La contraction cardiaque nécessite un apport énergétique important, dont la source principale est l'oxydation des acides gras dans la mitochondrie. Ces acides gras pénètrent dans la mitochondrie sous la forme d'acyl-carnitine. Lors du couplage excitation-contraction, il y a une communication entre la contraction et le métabolisme assurée par les variations de potentiel et les variations calciques concomitantes. Cette communication permet d'adapter la quantité d'énergie synthétisée en fonction des besoins contractiles. Des observations cliniques et expérimentales indiquent que le métabolisme module également les mécanismes de contraction. En effet de fortes modifications de la balance énergétique observée lors de pathologie comme le syndrome métabolique ou le déficit primaire en carnitine induisent des dysfonctions contractiles et des troubles du rythme cardiaque. L'homéostasie mitochondriale semble tenir un rôle important dans cette communication, mais les mécanismes impliqués restent encore mal connus. Dans ce travail nous nous sommes intéressés à comprendre les comment de fortes variations d'acyl-carnitine influencent l'apparition de troubles du rythme et participent au remodelage ventriculaire. Lors d'une approche intégrative nous avons mis en évidence le rôle central de l'adenine nucleotide transporteur (ANT) dans la genèse des troubles du rythme induit par une forte concentration en palmitoyl-carnitine. De plus des études in vivo sur des animaux déficients en carnitine, ont permis de décrire pour la première fois une relation entre une diminution de l'intervalle QT (QT court) avec un désordre métabolique. / Heart contraction requires a considerable amount of energy. Mitochondrial fatty acid oxidation is the major source of energy production in the heart. Fatty acids diffuse through the mitochondrial membrane in the acyl-carnitine form. During excitation-contraction coupling, variations of membrane potential and calcium concentration allow the communication between contraction and metabolism. This communication allows the adaption of energy production into contractile function. Clinical and experimental observations indicate that metabolism modulates contraction mechanisms. In particular, the energetic imbalance observed in metabolic syndrome or primary carnitine deficiency induces a contractile disturbance and arrhythmias. Mitochondrial homeostasis seems to be an important participant though the mechanisms involved in this phenomenon remain to be completely elucidated. In this study, we examined the influence of acylcarnitine concentration variations on cardiac rhythm and ventricular remodeling. Through an integrative approach, we have demonstrated the pivotal role of the adenine nucleotide transporter (ANT) in the apparition of high acylcarnitine concentration associated arrhythmia. Furthermore, in vivo studies with carnitine deficient mice reveal, for the first time, a relationship between the QT interval duration (short QT) and metabolic disturbance.

A participação das espécies reativas de oxigênio (ERO) no mecanismo de ação dos antifúngicos azólicos, bem como a relação entre resistência aos antifúngicos e resposta ao estresse oxidativo, têm sido sugeridos. Entretanto, os dados ainda são inconclusivos e diferem entre os micro-organismos. Neste estudo estão apresentados os resultados da geração de ERO pelo fluconazol em isolados de C. glabrata sensíveis e resistentes a esse antifúngico e a resposta antioxidante da levedura. Nesses isolados, tratados e não tratados com fluconazol em concentração subinibitória, de acordo com sua concentração inibitória mínima (CIM), até fase de crescimento estacionário, foi avaliado se o fluconazol geraria ERO. Subsequentemente, foram analisadas as defesas antioxidantes glutationa peroxidase (GPx), superóxido dismutase (SOD), glutationa-S-transferase (GST), consumo de peróxido de hidrogênio e glutationa total, bem como possível dano oxidativo causado pelo fluconazol em lipídeos, proteínas e ácidos nucleicos e os níveis de nitritos e nitratos. Os resultados mostram que nos isolados de C. glabrata sensíveis e resistentes ao fluconazol, na presença do antifúngico, houve um aumento da geração ERO e maior atividade enzimática da GPx e SOD comparada a dos isolados não tratados com fluconazol, não havendo diferença