The ability to quickly, accurately, and autonomously identify and track objects in digital images in real-time has been an area of investigation for quite some time. Research in this area falls under the broader category of computer vision. Only in recent decades, with advances in computing power and commercial optical hardware, has this capability become a possibility. There are many different methods of identifying and tracking objects of interest, and best practices are still being developed, varying based on application. This thesis examines background subtraction methods as they apply to the tracking of small unmanned aerial systems (sUAS). A system combining commercial off-the-shelf (COTS) cameras and a pan-tilt unit (PTU), along with custom developed code, is developed for the purpose of continuously pointing at and tracking the motion of a sUAS in flight. Mixtures of Gaussians Background Modeling (MOGBM) is used to track the motion of the sUAS in frame and determine when to command the PTU. When the camera is moving, background subtraction methods are unusable, so additional methods are explored for filling this performance gap. The stereo vision capabilities of the system, enabled by the use of two cameras simultaneously, allow for estimation of the three-dimensional position and trajectory of the sUAS. This system can be used as a supplement or replacement to traditional tracking methods such as GPS and RADAR as part of a larger unmanned aerial systems traffic control (UTC) infrastructure. / Master of Science / The ability to quickly, accurately, and automatically identify and track targets in digital images has been of interest for some time now. Research in this area falls under the broader category of computer vision. Only in recent decades, with advances in computing power and commercial optical hardware, has this ability become a possibility. There are many different methods of identifying and tracking targets of interest, and best practices are still being developed, varying based on application. This thesis examines background subtraction methods as they apply to the tracking of small unmanned aerial systems (sUAS), commonly referred to as drones. A system combining cameras and a moving platform, along with custom developed code, is developed for the purpose of continuously pointing at and tracking the motion of an sUAS in flight. The system is able to map out the three-dimensional position of a flying sUAS over time.

La coordination des institutions, par le biais de la création d'un périmètre de transport unique, est-elle la solution la mieux à même de faciliter le report modal au bénéfice des modes collectifs dans l'agglomération multipolaire azuréenne ? L'inadaptation des réseaux aux mobilités actuelles engendre des problèmes aigus de gestion du transport public. Cette inadaptation repose sur l'inadéquation des structures institutionnelles qui ne sont pas à la bonne échelle. Les pôles multiples doivent être reliés à des réseaux urbains interdépendants et cette nécessité s'accompagne de l'invention de nouvelles formes de gouvernement. Le travail comporte un premier chapitre présentant le cadre théorique de la relation entre agglomération multipolaire, institutions et organisation du transport dans un contexte spatial dense. En effet, les AOTU étaient, au départ, distinctes, ce choix étant justifié par l'état de l'urbanisation lors de leur création, mais elles gèrent des territoires désormais jointifs. Or, on ne peut imposer un périmètre conforme à un bassin de vie, d'où des inadaptations flagrantes.Un deuxième chapitre étudie les actions des autorités organisatrices du transport public dans l'espace multipolaire azuréen : la complexité de l'organisation institutionnelle est-elle la proie d'un effet de frontière entre AO ? Le Département est en retrait face à la croissance des AOTU et notamment de Métropole Nice Côte d'Azur ; cela forme un espace politique inadapté au contexte géographique. Une nouvelle structure fédérative, le SYMITAM, est créée mais ne remplit pas son rôle de coordination ; devant seconder le Département, elle est mise de fait au service de l'AOTU la plus conquérante.Enfin, grâce à l'analyse des mobilités et notamment par la mesure des actifs stables et sortants de chaque commune, et par les axes de TCSP, de TER et les pôles d'échanges qu'il serait nécessaire d'implanter pour mieux organiser les interrelations entre le littoral et le sous-ensemble intérieur, un troisième chapitre propose une résorption de l'effet de frontière par l'élaboration de nouveaux périmètres institutionnels. Nous montrons les AO les plus à même d'organiser la gestion de ce nouveau format territorial afin de contrecarrer la parcellisation institutionnelle.

