<p>The <i>Curiosity</i> and <i>Perseverance</i> rovers have both found overwhelming evidence of a long-lived history of complex rock-water interactions on Mars. Understanding how the mineralogy of these deposits is related to depositional and diagenetic environments is critical for evaluating past habitable environments and guiding the search for signs of life with the <i>Curiosity</i> and <i>Perseverance</i> rovers. However, the chemistry and timing of these aqueous environments are poorly constrained. In particular, it is unclear which secondary minerals in the rock record formed in primary lacustrine vs. later diagenetic events. Understanding the origin of alteration minerals is crucial for studying habitability because they provide constraints on the timing and types of environments that existed. The goal of my thesis research is to better constrain the history of diagenetic processes in Gale and Jezero craters using the morphology, sedimentology, and mineralogy of features from rover and orbiter observations and comparisons to Earth analogs to understand their formation mechanisms. This research contributes to building a framework of the history of water in Gale and Jezero craters and will help us better understand past climate, habitability, and sources of water on Mars.</p><p>The <i>Curiosity</i> rover on the Mars Science Laboratory (MSL) mission has found extensive evidence that Gale crater once hosted a habitable lacustrine environment; however, there are remaining questions about the chemistry and duration of the lake and the nature of the climate at the time. In Chapter 2 of this thesis, I use Mastcam multispectral data to investigate the mineralogy of the Sutton Island member of the Murray formation, a part of the basal layers of Mt. Sharp, which consists of heterolithic mudstone and sandstone that are distinct from the finely laminated mudstones that dominate much of the Murray. Sutton Island includes at least one instance of desiccation cracks, indicative of subaerial exposure, and uniquely irregular diagenetic features that may be related to local bedrock permeability. These features suggest that Sutton Island experienced a complex history of deposition and diagenesis which may be crucial for understanding changing water-rock interactions within Gale. I find that most Mastcam bedrock spectra in this region lack the absorptions associated with hematite found throughout the Murray, and instead show deeper absorptions shifted toward longer wavelengths that are more consistent with Fe-smectites such as nontronite. Elemental chemistry from ChemCam supports this interpretation, as SiO, MgO, Li, and the chemical index of alteration are elevated in this region. Combined with observations of bedrock sedimentology, this suggests that Sutton Island was deposited in a nearshore or low stand environment, and we hypothesize that the clay minerals were produced in this region due to sub-aerial exposure and weathering in a semi-arid climate.</p><p>In Chapter 3, I use the Middle Jurassic Carmel Formation from Utah as a terrestrial analog to understand how the history of rock-water interactions is expressed in the rock record on Mars and how we can interpret this history of deposition and diagenesis using visible/near-infrared/short wave-infrared reflectance spectroscopy at rover scales. The Carmel Formation consists of carbonate- and sulfate-rich heterolithic strata deposited in a range of environments from fluvial, aeolian, and coastal sabkha to shallow marine settings. The alteration mineralogy, variable sedimentology, and diagenetic features present makes this formation a good analog for parts of the Murray formation in Gale crater and rocks from the Jezero crater delta front. In this thesis, we find that changes in lake level and climate manifest themselves in diagenetic features and mineralogy in the Carmel Formation with increased carbonate content in marine strata and increased evaporite/clay mineral content in near-shore/playa deposits. These results generally correspond to correlations with sedimentology and bedrock composition observed in Gale and Jezero craters and allows us to better interpret evidence of complex rock-water interactions on Mars using reflectance spectroscopy.