estatística entre isolados sensíveis e resistentes nesses três parâmetros citados. Em relação à enzima GST, os isolados sensíveis mostraram maior atividade enzimática comparada aos resistentes, e quando as células sensíveis foram tratadas com fluconazol, a atividade da GST diminuiu. O fluconazol não induziu dano oxidativo em proteínas e em lipídeos, entretanto foi observado dano oxidativo ao DNA. Diante disso, sugere-se que o fluconazol gera ERO como parte do seu mecanismo antifúngico em C. glabrata em fase de crescimento estacionário, induzindo dano oxidativo no DNA. Como resposta, observa-se aumento na atividade enzimática da SOD e da GPx na levedura. O entendimento da resposta antioxidante de leveduras patogênicas tem importante interesse clínico, uma vez que o desenvolvimento racional de novas drogas antifúngicas requer conhecimento do metabolismo fúngico. / The participation of reactive oxygen species (ROS) in azoles antifungal mechanism of action has been suggested, as well as the relation between antifungal resistance and oxidative stress response. However, data are still inconclusive and differ between microorganisms. This study presents the results of ROS generation by fluconazole in fluconazole-susceptible and resistant C. glabrata strains and their antioxidant response. It was evaluated whether fluconazole generates ROS in those isolates treated and untreated with fluconazole at sub-inhibitory concentration according to their minimal inhibitory concentration (MIC). This treatment was conducted until stationary growth phase was reached. Subsequently, the antioxidant defenses glutathione peroxidase (GPx), superoxide dismutase (SOD), glutathione-S-transferase (GST), consumption of hydrogen peroxide and total glutathione, the possible oxidative damage in lipids, proteins and nucleic acids and the levels of nitrites and nitrates were analyzed. Results showed increased ROS generation in fluconazole-susceptible and resistant C. glabrata strains treated with fluconazole, and also higher GPx and SOD enzymatic activity, compared to untreated cells. No statistical difference of those three parameters was observed between susceptible and resistant strains. In relation to GST, susceptible strains demonstrated higher activity compared to the resistant ones, and when susceptible cells were treated with fluconazole the GST activity decreased compared to untreated. Fluconazole did not induce oxidative damage in proteins and in lipids, however oxidative DNA damage was observed. Therefore, it is suggested that fluconazole generates ROS as part of its antifungal mechanism in C. glabrata at stationary growth phase, inducing oxidative DNA damage. In response, there was increase in the enzymatic activity of SOD and GPx in yeast. The understanding of the pathogenic yeast antioxidant response has important clinical interest, since the rational development of new antifungal drugs requires knowledge about the fungal metabolism.

Submitted by Reginaldo Soares de Freitas (reginaldo.freitas@ufv.br) on 2015-11-18T09:48:44Z No. of bitstreams: 1 texto completo.pdf: 1370187 bytes, checksum: ceb35f582d1346864b2f244421578979 (MD5) / Made available in DSpace on 2015-11-18T09:48:44Z (GMT). No. of bitstreams: 1 texto completo.pdf: 1370187 bytes, checksum: ceb35f582d1346864b2f244421578979 (MD5) Previous issue date: 2015-07-16 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / O uso intensivo de agrotóxicos na agricultura tem levado à contaminação dos ambientes aquáticos. O diflubenzuron (Dimilin®) é um inseticida bastante usado em áreas agrícolas no combate a pragas de insetos e tem sido frequentemente utilizado nas pisciculturas devido à sua eficácia no controle de ectoparasitas em peixes. O uso indiscriminado deste inseticida nas pisciculturas pode resultar em toxicidade causando danos à saúde dos peixes. O objetivo desse trabalho foi discriminar a possível influência do sexo dos peixes em resposta à ação do inseticida Dimilin®, e determinar se a exposição subletal a este inseticida causa alterações na morfologia das brânquias de machos e fêmeas de Hyphessobrycon eques. Os peixes foram expostos às concentrações de 0,01, 0,1 e 1,0 mg.L-1 de Dimilin® por 96 h e 17 dias. No experimento de 96 h foi realizada uma única aplicação do tóxico na água, e no experimento de 