Os hormônios tireoidianos (HTs) desempenham um papel importante em diversos processos, tais como o crescimento, desenvolvimento e metabolismo dos tecidos em geral. Embora estudos tenham demonstrado que os HTs agem diretamente nas células foliculares da tireoide reduzindo sua resposta ao TSH, pouco se sabe, a nível molecular, sobre essa e outras ações dos HTs na própria glândula tireoide. Nesse sentido, o objetivo do presente trabalho foi avaliar alterações no perfil de expressão gênica nas células foliculares tireoidianas (células PCCl3) em reposta ao tratamento com triiodotironina (T3). Após atingir confluência desejada, as células PCCl3 foram mantidas em meio depletado de HTs (grupo Hipo) por 24h. Após esse período, parte das células foi tratada com 10-7M de T3 (grupo T3) por 24 h. As células foram, então, lisadas para extração de RNA total para análise do transcriptoma, por RNAseq. Foi obtido como resultado, uma lista de genes diferencialmente expressos da qual foram selecionados cinco genes para validação in vitro (novo lote de células PCCl3 submetidas às mesmas condições descritas acima) e in vivo [ratos Wistar (250g), tratados por 4 semanas com T3 (1,5 μg/100g de peso corporeo; grupo hipertireoideo) ou PTU (10 μg/100g de peso corporeo; grupo hipotireoideo): o Slc16a1, que codifica o MCT8, responsável pelo transporte de T3 através da membrana, o Snrpd1, 9-March, Pfdn1 e Fam103a1, que codificam proteínas envolvidas no controle pós-transcricional e pós-traducional da expressão gênica. O tratamento com T3 estimulou a expressão dos genes Snrpd1, Pfdn1 e Fam103a1, enquanto reduziu a expressão de 9-March e Slc16a1. Juntos esses resultados demonstram a existência de um efeito autócrino exercido pelo T3 sobre o controle do seu próprio turnover proteico. / Thyroid hormones (HTs) play an important role in many processes, such as growth, development and metabolism of tissues in general. Although studies have shown that HTs act directly on follicular thyroid cells reducing their response to TSH, little is known, at the molecular level, about this and other actions of HTs in the thyroid gland itself. In this sense, the aim of the present study was to evaluate changes in the gene expression profile in the thyroid follicular cells (PCCl3 cells) in response to triiodothyronine (T3) treatment. After reaching 60% confluence, PCCl3 cells were maintained in HT depleted medium (Hypo group) for 24h. After this time, part of the cells was treated with 10-7M T3 (T3 group) for 24 h. Cells were then lysed for total RNA extraction for transcriptome analysis by RNAseq. As a result, a list of differentially expressed genes from which five genes for in vitro validation (PCCl3 cells under the same conditions described above) and in vivo [Wistar rats (250g), treated for 4 weeks with T3 (1.5 &um;g / 100 g body weight, hyperthyroid group) or PTU (10 &um;g / 100 g body weight; hypothyroid group): Slc16a1, which encodes MCT8, responsible for the transport of T3 through the membrane, Snrpd1, 9-March, Pfdn1 and Fam103a1, which encode proteins involved in post-transcriptional and post-translational control of gene expression. T3 treatment stimulated the expression of the Snrpd1, Pfdn1 and Fam103a1 genes, while reducing the expression of 9-March and Slc16a1. Together these results demonstrate the existence of an autocrine effect exerted by T3 on the control of its own protein turnover.

Syftet med denna studie var att utvärdera behandling med hjälp av elektropalatografi (EPG) och portabel träningsenhet (PTU) hos en person med kvarstående artikulationsproblem. Försökspersonen var en vuxen man med medfödd hemifacial mikrosomi och mikrognati som tidigare genomfört konventionell talträning. En kvasiexperimentell, prospektiv, kontrollerad single subjekt A-B-A design användes. Försökspersonen hade vid träningsstart en tillbakadragen artikulation av /t/ och /d/ till velart/uvulart artikulationsställe med kvarstående svårighet att göra sitt tal förståeligt för sina samtalspartners.  Behandlingseffekten utvärderades genom instrumentell EPG analys av /t/ i enstaka ord före och efter behandling. Analysen visade signifikanta behandlingsresultat där en fortgående förbättring av produktionen av /t/ i medial och final position skedde även fyra år efter avslutad behandling. Perceptuell lyssnarbedömning av tränade och otränade lyssnare uppvisade signifikant förbättrad skattning av t-likhet av målljudet /t/ i medial och final position över tid. Ett mycket svagt samband sågs mellan perceptuell skattning av t-likhet och de analyserade EPG-värdena. Lyssnarskattningen av spontantalet visade en förbättring av förståelighet vid kontroll 4 år efter avslutad träning. Utvärderingen bekräftar tidigare forskning och visar att talträning med EPG är ett effektivt sätt att ge visuell återkoppling i försök att etablera ett korrekt artikulationsmönster, förbättrat tal och ökad förståelighet. Detta provades i föreliggande studie och även om resultaten inte var entydiga, antyddes att metoden kan vara långsiktigt framgångsrik vid sedan lång tid väl etablerade talavvikelser utan tecken på förändring spontant eller efter tidigare träning utan visuell återkoppling. En viktig erfarenhet är således att planera långsiktigt och invänta automatisering av nya artikulationsrörelser som har lång etableringsfas. Träning med EPG föreslås kunna erbjudas vuxna personer med kvarstående artikulationsavvikelser där konventionell träning inte har kunnat ge önskvärda resultat. Nyckelord: Elektropalatografi, behandlingseffekt, hemifacial mikrosomi, artikulationsstörning, långtidsuppföljning, förståelighet / The aim of this study was to evaluate speech therapy using electropalatography (EPG) and portable training unit (PTU) in a subject with persistent articulation errors. The participant was a male adult with congenital hemifacial microsomia and micrognathia who previously had received conventional speech therapy. The subject had a retracted, velar/ uvular articulation of dental plosives with difficulty making speech understandable to listeners. A quasi-experimental prospective, controlled single-subject ABA design was used. Treatment efficacy was assessed by instrumental EPG analysis of  /t/ in single words before and after treatment and showed significant treatment results with a continuing improvement in the production of  /t/ in medial and final position even four years after completion of treatment. Perceptual listen assessment of trained and untrained listeners showed significantly improved estimation of the target /t/ in medial and final position over time. A very weak association was found between the perceptual estimation of t-likeness and the analyzed EPG values. Listener rating of spontaneous speech showed an improvement in intelligibility 4 years after completing training. The evaluation confirms previous research showing that speech therapy with EPG seems effective for providing visual feedback in the attempt to establish a correct articulation pattern, improved speech and enhanced intelligibility. This was investigated in the present study and although the results were not unambiguous, it was indicated that the method can be successful at long persisting well established articulation errors without signs of spontaneous change or after previous training without visual feedback. An important experience is to plan long term and wait for the automation of the new articulation movements that have a long establishment phase. Training with EPG is proposed to be offered to adults with persistent articulation disorders for which conventional therapy has been unable to provide desirable results. Keywords:  Electropalatography, treatment effect, hemifacial microsomia, articulation disorder, long- term follow- up, intelligibility

La coordination des institutions, par le biais de la création d’un périmètre de transport unique, est-elle la solution la mieux à même de faciliter le report modal au bénéfice des modes collectifs dans l’agglomération multipolaire azuréenne ? L’inadaptation des réseaux aux mobilités actuelles engendre des problèmes aigus de gestion du transport public. Cette inadaptation repose sur l’inadéquation des structures institutionnelles qui ne sont pas à la bonne échelle. Les pôles multiples doivent être reliés à des réseaux urbains interdépendants et cette nécessité s’accompagne de l’invention de nouvelles formes de gouvernement. Le travail comporte un premier chapitre présentant le cadre théorique de la relation entre agglomération multipolaire, institutions et organisation du transport dans un contexte spatial dense. En effet, les AOTU étaient, au départ, distinctes, ce choix étant justifié par l’état de l’urbanisation lors de leur création, mais elles gèrent des territoires désormais jointifs. Or, on ne peut imposer un périmètre conforme à un bassin de vie, d’où des inadaptations flagrantes.Un deuxième chapitre étudie les actions des autorités organisatrices du transport public dans l’espace multipolaire azuréen : la complexité de l’organisation institutionnelle est-elle la proie d’un effet de frontière entre AO ? Le Département est en retrait face à la croissance des AOTU et notamment de Métropole Nice Côte d’Azur ; cela forme un espace politique inadapté au contexte géographique. Une nouvelle structure fédérative, le SYMITAM, est créée mais ne remplit pas son rôle de coordination ; devant seconder le Département, elle est mise de fait au service de l’AOTU la plus conquérante.Enfin, grâce à l’analyse des mobilités et notamment par la mesure des actifs stables et sortants de chaque commune, et par les axes de TCSP, de TER et les pôles d’échanges qu’il serait nécessaire d’implanter pour mieux organiser les interrelations entre le littoral et le sous-ensemble intérieur, un troisième chapitre propose une résorption de l’effet de frontière par l’élaboration de nouveaux périmètres institutionnels. Nous montrons les AO les plus à même d’organiser la gestion de ce nouveau format territorial afin de contrecarrer la parcellisation institutionnelle. / Can the coordination of institutions, through the creation of a unique transport perimeter in the multipolar urban area of French Riviera, have a significant role in the modal shift ? The inadequacy of the current mobility networks creates acute problems of management of public transport. This maladjustment is based on the inadequacy of the institutional structures that are not at the right level. Multiple poles must be linked to interdependent urban networks and this necessity comes the invention of new forms of government.The work involves a first chapter with the theoretical framework of the relationship between multipolar agglomeration, institutions and organisation of transport in a dense spatial context. Indeed, the AOTU were initially separate, this choice was justified by the State of urbanization in their creation, but they manage now bearings territories. However, one cannot impose a perimeter consistent with a pool of life, hence of gross maladjustments.A second chapter studied the actions of the organizing authorities of public transport in the multipolar space azurean : the complexity of the institutional organization is prey to a border between AO effect ? The Department is indented to the growth of the AOTU and including Metropole Nice Côte d'Azur. A new federal structure, the SYMITAM, is created but does not fulfil its role of coordinator; to assist the Department, she becomes the puppet of the conquering AOTU.Finally, through analysis of mobility and in particular by measurement of stable and outgoing assets of each municipality, and the axes of TCSP, TER and the pole of exchanges that it would be necessary to implement to better organize the interrelationships between the coastline and the internal subset, a third chapter proposes a resorption of the effect of border by the development of new institutional perimeters. We show the AO the most capable of organizing the management of this new territorial format in order to counteract the institutional fragmentation.

This work describes the use of Multi-Body Simulation (MBS) to create a virtual prototype of a geared drive called Power transfer unit (PTU). PTU is a subsystem of the all-wheel drive driveline responsible for transfer of power between front and rear axles in an Automobile. The objective of the developing the prototype is to simulate the dynamic behavior of the PTU. Focus is on predicting the gear transmission error(TE) and gearbox housing vibration level. A Hypoid gear set, bearings, tubular shaft and housing are the major components in the PTU. This work is carried out at GKN Automotive which specializes in development of Automotive All wheel drive systems. When developing such geared systems one important characteristic analyzed is the noise and vibration it generates. And for companies like GKN it is desirable to predict these characteristics as early as possible for two reasons, to avoid late design changes and to speed up the product development cycle. To achieve this, a validated virtual model which is computationally efficient is desired. The methodology followed contains of two facets, development of the MBS model and validation of the developed model with physical testing. An integrated MBS-FEM approach is used, an FE modal reduction technique is used to create flexible components with which a virtual prototype is built and simulated in an MBS tool MSC ADAMS c . Gear contact and bearings are defined using an analytical approach which considers the nonlinear stiffness and damping. A dynamic analysis and system level modal analysis is performed to predict the TE, housing vibrations and PTU modal parameters. Experimental modal analysis and physical testing on test rig are performed to measure the actual values of the above predicted outputs. Parameters like damping, contact stiffness of the model are then tuned to achieve correlation. When comparing test and prediction, close correlation is seen in the TE and for housing vibration a similar trend is observed with some deviations. Predicted TE is heavily dependent on gear contact parameters. On the modal parameter comparison, a correlation of five modes and mode shapes below 2500Hz is seen which shows the validity of the MBS model. Parameter studies are performed to study the effect of bearing damping and preload on housing vibrations and TE. It is observed that an optimum value of preload and damping is essential to avoid unnecessary vibrations. In conclusion, the model with some fine tuning of damping parameters can be used for virtual noise and vibration analysis of the PTU. / Detta arbete beskriver anv¨andningen av beräkningsmetoden Multi-Body Simulation (MBS) för att skapa en virtuell prototyp av en vinkelväxel (Power Transfer Unit, PTU ). PTU är ett delsystem för fyrhjulsdrift som har funktionen att överföra kraft mellan fram- och bakaxlar i en bil. Målet med att utveckla modellen är att simulera PTUns dynamiska beteende. Fokus ligger på att beräkna vinkelväxelns transmissionsfel och vibrationsnivåer på växellådans hus. De vikitgaste komponenterna i PTUn är hypoidväxeln med kronhjul och pinjong, röraxel, lager och hus. Detta arbete har utförts på GKN Automotive som är specialiserade på utveckling av drivsystem för fyhjulsdrivna bilar. Ljud och vibrationer är viktiga egenskaper att ta hänsyn till under utvecklingen. För företag som GKN är det önskvärt att kunna beräkna dessa egenskaper så tidigt i projektet av två skäl: dels för att undvika sena konstruktionsförändringar och dels att påskynda produktutvecklingscykeln. För att uppnå detta behövs en validerad virtuell modell som är beräkningseffektiv. Den metod som använts innehåller två delar: utveckling av MBS-modellen och validering av den utvecklade modellen med fysisk testning. En integrerad MBS-FEM -mettod har använts. Det innebär att en FE-modal reduktionsteknik andvänds för att skapa flexibla komponenter med vilka en virtuell prototyp byggs och simuleras i ett MBS-verktyg (MSC ADAMS (c) ). Lager och kuggkontakt i växeln definieras med hjälp av en analytisk metod som beaktar den olinjära styvheten och dämpningen. En dynamisk analys och modalanalys på systemnivå har utförts för att beräkna TE, husvibrationer och PTUns modala parametrar. Experimentell modalanalys och testning i rigg gjorts för att mäta motsvarande värden som har beräknats. Parametrar som dämpning och kontaktstyvhet har sedan justerats för att uppnå korrelation. Vid jämförelse av test och förutsägelse ses en god korrelation i TE och för husvibrationer observeras en liknande trend, med vissa avvikelser. Beräknat TE är starkt beroende på parametrar för kuggkontakten i växeln. Vid jämförelse av modala parametrar ses en god korrelation under 2500 Hz mellan fem moder i mätning och beräkning vad gäller frekvens och modform, vilket visar MBS-modellens giltighet. Parameterstudier har utförts för att studera effekten av lagerdämpning och förbelastning på TE och husvibrationer. Ett optimalt värde på förbelastning och dämpning är viktigt för att undvika onödiga vibrationer. Sammanfattningsvis kan modellen med viss finjustering av dämpningsparametrar användas i virtuell ljud- och vibrationsanalys av PTU.

Vinkelväxlar och slutväxlar spelar en viktig roll för kraftöverföringen mellan motor och hjuli fyrhjulsdrivna bilar. Med en ökande konkurrens finns en efterfrågan för att ständigt förbättraeffektivitet, ljudgenereringegenskaper och hållfasthet. För att uppnå detta krävs en bättreförståelse av systemets dynamiska egenskaper. En detaljerad numerisk dynamisk modell ärdock ofta beräkningsmässigt tung och tidskrävande. Verktygen för den dynamiska modelleringenbehöver bli mer effektiva och i vissa fall kan en kombinationen av två verktyg vara ett bättrealternativ. Denna integrerade plattform kan användas för att effektivt modellera dynamiken ochfå en bättre inblick i systemts beteende.Vinkelväxlen är en enhet vars funktion är att fördela kraften mellan fram- och bakaxel. De viktigastekomponenterna i vinkelväxeln är en hypoid-drevsats och en klokoppling, som aktiveras närkraft ska överföras till bakaxeln via kardanaxeln. Detta arbete modellerar dynamiskt beteendei vinkelväxeln och har sytftet att beräkna transmissionsfelet i systemet och dess effekt somexciteringskälla av ljud och vibrationer i systemet. MSC ADAMS har använts för Multi-Bodyberäkningsverktyg för modelleringen.Det beräknade transmissionsfelet har jämfört med testresultat. Dessutom har en co-simuleringmed både ADAMS och SIMULINK genomförts för att skapa en bas för tillämpa optimeringsalgoritmer.Bultarna i bultförbandet samt deras styvhet och förspänning har inkluderats i modellenoch studerats med avseende på effekten på vibrationer i kopplingspunkter, samt algoritmerför optimering har föreslagits. Korrelationen mellan test och beräkning var mycket god, ochdessutom har förslag på hur denna typ av beräkning kan förbättras ytterligare givits. / Automotive drive units play an important role in transmitting power from an engine to the wheels.In today’s competitive world, there is an increasing demand for these devices to be more efficient,quiet, and reliable at the same time. In order to achieve this, a better understanding of system’sdynamic behavior is necessary. A detailed dynamic model of a system is often computationallyintense to solve and time consuming. This demands more efficient tools to be developed and insome cases integrating two or more tools would be a better option. The integrated platform can beused to effectively model the dynamic behavior of a system and get better insights on the systembehavior.Power Transfer Unit (PTU) is a device whose function is to distribute power between a front axleand rear axle. This unit basically includes hypoid gear set and a dog clutch that is engaged whenthere is a requirement to transfer power to the Rear Drive Unit (RDU) through prop shaft. Thismaster thesis describes modeling the dynamic behavior of a PTU with a goal of predicting thetransmission error in the system and its effect as a source of excitation on the entire unit followedby studying system response to this type of excitation. MSC ADAMS was used as a Multi-BodySimulation tool to model the dynamic behavior of the PTU.The transmission error predicted by the simulation was compared with the test results, a cosimulationbetween SIMULINK and ADAMS was established in order to create a platform toapply optimization algorithms. The bolt and bearing stiffness were incorporated in the model andtheir effect on the mounting point accelerations and bearing point accelerations were studied. Itwas found that the bolt stiffness affects the acceleration levels at the coupling points and suitablealgorithms could be applied in order to find an optimum value. As a result of the good correlationbetween test and simulation data, some other useful conclusions have been derived in order todevelop this approach of modeling.

Title: Marketing plan of PTU Praha Objectives: The main goal of this diploma thesis was to create a marketing plan for PTU Praha, including analyses of external and internal surroundings. The reason was to propose a concept for that organisation to increase its prosperity by marketing activities. Methods: Both methods of analyses, qualitative (interview and expert pannel) and quantitative (written or electronic survey), were used. Results: Data acquired from qualitative analysis was utilized and summarised in the results section of this diploma thesis. Based on those results and gathered information from interviews the best stratégy with optimal composition of markeing-mix tools has been chosen. Key words: Marketing plan, marketing mix, Prague Sports Union, PTU Praha, sport organization, non-profit organization, PEST, SWOT

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