for collaborative traversability mapping. The need for a map for navigation and path planning for terrestrial robots is no longer to be proven. The use of air-ground cooperation to create a navigable map for the ground robots has several interests. First, the drone can quickly map an area through its large field of vision and traveling capabilities. Second, the fusion of maps based on these two agents makes it possible to draw the best benefits from both points of views: the coherence of the global aerial view and the accuracy of the local ground view. To answer this problem, we propose a method that relies on the construction of a unified model of hybrid maps and their fusion.The maps are built using the skeleton of the traversability space as a support for graphs also containing local metric and potentialy semantic information of the environment. The maching of aerial and ground maps is done using a point to point correlation based on an appropriate dissimilarity measure. This measure is defined to meet invariance and discriminance criteria. The matching is then used to merge the maps into an augmented traversability map. The merged maps can be used by the ground robot to perform its mission. They also make it possible to deploy information such as GPS coordinates to robots in GPS denied environments. Experiments in virtual and real world environments have been carried out to validate this approach and map out future perspetives.

Today, the advances in Complementary MetalOxideSemiconductor (CMOS) technology have guided the progress in the wireless communications circuits and systems area. Various new communication standards have been developed to accommodate a variety of applications at different frequency bands, such as cellular communications at 900 and 1800 MHz, global positioning system (GPS) at 1.2 and 1.5 GHz, and Bluetooth andWiFi at 2.4 and 5.2 GHz, respectively. The modern wireless technology is now motivated by the global trend of developing multi-band/multistandard terminals for low-cost and multifunction transceivers. Exploring the unused 10-66 GHz frequency spectrum for high data rate communication is also another trend in the wireless industry. In this dissertation, the challenges and solutions for designing a multi-band/multistandard mobile device is addressed from system-level analysis to circuit implementation. A systematic system-level design methodology for block-level budgeting is proposed. The system-level design methodology focuses on minimizing the power consumption of the overall receiver. Then, a novel millimeter-wave dual-band receiver front-end architecture is developed to operate at 24 and 31 GHz. The receiver relies on a newly introduced concept of harmonic selection that helps to reduce the complexity of the dual-band receiver. Wideband circuit techniques for millimeterwave frequencies are also investigated and new bandwidth extension techniques are proposed for the dual-band 24/31 GHz receiver. These new techniques are applied for the low noise amplifier and millimeter-wave mixer resulting in the widest reported operating bandwidth in K-band, while consuming less power consumption. Additionally, various receiver building blocks, such as a low noise amplifier with reconfigurable input matching network for multi-band receivers, and a low drop-out regulator with high power supply rejection are analyzed and proposed. The low noise amplifier presents the first one with continuously reconfigurable input matching network, while achieving a noise figure comparable to the wideband techniques. The low drop-out regulator presented the first one with high power supply rejection in the mega-hertz frequency range. All the proposed building blocks and architecture in this dissertation are implemented using the existing silicon-based technologies, and resulted in several publications in IEEE Journals and Conferences.

Sustainable development has become in last two decades a phenomenon. Principles of this concept are implemented into most of political development documents at the international, national, regional and local level. Outcomes of sustainable development assessment are often used as basis of measures which influence the process of spatial development. However there exist many approaches how to assess the sustainable development, so far it haven`t been achieved a general consensus how to do it. The aim of this thesis is a critical interpretation of literature considering sustainable development and analysis of implementation of sustainable development assessment in municipalities of Czech Republic. Method of this analysis is desk research of documents called analysis of spatial sustainable development (rozbor udržitelného rozvoje území), which the municipalities have to (by law) make out and semi-standardized interview with representatives of local and regional authorities