17 dias foram realizadas duas aplicações, sendo uma no primeiro dia e a outra no quarto dia de experimento. Ao final do experimento, amostras do tecido branquial de 10 animais de cada grupo foram coletados e processados para estudo histológico. Foram analisados dados morfométricos e histopatológicos em 10 campos por animal. A análise da água mostrou-se em conformidade com as condições de cultivo e criação de peixes tropicais. Alterações histológicas foram encontradas nas brânquias de machos e fêmeas de H. eques. As análises histopatológicas e morfométricas mostraram diferenças estatísticas (P<0,05) entre as concentrações dentro de um mesmo experimento no mesmo sexo. O Índice de Alteração Histopatológica (IAH), tanto em machos quanto em fêmeas, foi maior nas maiores concentrações (0,1 e 1,0 mg.L-1) nos experimentos de 96 h e 17 dias, indicando diferenças na comparação com o grupo controle e entre as concentrações dentro de um mesmo experimento. O Valor Médio de Alteração (VMA) foi maior em todos os grupos expostos ao Dimilin® nos tempos de exposição de 96 h e 17 dias em comparação com grupo controle. O IAH, o VMA e as análises morfométricas não mostraram reação específica do sexo, indicando que as brânquias de machos e fêmeas não reagiram de maneira diferente (P>0,05) após exposição a concentrações subletais do inseticida Dimilin®. Os resultados mostraram que mesmo nas concentrações mais baixas, o inseticida causou alterações morfológicas leves a moderadas nas brânquias de machos e fêmeas, comprometendo a função deste tecido. Assim, H. eques pode ser considerado bioindicador da contaminação ambiental por Dimilin®, e ser utilizado como modelo em ensaios toxicológicos e avaliações ambientais. / The intensive use of pesticides in agriculture has caused contamination of aquatic environments. Diflubenzuron (Dimilin®) is a widely used insecticide for agricultural areas in combating insect pests, and has been frequently used in fish farms due to its effectiveness in the control of fish ectoparasites. The indiscriminate use of this pesticide in pisciculture can result in toxicity causing fish health problems. The aim of this study to discriminate the possible influence of sex of the fish in response to the action of Dimilin®, to determine whether sublethal exposure to this pesticide causes changes in the morphology of the gills of male and female Hyphessobrycon eques. The fish were exposed to concentrations of 0.01, 0.1 and 1.0 mg.L-1 Dimilin® for 96 hours and 17 days. In the 96 hour experiment a single application of toxic in water was carried out and in the 17 days experiment two applications were performed, one one the first day and another on the fourth day of the experiment. At the end of the experiment, gill tissue samples of 10 animals from each group were collected and processed for histological study. Morphometric and histopathological findings in 10 fields per animal were analyzed. Analysis of the water showed in to be in accordance with the conditions for cultivation and creation of tropical fish. Histological changes were found in the gills of male and female Hyphessobrycon eques. Histologic and morphometric analyses showed significant differences (P<0.05) between the concentrations within the same experiment in the same sex. The histopathological alteration index (HAI), in both males and females was greater at higher concentrations (0.1 and 1.0 mg.L-1) in the 96 hours and 17 days experiments, indicating differences in comparison with the control group and between the concentrations within the same experiment. The mean alteration value (MAV) was higher in all groups exposed to Dimilin® in exposure times of 96 hours and 17 days compared to the control group. The HAI, the MAV and the morphometric analysis did not show a specific reaction of sex, indicating that the gills of males and females do not respond differently (P>0.05) after exposure to sublethal concentrations of insecticide Dimilin®. The results showed that even at lower concentrations the insecticide caused mild to moderate morphological changes in the gills of males and females, compromising tissue function. So, Hyphessonbrycon eques can be considered bioindicator of environmental contamination by Dimilin® and be used as a model in toxicological tests and environmental assessments.

Ce mémoire de maîtrise porte sur le développement d’un système d’administration de microaiguilles pour livrer des sondes et des capteurs fluorescents dans le contexte du diagnostic et de la surveillance des soins de santé. Bien que parfois négligés en faveur des soins de santé axés sur le traitement, le diagnostic précoce de la maladie et la surveillance préventive des paramètres biologiques peuvent considérablement améliorer les résultats des soins de santé et joueront probablement un rôle plus important dans les années à venir. Cependant, il reste des obstacles importants à cette approche, à savoir le caractère relativement invasif et perturbateur des analyses biologiques. La nécessité de se rendre dans une clinique et de subir un prélèvement de sang (ou de liquide biologique) invasif présente des inconvénients importants par rapport aux traitements classiques, qui consistent souvent de médicaments pouvant être pris à domicile sans douleur. Une solution à ces problèmes réside dans la mise au point de systèmes minimalement invasifs de diagnostic et de suivi médical, idéalement ceux qui peuvent être utilisés à domicile sans nécessiter de personnel qualifié. À cet égard, les microaiguilles sont une technologie au potentiel énorme, car leur petite taille les rend peu invasives et pratiquement indolores, et leur nature simple à usage unique permet potentiellement une administration à domicile par le patient. Particulièrement prometteuses pour les applications de diagnostic et de surveillance sont les microaiguilles en polymère soluble; fabriquées à partir de polymères synthétiques ou biologiques injectables, ces microaiguilles sont solubilisées après la perforation de la peau, libérant ainsi les composés qu’elles contiennent. Bien que prévu initialement pour la livraison d'agents thérapeutiques, en utilisant ces microaiguilles pour livrer des molécules fluorescentes spécifiquement conçues, il est possible de créer un tatouage médical de diagnostic affichant un signal fluorescent précis. En associant cette technologie à un détecteur de fluorescence portable, la surveillance en temps réel d’un large éventail de paramètres biologiques pourrait devenir accessible en dehors du contexte clinique. Afin de fournir un contexte pour le développement de cette technologie, cette mémoire commence par une revue des principes et des avancées majeures récentes dans le domaine des applications diagnostiques des microaiguilles (Chapitre 1). Par la suite, un tatouage par microaiguille est présenté sous la forme d'un capteur de ROS délivré sur la peau, avec des implications diagnostiques pour le vieillissement et la carcinogenèse de la peau liés aux UV, ainsi que pour des affections inflammatoires telles que le psoriasis, comme validation de concept (Chapitre 2). En outre, un autre tatouage par microaiguille est introduit, consistant d’un capteur spécialement adapté ciblant le système lymphatique, permettant la quantification en temps réel du drainage lymphatique, avec des implications pour la détection précoce de plusieurs affections, notamment le lymphœdème (Chapitre 3). / This Master’s thesis concerns the development of a microneedle (MN) delivery system for fluorescent dyes and sensors in the context of diagnostics and healthcare monitoring. While sometimes overlooked in favor of treatment-focused healthcare, early disease diagnosis and preventative monitoring of biological parameters can meaningfully improve healthcare outcomes and will likely play a greater role in coming years. However, significant obstacles to this approach remain, namely the relatively invasive and disruptive nature of biological analyses. The need to travel to a clinic and undergo invasive blood (or biological fluid) sampling presents significant inconveniences relative to common treatments, often consisting of medications that can be taken painlessly at home. A solution to these problems lies in the development of minimally invasive systems for diagnostics and healthcare monitoring, ideally ones which can be used at home without the need for trained personnel. In this regard, MNs are a technology with tremendous potential, as their small size renders them minimally invasive and virtually painless, and their simple, single-use nature potentially allows for at-home administration by the patient. Showing particular promise for diagnostic and monitoring applications are dissolving polymeric MNs; made from injectable synthetic or biological polymers, these MNs are solubilized after breaching the skin, releasing any compound contained within. Though initially envisioned for the delivery of therapeutic agents, by using these MNs to deliver specifically designed fluorescent molecules, it is possible to create a diagnostic medical tattoo displaying a precise fluorescent signal. By pairing this technology with a portable fluorescence detector, real-time monitoring of a wide range of biological parameters could become accessible outside of a clinical setting. To provide context for the development of this technology, this thesis begins with a review of the principles and major recent advances in the field of diagnostic applications of MNs (Chapter 1). Subsequently, a proof-of-concept MN tattoo is introduced in the form of a ROS-sensor delivered to the skin, with diagnostic implications for UV-related skin aging and carcinogenesis, as well as inflammatory conditions such as psoriasis (Chapter 2). Further, another MN tattoo is introduced, consisting of a specifically tailored sensor targeting the lymphatic system, allowing the real-time quantification of lymphatic drainage, with implications in the early detection of several conditions, including lymphedema (Chapter 3).

I takt med att marknaden för robotgräsklippare ökar så är pressen högre på företag att deras produkt ska vara robust. Detta kan uppnås genom att testerna som görs på robotgräsklipparen testas så fort som möjligt. Genom att skapa en simulering där alla tester genomförs istället för att köra testerna på en fysisk robotgräsklippare kan detta uppnås och utifrån detta utformades forskningsfrågan. För att skapa simuleringen undersöktes först mjukvaror vilket ansågs lämpliga för att utveckla en simulator, detta gjordes via en fallstudie. Dessa har sedan analyserats och jämförts för att till slut bestämma de som ansetts bäst att använda. Med hjälp av de så startade en utveckling av en simulator där hjul- och kollisionsdata hämtades från en fysisk robotgräsklippare och skickades till en virtuell robotgräsklippare. Den färdigställda simulatorn utvärderades vid slutet av arbetet med hjälp av experiment där författarna observerade och jämförde rörelsen hos den fysiska och virtuella robotgräsklipparen. För att utföra denna uppgift så tillämpade arbetet metoden Design science research där det arbetades iterativt vid utvecklingen av simulatorn. Resultatet visar på att det är möjligt att skapa en simulator med de valda mjukvarorna ROS och Gazebo där man kan genomföra simulerade tester. Arbetet visar på ökad kunskap där data från en fysisk robotgräsklippare kan implementeras i 3D-simulatorn Gazebo via ramverket ROS. Studien kan användas som riktlinje i liknande projekt när det kommer till val av mjukvaror och om de är lämpliga. Arbetet begränsas till enbart hjul- och kollisionsdata från den fysiska robotgräsklipparen.

Radiation is a common mode of cancer therapy that is well known to generate reactive oxygen species leading to cell damage and death. However, there are many limitations to radiation therapy including normal tissue toxicity and the presence of quiescent cancer cells that are radio-resistant. There are many factors that regulate normal and cancer cell radiation response including the cellular redox environment which includes a complex network of antioxidants. In this study, two specific objectives will be explored: (A) SEPP1 regulation of normal cell toxicity; and (B) FoxM1 regulation of quiescence-associated radiation resistance in human oral squamous carcinoma cells. Results from DHE-oxidation analysis show that in irradiated proliferating normal cells there is a late ROS accumulation that occurs independent of cell cycle checkpoint activation and precedes cell death. Additionally, Q-RT-PCR and immunoblot analysis show an increase in Selenoprotein P (SEPP1) expression following radiation. SEPP1 is an extracellular glycoprotein with proposed selenium transport and antioxidant functions. However, pretreatment of normal cells with sodium selenite or overexpression of sepp1 is able to mitigate radiation-induced normal cell toxicity. It is well-accepted that quiescent populations exist in most solid tumors and are often the reason for tumor recurrence. In this study, we see that quiescent head and neck cancer cells that are resistant to radiation have low basal expression of Forkhead box M1 (FoxM1) compared to proliferating cancer cells. FoxM1 is a transcription factor that has recently been implicated in the cellular response to oxidative stress. Results indicate that although basal expression is low in quiescent cells, following irradiation FoxM1 is increased in quiescent cancer cells but not in proliferating cancer cells. Additionally, pharmacological and genetic knockdown of FoxM1 led to sensitization of quiescent cancer cells indicating that FoxM1 inhibitors could be useful radiation sensitizers. Together, these objectives will help to identify possible treatment options to use in addition to radiation therapy to better target quiescence-associated resistant tumors and induce less normal cell toxicity.

Automated guided vehicles (AGVs) are the key equipment of flexible production systems and an important means for realizing a modern logistics system that meets the demands of Industry 4.0. AGVs are used from the mid 50th to delegate monotonous work of delivering products from the human to the automated device. In the long run, the usage of AGVs brings huge benefits to the manufacturing companies. But the purchase and installation of these devices significantly increase operational costs. This fact halts small and medium-sized enterprises from adopting this technology on their shop floors. The idea of this thesis work is to design and create a device that can be retailed at a significantly lower price without compromising flexibility and functional properties, to be used by smaller businesses. For this mater are used more affordable parts that can bring the cost down of a final product. This work describes the process of developing a differential drive mobile platform under the control of the robotic operating system. The process includes the development of a virtual model; selection of required components and investigation of their compatibility; development of chassis, suspension, and gear system; development of a hardware interface to interact with hardware components; configuration of different algorithms of control, cartography, and navigation; evaluation of the device. The research method is used in this work is design and creation due to the necessity of creating a physical prototype. The budget specification for the project was set to 50000 SEK and the desired payload capacity was set to 100kg. The work has resulted in the creation of a prototype of the AGV. The cost of the project is 20595 SEK. The evaluation of a prototype resulted in a maximum towing force of 300N. The load capacity is limited by the mobile base is 400kg. Safety sensors are not used in this project as the device was meant to operate in a controlled environment. The work also gives an evaluation of the Gmapping algorithm in case of using the laser scanner (RPlidar A1) and two algorithms of navigation stack: TrajectoryPlannerROS and DWA planner. The final prototype is evaluated to support an autonomous movement within a controlled environment.

Tumourigenic cells utilize aberrant metabolic process that supports the biosynthetic requirements for hyperproliferation, survival and prolonged maintenance characterised by glucose metabolism to lactate dehydrogenase independent of oxygen availability (Warburg effect). In addition, tumourigenic cells exert increased glycolytic- and glutaminolytic activity in order to provide increased quantities of adenosine triphosphate. The aim of this research project was to investigate the influence of glutamine deprivation on proliferation, morphology, oxidative stress, mitochondrial membrane potential, cell cycle progression, antioxidant defences, deoxyribonucleic acid (DNA) damage, energy status, cell survival signaling and cell death induction in tumourigenic- and non-tumourigenic breast cell lines. In this study it was found that glutamine deprivation results in differential antiproliferative activity where the MCF-7 cell line was the most affected with decreased cell growth to 61% after 96 h of glutamine deprivation. Aberrant redox activity was most prominently observed in the MCF-7 cell line accompanied with biphasic mitochondrial membrane potential- and reactive oxygen species production. The MCF-7 cell line showed significant mitochondrial membrane depolarisation after 24 h and 96 h deprivation from glutamine (1.5- and 1.37 fold). Cell cycle progression analysis illustrated an increase in the amount of cells present in the S-phase in the MCF-7 cell line after 72 h of glutamine deprivation. The MDA-MB-231 cell line resulted in a significant increase in cells occupying the G2/M phase after 24 h of glutamine deprivation. Glutamine deprivation in the BT-20 cell line resulted in a significant increase in cells occupying G1 phase after 72 h of glutamine deprivation. The MCF-7 cell line demonstrated the least amount of viable cells when analysing apoptosis induction, when compared to the MDA-MB-231-, MCF-10A- and BT-20 cell lines after glutamine deprivation suggesting that the MCF-7 cell line is the most affected cell line. Analysis of antioxidant mechanism via superoxide dismutase (SOD) inhibition illustrated increased SOD activity in the MCF-7 cell line (9.1%) after 72 h of glutamine deprivation. Evaluation of catalase protein concentration indicated that the MCF-7 catalase expression increased to 1.28 fold after 24 h of glutamine deprivation when compared to cell propagated in complete growth medium. DNA damage was demonstrated by visualising the presence of fluorescent 8-hydroxydeoxyguanosine and showed that the MCF-7 cell line presented with significant 8-hydroxydeoxyguanosine staining. Survival signaling was also evaluated through visualising extracellular signal-regulated kinase (ERK) and phosphoinositide 3-kinase (PI3K) signaling which demonstrated increased ERK activation in the non-tumourigenic MCF-10A cell line and decreased PI3K activation. This study provides evidence that there are differential- and time-dependent responses in breast tumourigenic cells versus non-tumourigenic cells, to glutamine deprivation thus unraveling the crosstalk between glutamine deprivation, oxidative stress and cell death and different cell types will enable us to better understand the basics of tumour cell metabolism and thus develop therapeutics that provide promising pre-sensitization potential for chemotherapeutic agents. / Dissertation (MSc)--University of Pretoria, 2020. / Physiology / MSc / Unrestricted

Tato diplomová práce se zabývá vývojem a implementací algoritmu pro detekci QR kódů s integrací do platformy ROS a výpočty běžícími na grafické kartě. Z rešerše současně dostupných nástrojů a technik je vybrán vhodný postup a algoritmus je napsán jako modul v programovacím jazyce Python, který je snadno integrovatelný do ROS. Ke zprostředkování výpočtů na vícejádrovém hardware, jako jsou grafické karty či vícejádrové procesory, je využita knihovna OpenCL.

The master's thesis deals with the design and realization of embedded control system and software of the autonomous mobile robot DACEP. The research section focuses on the selection of sensory equipment. Moreover, the design of the embedded control system and the communication interface between this system and the master PC is described in detail, followed by the design of localization and navigation software that uses ROS framework. The section is written as instructive as possible for the development of robots of similar construction. Finally the development of a graphical interface for robot diagnostics and remote control is depicted.