</p><p>Although NASA’s <i>Curiosity</i> rover has found evidence of diagenesis, at a variety of scales, the broader extent of diagenesis in Gale crater is poorly constrained. <i>Curiosity</i> has observed extensive evidence of diagenesis at the unconformity between Mt. Sharp group fluvial/lacustrine mudstones and Siccar Point group (SPg) aeolian sandstones, which is part of the much larger Mound Skirting Unit (MSU) that mantles Mt. Sharp. This diagenetic horizon is visible as a light-toned tan, gray, or blue region in color images from both the ground and orbit. In Chapter 4 of this thesis, I use orbital color images and spectroscopy to look for possible evidence of alteration at the MSU unconformity elsewhere in Gale crater. I find that color variations appear at the MSU unconformity across Mt. Sharp and are co-located with detections of alteration minerals such as hydrated silica and phyllosilicates. This suggests that some of the diagenetic alteration observed by <i>Curiosity </i>below the MSU unconformity was extensive across Mt. Sharp. I hypothesize that this diagenesis was primarily driven by differences in permeability, where the more permeable SPg/MSU sandstones provided a conduit for diagenetic fluids that stagnated within and altered the upper few meters of less permeable clay bearing strata in the Mt. Sharp group below. The extensive diagenesis observed in Gale implies that subsurface fluids were long-lived and widespread in this region on Mars. Gaining a better understanding of what rock properties control and influence diagenetic fluid flow on Mars will help us improve the search for ancient aqueous environments, and possible biosignatures, on Mars.</p><p>The work included herein contributes to our understanding of rock-water interactions on Mars by demonstrating how bedrock properties, such as changes in permeability, can affect the flow of diagenetic fluids. These studies emphasize the importance of reflectance spectroscopy as a useful tool for constraining bedrock mineralogy and how it links to variable depositional and alteration environments. This will help guide current and future missions to search for past habitable environments and biosignatures on Mars.</p>

The fruit fly, Drosophila melanogaster is an exceptional model species for understanding both proximate and ultimate causes of variation in behaviour. Here, we have examined two behaviors: foraging and mating. We discuss these research projects in turn. Almost 40 years ago, the classic foraging behaviour polymorphism rover/sitter was first discovered. Recently, evidence has suggested that the polymorphism is maintained by negative frequency-dependent selection at the larval stage. In two separate experiments we failed to replicate negative frequency-dependence in the survival of rover and sitter larvae. However, we empirically demonstrated differences in burrowing behaviour between the rover and sitter morphs which may be a possible mechanism causing the negative frequency-dependent relationship between the morphs. Future replication of negative frequency-dependence is necessary if we are to understand the maintenance of this polymorphism in nature. We examined mating behaviour from the perspective of two mechanisms of sexual selection: female choice and male-male competition. The study of sexual selection requires careful isolation of these mechanisms. Owing to difficulties in experimental design, studies have yet to properly separate and quantify the individual effects of female choice and male-male competition in fruit flies. Here, we designed a novel arena to assess true female choice. We then used this arena to test the effect of male courtship interference on mating outcomes. However, due to an unforeseen amount of male harassment of females in the arena, we withhold any strong conclusions about the effect of male-male interference behaviour. We also attempt to demonstrate the potential for sexual selection on traits associated with interference behaviour in males. / Thesis / Master of Science (MSc)

The population growth associated with natural resources shortage, food demand increasing and the lack of manpower for agricultural activities generate important challenges to agriculture and engineering. The challenges imply the improvement of productivity with fewer resources, This scenario is consisted parameters that generally are in opposite directions. This work presents the development of a rover to agriculture (R2A) to support agriculturescouting tasks, the tasks will be in the future important tools to improve the productivity and enable the use of less agricultural supplies. The research presents the development of a rover for agriculture (R2A) to support scouting tasks; tasks that in the future will improve productivity and allowed the use of less agricultural supplies. The study begins with a bibliographic review of Robots for agriculture, Rovers, and agricultural Rovers developed by different research institutions. After the review is presented the work methodology based on mechanic and mechatronic design methodologies; in the development of the methodology are presented the general crop characteristics, the proposed of scouting tasks, the benchmarking developing mathematical models, CAD (Computer Aided Design ) models, simulations and tests in order to know the different features of the Rovers and agricultural robots. Using the knowledge gained in the course of work is proposed the concept of a rover for agriculture R2A, the concept is compared in simulations, and developed the detailed design using CAE tools (Computer Aided Engineering) after it built a prototype and tested. As results are presented comparative simulations of R2A, their mathematical modeling, R2A simulations in ideally conditions highlighting their skills, and finally R2A tests and comparison are presented. / O crescimento populacional associado à escassez de recursos naturais, a crescente demanda alimentar e a falta de mão de obra para as actividades agrícolas geram importantes desafios para a agricultura e a engenharia. Os desafios implicam a melhoria da produtividade com menos recursos. O cenário é constituido por parâmetros que geralmente estão em direções opostas. O trabalho apresenta o desenvolvimento de um rover para agricultura (R2A) para suportar tarefas de Scouting, tarefas que no futuro melhorarão a produtividade e permitirão o uso de menos subministros agrícolas. O estudo começa pela revisão bibliográfica de Robôs para agricultura, Rovers e Rovers agrícolas desenvolvidos por diferentes instituições de pesquisa. Apos a revisão é apresentada a metodologia do trabalho baseada nas metodologias de projeto mecânico e mecatrônico; no desenvolvimento da metodologia são apresentadas as caraterísticas das culturas de maneira geral, a proposta de tarefas de Scouting, o benchmarking desenvolvendo modelos matemáticos, modelos CAD (Computer Aided Design) simulações e testes com o intuito de conhecer as diferentes caraterísticas dos Rovers e Robôs agrícolas. Usando o conhecimento no decorrer do trabalho é proposto o conceito do rover para agricultura R2A, o conceito é comparado em simulações, e feito o projeto detalhado usando ferramentas CAE (Computer Aided Enginnerring), após é construído o protótipo, e testado. Como resultados são apresentadas simulações comparativas do R2A, a sua modelagem matemática, simulações do R2A em condições ideais, destacando as suas capacidades, e finalmente são apresentados os testes e comparações do R2A.

<p><strong>Bakgrund:</strong> För att vara kostnadseffektiv och utveckla nya bilmodeller i snabb takt använder sig bilföretag av produktplattformar. En produktplattform är ingen fysisk produkt utan varieras med olika komponenter beroende på vilka delar på bilmodellerna som skall vara unika respektive vilka delar som skall vara gemensamma. Nackdelar med flera gemensamma komponenter är att slutprodukterna blir identiska i flera avseenden, vilket försvårar varumärkets arbete med att göra produkterna unika och skilja de från konkurrenternas. En konflikt uppstår således mellan produktplattformens strävan efter gemensamma komponenter och varumärkets arbete med att göra produkten unik.</p><p><strong>Syfte:</strong> Syftet med uppsatsen är att utifrån de gjorda fallstudierna på bilmodellerna Volvo XC60 respektive Land Rover Freelander 2 som producerats på en gemensam produktplattform analysera och jämföra varumärkenas och bilmodellernas benägenhet att förmedla vad som är unikt i samband med en reklamkampanj.</p><p><strong>Genomförande:</strong> Uppsatsen är genomförd med en kvalitativ ansats, där intervjuer har genomförts. Den empiriska studien är uppbyggd av två deskriptiva fallstudier och jämförelser har gjorts mellan fallen för att se skillnader.</p><p><strong>Resultat:</strong> Uppsatsen har kommit fram till att varumärket är av stort värde för företag eftersom två identiska produkter producerade på en gemensam produktplattform kan säljas som två unika produkter. Varumärket möjliggör nyttjande av produktplattformar på grund av sin strävan efter att ta fram det unika med produkten. Vid nyttjande av produktplattformar är det viktigt att varumärket är konsekvent och kommunicerar det som är unikt med produkten snarare än det som produkten har gemensamt med andra produkter. Uppsatsen har visat på att attribut av stor betydelse för att kommunicera ett konsekvent budskap.</p> / <p><strong>Background:</strong> In order to minimise costs and develop new car models in a timely manner, the car industry uses product platforms. A product platform is not a physical product, but a range of components that can be combined in various ways depending on specific individual product requirements. The disadvantage with using several common components is that the final products can be identical in several aspects, which complicates the brand’s goal of making the product unique and distinct from competitors. Conflict arises between the product platform’s ambition to use common components and the brand’s ambition to make the product unique.</p><p><strong>Aim:</strong> The aim of this master thesis, based on two case studies about the Volvo XC60 and Land Rover Freelander 2, is to analyze and compare the brands and the car models’ ability to mediate the uniqueness in a Swedish marketing campaign, despite the common components at the EUCD-plattform.</p><p><strong>Completion:</strong> The master thesis has been carried out with a qualitative approach, whereby interviews have been performed. The empirical study is built on two descriptive case studies and a comparison has been made between the cases.</p><p><strong>Result:</strong> The thesis has reached the conclusion that a brand is of great importance to a company since two identical products produced on a common platform can be sold as two unique products. The brand makes it possible to use a product platform due to the brand’s ambition to make a product unique. It is important when using a product platform for the brand to be consistent and communicate what is unique about the product rather than what the product has in common with other products. The master thesis has shown that attributes are important in order to communicate a consistent message.</p>

Bakgrund: För att vara kostnadseffektiv och utveckla nya bilmodeller i snabb takt använder sig bilföretag av produktplattformar. En produktplattform är ingen fysisk produkt utan varieras med olika komponenter beroende på vilka delar på bilmodellerna som skall vara unika respektive vilka delar som skall vara gemensamma. Nackdelar med flera gemensamma komponenter är att slutprodukterna blir identiska i flera avseenden, vilket försvårar varumärkets arbete med att göra produkterna unika och skilja de från konkurrenternas. En konflikt uppstår således mellan produktplattformens strävan efter gemensamma komponenter och varumärkets arbete med att göra produkten unik. Syfte: Syftet med uppsatsen är att utifrån de gjorda fallstudierna på bilmodellerna Volvo XC60 respektive Land Rover Freelander 2 som producerats på en gemensam produktplattform analysera och jämföra varumärkenas och bilmodellernas benägenhet att förmedla vad som är unikt i samband med en reklamkampanj. Genomförande: Uppsatsen är genomförd med en kvalitativ ansats, där intervjuer har genomförts. Den empiriska studien är uppbyggd av två deskriptiva fallstudier och jämförelser har gjorts mellan fallen för att se skillnader. Resultat: Uppsatsen har kommit fram till att varumärket är av stort värde för företag eftersom två identiska produkter producerade på en gemensam produktplattform kan säljas som två unika produkter. Varumärket möjliggör nyttjande av produktplattformar på grund av sin strävan efter att ta fram det unika med produkten. Vid nyttjande av produktplattformar är det viktigt att varumärket är konsekvent och kommunicerar det som är unikt med produkten snarare än det som produkten har gemensamt med andra produkter. Uppsatsen har visat på att attribut av stor betydelse för att kommunicera ett konsekvent budskap. / Background: In order to minimise costs and develop new car models in a timely manner, the car industry uses product platforms. A product platform is not a physical product, but a range of components that can be combined in various ways depending on specific individual product requirements. The disadvantage with using several common components is that the final products can be identical in several aspects, which complicates the brand’s goal of making the product unique and distinct from competitors. Conflict arises between the product platform’s ambition to use common components and the brand’s ambition to make the product unique. Aim: The aim of this master thesis, based on two case studies about the Volvo XC60 and Land Rover Freelander 2, is to analyze and compare the brands and the car models’ ability to mediate the uniqueness in a Swedish marketing campaign, despite the common components at the EUCD-plattform. Completion: The master thesis has been carried out with a qualitative approach, whereby interviews have been performed. The empirical study is built on two descriptive case studies and a comparison has been made between the cases. Result: The thesis has reached the conclusion that a brand is of great importance to a company since two identical products produced on a common platform can be sold as two unique products. The brand makes it possible to use a product platform due to the brand’s ambition to make a product unique. It is important when using a product platform for the brand to be consistent and communicate what is unique about the product rather than what the product has in common with other products. The master thesis has shown that attributes are important in order to communicate a consistent message.

The population growth associated with natural resources shortage, food demand increasing and the lack of manpower for agricultural activities generate important challenges to agriculture and engineering. The challenges imply the improvement of productivity with fewer resources, This scenario is consisted parameters that generally are in opposite directions. This work presents the development of a rover to agriculture (R2A) to support agriculturescouting tasks, the tasks will be in the future important tools to improve the productivity and enable the use of less agricultural supplies. The research presents the development of a rover for agriculture (R2A) to support scouting tasks; tasks that in the future will improve productivity and allowed the use of less agricultural supplies. The study begins with a bibliographic review of Robots for agriculture, Rovers, and agricultural Rovers developed by different research institutions. After the review is presented the work methodology based on mechanic and mechatronic design methodologies; in the development of the methodology are presented the general crop characteristics, the proposed of scouting tasks, the benchmarking developing mathematical models, CAD (Computer Aided Design ) models, simulations and tests in order to know the different features of the Rovers and agricultural robots. Using the knowledge gained in the course of work is proposed the concept of a rover for agriculture R2A, the concept is compared in simulations, and developed the detailed design using CAE tools (Computer Aided Engineering) after it built a prototype and tested. As results are presented comparative simulations of R2A, their mathematical modeling, R2A simulations in ideally conditions highlighting their skills, and finally R2A tests and comparison are presented. / O crescimento populacional associado à escassez de recursos naturais, a crescente demanda alimentar e a falta de mão de obra para as actividades agrícolas geram importantes desafios para a agricultura e a engenharia. Os desafios implicam a melhoria da produtividade com menos recursos. O cenário é constituido por parâmetros que geralmente estão em direções opostas. O trabalho apresenta o desenvolvimento de um rover para agricultura (R2A) para suportar tarefas de Scouting, tarefas que no futuro melhorarão a produtividade e permitirão o uso de menos subministros agrícolas. O estudo começa pela revisão bibliográfica de Robôs para agricultura, Rovers e Rovers agrícolas desenvolvidos por diferentes instituições de pesquisa. Apos a revisão é apresentada a metodologia do trabalho baseada nas metodologias de projeto mecânico e mecatrônico; no desenvolvimento da metodologia são apresentadas as caraterísticas das culturas de maneira geral, a proposta de tarefas de Scouting, o benchmarking desenvolvendo modelos matemáticos, modelos CAD (Computer Aided Design) simulações e testes com o intuito de conhecer as diferentes caraterísticas dos Rovers e Robôs agrícolas. Usando o conhecimento no decorrer do trabalho é proposto o conceito do rover para agricultura R2A, o conceito é comparado em simulações, e feito o projeto detalhado usando ferramentas CAE (Computer Aided Enginnerring), após é construído o protótipo, e testado. Como resultados são apresentadas simulações comparativas do R2A, a sua modelagem matemática, simulações do R2A em condições ideais, destacando as suas capacidades, e finalmente são apresentados os testes e comparações do R2A.

This thesis looks at the SherpaTT planetary rover. The rover is a hybrid walking and driving rover that has been developed and built by DFKI and has already been deployed on several Mars analogue field studies. The SherpaTT rover wheels were found to become entangled in rocks during the last field deployment in Morocco. As human intervention would be impossible on Mars the aim is to reduce the possibility of rock entanglements by performing a mechanical redesign of the wheels. During this redesign care is taken to ensure the current traction, slip-resistance, weight and strength are not adversely affected. In addition, the durability of the wheels is investigated in terms of materials to review whether the current wheels are suitable for a mars deployment. An investigation into the grousers design results in a changed design that aims to both reduce rock entanglements and increase wheel performance by optimising the grouser height and number over several different wheel and terrain cases. Wheels are produced for four scenarios, a rigid wheel on hard ground, a rigid wheel on soft ground, a flexible wheel on hard ground and a flexible wheel on soft ground. A conceptual investigation into the wheel fork design is carried out to examine the effects of changing three properties of the wheel fork. The magnitude and location of the stress is compared for each. Materials are investigated resulting in the recommendation of several potential material choices which provide an increase in the overall strength and hardness. While SherpaTT is still in development the 6000 class of aluminium is recommended due to the relative ease with which it can be worked with. