Este trabalho apresenta os resultados preliminares de levantamento arqueológico realizado na RDS Amanã, Estado do Amazonas. Situada na região do médio curso do rio Solimões e baixo Japurá, a RDS Amanã está na fase de preparo do seu plano de gestão. A respeito do Patrimônio Arqueológico existente na reserva Amanã 32 sítios arqueológicos formados por terra preta, cerâmica e material lítico polido foram identificados em etapas de levantamento realizadas entre 2006 e 2008. Levando em consideração o tamanho, densidade e variabilidade dos vestígios arqueológicos, assim como, a intensidade dos processos pós-deposicionais os sítios Boa Esperança e Bom Jesus do Baré foram escolhidos para realização de mapeamentos e escavação. O objetivo principal desse mestrado é apresentar o contexto arqueológico da reserva Amanã a partir de uma perspectiva comparativa com pesquisas arqueológicas que ocorrem em outros locais da Amazônia. Mais especificamente com a cronologia estabelecida para as ocupações ceramistas na Amazônia Central e áreas adjacentes, como Baixo Amazonas e médio Rio Caquetá/Japurá. A partir de dados relativos ao tamanho, composição, formato e estratigrafia dos sítios, assim como analise cerâmica e datações é formulada uma cronologia preliminar para o lago Amanã. / The main goal of this dissertation is to introduce the archaeological context of the Amanã Sustainable Development Reserve, situated near the middle course of the Amazon and the lower course of the Japurá Rivers, in the state of Amazonas; its management plan is currently under preparation. This context is then compared to the archaeology of other areas of Amazonia. Preliminary results of the archaeological survey carried out between 2006 and 2008 will be presented, during which time 32 archaeological sites were identified. These are composed of anthropogenic dark earth, pottery and ground lithics. The Boa Esperança and Bom Jesus do Baré archaeological sites were selected for mapping and excavation due to their size, density and the variability of archaeological material they contain. An initial chronology for the Amanã Lake is put forward, based on data related to site size, composition, form and stratigraphy. This is then contrasted to ceramicist occupations identified in the Central Amazon and adjacent areas (the Lower Amazon and middle Caquetá/Japurá). Such a comparative approach is employed as a tool to allow the insertion of the Amanã Lake in the wider scenario, in this way allowing for a contribution to debates and discussions that are important to Amazonian Archaeology, such as the origin and dispersal of ceramic traditions. The data will further provide information to be utilized with local inhabitants for the future development of research, public archaeology and the reserve\'s management activities.

Die Kaiserschnittrate erhöhte sich in den letzten Jahrzehnten in zahlreichen geburtshilflichen Kliniken. Diese Entwicklung ist problematisch, weil damit eine erhöhte pulmonale Morbidität der Neugeborenen verbunden sein kann. Die vor­ liegende Arbeit untersucht die Anpassung von späten Frühgeborenen (34,0–36,6 SSW) und 2 Gruppen von reifen Neugeborenen (37,0–37,6 und 40,6–40,6 SSW) in einem Level 1 Zentrum in Abhängigkeit vom Geburtsmodus. Eingeschlos­ sen wurden primär gesunde Kinder, die im Verlauf eines Jahres geboren wurden. Ausge­ schlossen wurden Kinder mit nachgewiesener angeborener Anomalie und Kinder mit einer schweren Anpassungsstörung (Apgar 5‘<6). Die Kaiserschnittrate lag bei 22% und war am höch­ sten bei späten Frühgeborenen (39%) im Ver­ gleich zu Kindern der 37. (30 %) und der 40. SSW (11%). Die Rate der Kinder, die mit CPAP behan­ delt werden mussten fiel von 88 % in der 34. SSW auf 17% in der 37. und 8% in der 40. SSW. Kinder nach Kaiserschnitt mussten im Vergleich zur spontan geborenen Kindern signifikant häufiger mit CPAP therapiert werden (50 vs. 12%). Dieser Unterschied war für späte Frühgeborene deutlich (82 vs. 36 %) und lag niedriger bei in der 37. (33 vs. 9 %) und 40. (26 vs. 6 %) SSW geborenen Kindern. Der deutlichste Unterschied fiel bei in der 36. SSW geborenen Kindern auf (66 vs. 9%). Die Ergebnisse der Analyse dokumentieren, dass ein Kaiserschnitt bei primär gesunden Kindern zu einer schlechteren respiratorischen Anpassung führt. Dies gilt besonders, jedoch nicht nur, für späte Frühgeborene und dort besonders für Kinder, die in der 36. SSW geboren werden. Die weltweit wachsende Rate von Kaiserschnittent­ bindungen sollte immer wieder kritisch hinter­ fragt werden. Eine Kaiserschnittentbindung ohne klare Indikation führt zu einer erhöhten Rate an respiratorischen Anpassungsstörungen, zur neo­ natologischen Aufnahme der Kinder und damit verbunden zu einer Störung der Mutter­Kind­Bindung, sowie zu einer unnötigen finanziellen Belastung des Gesundheitssystems. Es ist zu wünschen, dass die Daten der Studie benutzt werden, um in der Diskussion zwischen Eltern, Geburtshelfern und Neo­ natologen immer den besten Geburtsweg für das Kind zu finden. / The rates of delivery by Cesarean section (CS) have been trending upwards in recent decades, perhaps leading to higher rates of dysfunction in respiratory adaptation in newborns. We present epidemiological data for pulmonary adaptation by mode of delivery for healthy late preterm and term infants born at a regional tertiary care center. The overall CS rate was 22 % with the lar­ gest proportion of these in late preterms (39%). This drops to 30% in infants born after 37 weeks gestation and to 11% for those born after 40 weeks. Infants needing respiratory support de­ creased significantly as gestational age increased: 88% at 34 weeks, 67% at 35 weeks, 28% at 36 weeks, 17% at 37 weeks and 8% at 40 weeks. The risk of respiratory morbidity following CS as compared to vaginal delivery (VD) was substan­ tially higher. 50% of infants born by CS needed respiratory support compared to only 12% fol­ lowing VD. 82% of all late preterm infants born by CS developed respiratory morbidity compared to 36 % following VD. Comparable data for infants born after 37 and 40 weeks gestation were 33% compared to 9 % and 26 % compared to 6 % respec­ tively. Late preterm infants born after 36 weeks gestation showed the most marked difference by mode of birth with 66 % needing respiratory sup­ port following CS as compared to only 9 % follow­ ing VD. Our data could be useful in counselling parents about risk associated with delivery by Cesarean section. A critical view should be taken of increasing CS rates worldwide because of a clear correlation in increased morbidity in infants, especially late preterm infants.

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Actualment, la legislació ambiental ha esdevingut més restrictiva pel que fa a la descàrrega d'aigües residuals amb nutrients, especialment en les anomenades àrees sensibles o zones vulnerables. Arran d'aquest fet, s'ha estimulat el coneixement, desenvolupament i millora dels processos d'eliminació de nutrients.El Reactor Discontinu Seqüencial (RDS) o Sequencing Batch Reactor (SBR) en anglès, és un sistema de tractament de fangs actius que opera mitjançant un procediment d'omplerta-buidat. En aquest tipus de reactors, l'aigua residual és addicionada en un sol reactor que treballa per càrregues repetint un cicle (seqüència) al llarg del temps. Una de les característiques dels SBR és que totes les diferents operacions (omplerta, reacció, sedimentació i buidat) es donen en un mateix reactor. La tecnologia SBR no és nova d'ara. El fet, és que va aparèixer abans que els sistema de tractament continu de fangs actius. El precursor dels SBR va ser un sistema d'omplerta-buidat que operava en discontinu. Entre els anys 1914 i 1920, varen sorgir certes dificultats moltes d'elles a nivell d'operació (vàlvules, canvis el cabal d'un reactor a un altre, elevat temps d'atenció per l'operari...) per aquests reactors. Però no va ser fins a finals de la dècada dels '50 principis del '60, amb el desenvolupament de nous equipaments i noves tecnologies, quan va tornar a ressorgir l'interès pels SBRs. Importants millores en el camp del subministrament d'aire (vàlvules motoritzades o d'acció pneumàtica) i en el de control (sondes de nivell, mesuradors de cabal, temporitzadors automàtics, microprocessadors) han permès que avui en dia els SBRs competeixin amb els sistemes convencional de fangs actius.L'objectiu de la present tesi és la identificació de les condicions d'operació adequades per un cicle segons el tipus d'aigua residual a l'entrada, les necessitats del tractament i la qualitat desitjada de la sortida utilitzant la tecnologia SBR. Aquestes tres característiques, l'aigua a tractar, les necessitats del tractament i la qualitat final desitjada determinen en gran mesura el tractament a realitzar. Així doncs, per tal d'adequar el tractament a cada tipus d'aigua residual i les seves necessitats, han estat estudiats diferents estratègies d'alimentació.El seguiment del procés es realitza mitjançant mesures on-line de pH, OD i RedOx, els canvis de les quals donen informació sobre l'estat del procés. Alhora un altre paràmetre que es pot calcular a partir de l'oxigen dissolt és la OUR que és una dada complementària als paràmetres esmentats.S'han avaluat les condicions d'operació per eliminar nitrogen d'una aigua residual sintètica utilitzant una estratègia d'alimentació esglaonada, a través de l'estudi de l'efecte del nombre d'alimentacions, la definició de la llargada i el número de fases per cicle, i la identificació dels punts crítics seguint les sondes de pH, OD i RedOx. S'ha aplicat l'estratègia d'alimentació esglaonada a dues aigües residuals diferents: una procedent d'una indústria tèxtil i l'altra, dels lixiviats d'un abocador. En ambdues aigües residuals es va estudiar l'eficiència del procés a partir de les condicions d'operació i de la velocitat del consum d'oxigen. Mentre que en l'aigua residual tèxtil el principal objectiu era eliminar matèria orgànica, en l'aigua procedent dels lixiviats d'abocador era eliminar matèria orgànica i nitrogen.S'han avaluat les condicions d'operació per eliminar nitrogen i fòsfor d'una aigua residual urbana utilitzant una estratègia d'alimentació esglaonada, a través de la definició del número i la llargada de les fases per cicle, i la identificació dels punts crítics seguint les sondes de pH, OD i RedOx.S'ha analitzat la influència del pH i la font de carboni per tal d'eliminar fòsfor d'una aigua sintètica a partir de l'estudi de l'increment de pH a dos reactors amb diferents fonts de carboni i l'estudi de l'efecte de canviar la font de carboni. Tal i com es pot veure al llarg de la tesi, on s'han tractat diferents aigües residuals per a diferents necessitats, un dels avantatges més importants d'un SBR és la seva flexibilitat. / Actualmente, la legislación ambiental se ha convertido más restrictiva por lo que concierne al vertido de aguas residuales con nutrientes, especialmente en las llamadas áreas sensibles o zonas vulnerables. A partir de este hecho, se ha estimulado el conocimiento, desarrollo y mejora de los procesos de eliminación de nutrientes.El Reactor Discontinuo Secuencial (RDS) o Sequencing Batch Reactor (SBR) en inglés, es un sistema de tratamiento de fangos activados que opera mediante un procedimiento de llenado-vaciado. En este tipo de reactores, el agua residual es adicionada en un solo reactor que trabaja por cargas repitiendo un ciclo (secuencia) a lo largo del tiempo. Una de les características de los SBR es que todas las diferentes operaciones (llenado, reacción, sedimentación y vaciado) se dan en el mismo reactor. La tecnología SBR no es nueva. De hecho, apareció antes que el sistema de tratamiento continuo de fangos activados. El precursor de los SBR fue un sistema de llenado-vaciado que operaba en discontinuo. Entre los años 1914 y 1920, surgieron ciertas dificultades muchas de ellas a nivel de operación (válvulas, cambios de caudal de un reactor a otro, elevado tiempo de atención por parte del operario...) para estos reactores. Pero no fue hasta finales de la década de los '50 principios de los '60, con el desarrollo de los nuevos equipamientos y las nuevas tecnologías, cuando volvió a resurgir el interés en los SBRs. Importantes mejoras en el campo de los suministro de aire (válvulas motorizadas o de acción neumática) y en el de control (sondas de nivel, medidores de caudal, temporizadores automáticos, microprocesadores) han permitido que hoy en día los SBRs compitan con los sistemas convencionales de fangos activados.El objetivo de la presente tesis es la identificación de las condiciones de operación adecuadas para un ciclo según el tipo de agua residual en la entrada, las necesidades del tratamiento y la calidad deseada de la salida utilizando la tecnología SBR. Estas tres características, el agua a tratar, las necesidades del tratamiento y la calidad final deseada determinan en gran medida el tratamiento a realizar. Así pues, para poder adecuar el tratamiento a cada tipo de agua residual y a sus necesidades, han sido estudiados diferentes estrategias de alimentación. El seguimiento de los cambios de las medidas en línea de pH, OD y RedOx proporciona información sobre el proceso. A su vez, otro parámetro que se puede calcular a partir del OD es la OUR que también da información del proceso.Se han evaluado las condiciones de operación para eliminar nitrógeno de una agua residual sintética utilizando una estrategia de alimentación escalonada, a partir del estudio del efecto del número de alimentaciones, la definición de la longitud y el número de fases por ciclo, y la identificación de los puntos críticos siguiendo las sondas de pH, OD y RedOx.Se ha aplicado la estrategia de alimentación escalonada a dos aguas residuales diferentes: una procedente de una industria textil y la otra, de los lixiviados de un vertedero. En las dos aguas residuales se estudió la eficiencia del proceso a partir de las condiciones de operación y de la velocidad de consumo de oxigeno. Mientras que en el agua residual textil el principal objetivo era eliminar materia orgánica, en el agua procedente de los lixiviados del vertedero era eliminar materia orgánica y nitrógeno.Se han evaluado las condiciones de operación para eliminar nitrógeno y fósforo de una agua residual urbana utilizando una estrategia de alimentación escalonada, a partir del estudio de la definición de la longitud y el número de fases por ciclo, y la identificación de los puntos críticos siguiendo las sondas de pH, OD y RedOx.Se han analizado la influencia del pH y la fuente de carbono para eliminar fósforo de un agua sintética a partir del estudio del incremento de pH en dos reactores con diferentes fuentes de carbono y el estudio del efecto de cambiar la fuente de carbono.Como se puede apreciar a lo largo de la tesis, donde se han tratado diferentes aguas residuales para a diferentes necesidades, una de las ventajas más importantes de los SBR es su flexibilidad. / Nowadays, environmental legislation has become more restricted in the nutrient wastewater discharge, especially in the sensitive areas and vulnerable zones. So, many studies have been stimulated on the understanding, developing and improving the biological nutrient removal processes.The Sequencing Batch Reactor (SBR) is a fill-and-draw activated sludge system for wastewater treatment. In this system, wastewater is added to a single reactor which operates in a batch treatment mode repeating a cycle (sequence) continuously. All the operations (fill, react, settle and draw) are achieved in a single batch reactor. SBR technology is not new. In fact, it precedes the use of continuous flow activated sludge technology. The precursor to this was a fill-and-draw system operated on batch, similar to the SBR. Between 1914 and 1920, many difficulties were associated with operating these fill-and-draw systems, most resulting from the process valving required to switch flow from one reactor to another, operator attention required. Interest in SBRs was revived in the late 1950s and early 1960s, with the development of new equipment and technology. Improvements in aeration devices (i.e. motorized valves, pneumatically actuated valves) and controls (level sensors, flowmeters, automatic timers, microprocessors) have allowed SBRs to successfully compete with conventional activated sludge systems.The aim of this thesis consists in the identification of suitable operation conditions for a cycle according to kind of influent wastewater, treatment requirements and effluent quality using a SBR technology. The influent wastewater, treatment requirements and effluent quality desire determinate in great measure the treatment to realize. So, different studies have been carried out in order to obtain a suitable treatment for each wastewater and requirement using a step-feed strategy.By means of on-line pH, DO and ORP measurements are possible follow the status of the process. At the same time another parameter, that complements all these, is the OUR calculated through DO dada.Evaluation the operation conditions for nitrogen removal using a step-feed strategy for a synthetic wastewater through the study of the effect of number of filling events, the definition of the length and number of phases for a cycle, and the identification of the critical points following the pH, DO and ORP sensors. Application of the step-feed strategy in two different industrial wastewaters: textile wastewater and landfill leachate wastewater. In both wastewaters, the efficiency has been studied through the operational conditions and oxygen uptake rate. While in the textile wastewater the main objective was only organic matter removal, in the landfill leachate wastewater was carbon and nitrogen removal.Evaluation of the operation conditions for nitrogen and phosphorus removal using a step-feed strategy for an urban wastewater through, the definition of the number and length of phases for a cycle, and the identification of the critical points following the pH, DO and ORP sensors.Influence of pH and carbon source in phosphorus removal using synthetic wastewater through the study of pH increase in two different carbon sources and the effect of change of carbon source.As it can be observed in this thesis, where it is treated different wastewaters for different requirements, one of the main advantages of the SBR is its flexibility.

Das Reizdarmsyndrom (RDS) ist eine funktionale Darmerkrankung mit einer Prävalenz von 10.000 – 20.000/100.000 in verschiedenen Kulturen. Keine einzelne physiologische oder psychologische Ursache konnte bisher isoliert werden. Ein sensitiver und spezifischer Maker sind herabgesetzte rektale Schmerzschwellen. Veränderungen der cerebralen viszerosensorischen und nozizeptiven Repräsentation sind mit Neuroimaging-Studien untersucht worden. Die Verarbeitung von Reizen unterhalb der Wahrnehmungsschwelle scheint sich von der Verarbeitung bewusster Reize zu unterscheiden. Wir untersuchten daher sub- und supraliminale rektale Wahrnehmung von 8 RDS-Patienten und 8 parallelisierten gesunden Kontrollprobanden. Die Reizschwelle wurde mit Hilfe eines Tracking-Paradigmas bestimmt. In einer funktionellen Magnetresonanztomographie (fMRT)-Studie wurden Reize unter, über und in der Nähe der Wahrnehmungsschwelle in einem pseudorandomisierten Blockdesign präsentiert. Bei supraliminaler Stimulation gesunder Probanden konnten der bekannte spinothalamische und vagale Pfad repliziert werden. Bei subliminaler Stimulation zeigte sich in einer Einzelauswertung eine ähnliche Verarbeitung, damit konnten die Vorergebnisse hier ebenfalls repliziert werden. In der Gruppenauswertung fand sich Aktivierung nur in Arealen, die bei supraliminaler Stimulation nicht aktiv waren. RDS-Patienten zeigten weniger Aktivität bei subliminaler und mehr bei liminaler Stimulation. Bei supraliminaler Stimulation zeigten sich unterschiedliche aktivierte Areale. Insbesondere war der Amygdala-Hippocampus-Komplex bei Patienten stärker aktiviert. Die Ergebnisse bei supraliminaler und liminaler Stimulation können als verstärkte Aufmerksamkeit auf eben wahrnehmbare Darmreize und als verstärkte emotionale Verarbeitung interpretiert werden. Bei der subliminalen Stimulation kann man schwächere Aktivität schmerzunterdrückender Netze annehmen oder von einem methodischen Artefakt ausgehen. / Irritable bowel syndrome (IBS) is a functional bowel disease with a prevalence of 10.000 - 20.000/100.000 across cultures. So far, no single physiological or psychological reason has been identified. Nevertheless, reduced rectal pain thresholds represent a sensitive and specific marker. Alterations in cerebral viscerosensory and nociceptive representation have been addressed using neuroimaging studies. Processing of stimuli below conscious perception level seems to differ from consciously perceived stimuli. Thus, we examined sub- and supraliminal rectal perception in 8 patients with IBS and 8 healthy matched control subjects. Perception thresholds were assessed by a tracking paradigm. In an functional magnetic resonance imaging (fMRI) study using a block design, stimuli below, above, or around the subjective perception threshold were presented in pseudo-randomized order. At supraliminal stimulation in healthy controls, results of previous studies were replicated and confirmed a spinothalamic and a vagal pathway of visceral sensory perception and suggested processing in amygdala and hippocampus. At subliminal stimulation in healthy controls, previous results were also replicated showing similar processing in single subject analysis. Results of a group analysis yielded only activity in areas not activated at supraliminal stimulation. IBS patients showed less pronounced activity during subliminal stimulation and much more pronounced activity at liminal stimulation. At supraliminal stimulation, different areas showed active in both groups. In particular, the amygdala-hippocampus complex was more active in patients. Results at liminal and supraliminal stimulation can be interpreted as enhanced attention to around-threshold rectal stimuli and more pronounced emotional processing of conciously perceived stimuli. Results at subliminal stimulation can be understood as weaker activity of perception-suppressing pathways or as methodological artifact.

Thesis (MMed) -- Stellenbosch University, 2010. / ENGLISH ABSTRACT: Introduction: Limited facilities exist at rural hospitals for the management of newborn infants with respiratory distress syndrome (RDS). Furthermore, the secondary and tertiary hospitals are under severe strain to accept all the referrals from rural hospitals. Many of these infants require intubation and ventilation with a resuscitation bag which must be sustained for hours until the transport team arrives. Not only is lung damage inflicted by the prolonged ventilation, but transferring the infant by helicopter and ambulance is expensive. CPAP (continuous positive airway pressure), a non-invasive form of ventilatory support, has been used successfully at regional (Level 2) and tertiary (Level 3) neonatal units, to manage infants with RDS. It is cost-effective for infants with mild to moderate grades of RDS to be managed at the rural hospital instead of being transferred to the regional secondary or tertiary hospital. CPAP was introduced to Ceres Hospital, a rural Level 1 hospital, in February 2008 for the management of infants with RDS. Aim: To determine the impact of CPAP on the management of infants with RDS in a rural level 1 hospital and whether it can reduce the number of referrals to regional hospitals. Study setting: Nursery at Ceres District Hospital, Cape Winelands District, Western Cape. Study design: Prospective cohort analytical study with an historic control group (HCG). Patients and Methods: The study group (SG) comprised all neonates with respiratory distress born between 27/02/2008 and 26/02/2010. The infants were initially resuscitated with a Neopuff® machine in labour-ward and CPAP was commenced for those with RDS. The survival and referral rates of the SG were compared to an historic control group (HCG) of infants born between 1/2/2006 to 31/01/2008 at Ceres Hospital. Results: During the 2 years of the study, 51 neonates received CPAP (34 <1800g, 17>1800g). Twenty (83%) of the SG infants between 1000g and 1800g and 23 (68%) of the infants between 500g and 1800g survived. Those <1800g that failed CPAP, had either a severe grade of RDS which required intubation and ventilation or were <1000g. Seventeen (33%) of the infants that received CPAP, were in the >1800g group. Thirteen (76%) of these infants were successfully treated with CPAP only. The four infants that failed CPAP suffered from congenital abnormalities and would not have benefited from CPAP. There was no statistically significant difference in the survival between the SG and HCG (80%) (p=0.5490) but the number of referrals decreased significantly from 21% in the HCG to 7% in the SG (p=0.0003). No complications related to CPAP treatment, such as pneumothorax, were noted. The nursing and medical staff quickly became proficient and confident in applying CPAP and were committed to the project. Conclusion: CPAP can be safely and successfully practised in infants with mild to moderate RDS in a rural Level 1 hospital. The survival rate stayed the same as the HCG, even though a higher risk infants were treated in the SG. The transfers were significantly reduced from 21% to 7%. This resulted in significant cost savings for the hospital. / AFRIKAANSE OPSOMMING: geen opsomming

A compact air separator demonstrator based on centrifugally enhanced distillation has been studied. The full size device is meant to be used on board of a Two Stage To Orbit vehicle launcher. The air separation system must be able to extract oxygen in highly concentrated liquid form (LEA, Liquid Enriched Air) from atmospheric air. The LEA is stored before being used in a subsequent rocket propulsion phase by the second stage of the launcher. Two reference vehicles are defined, one with a subsonic first stage and one with a supersonic first stage. In both cases, oxygen collection is performed during a cruise phase (M 0.7 and M 2.5 respectively). The aim of the project is to demonstrate the feasibility of the air separation system, investigate the separation cycle design, and assess that the separator design selected is suitable for the reference vehicles.<p><p>The project is described from original base ideas to design, construction, extended testing and analysis of experimental results. Preliminary computations for a realistic layout have been performed and the motivations for the choices made during the process are explained. Test rig design, separator design and technical discussion are provided for a subscale pilot unit. Mass transport parameters and flooding limits have been estimated and experimentally measured. Performance has been assessed and shown to be sufficient for the reference Two Stage To Orbit vehicles. The technology developed is found suitable without further optimization, although some volume and mass reduction would be desirable for the supersonic first stage concept. There are many ways of optimisation that can be further investigated. The aim of this program, however, is not to fully optimize the device, but to demonstrate that a device based on a simple, robust, low-risk design is already suitable for the launch vehicles. On top of that analysis, directions for improvements are suggested and their potentials estimated. A complete assessment of those improvements requires further maturation of the technological concept through further testing and practical implementations.<p><p>Directions for future work, general conclusions and a vehicle development roadmap have also been provided.<p> / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished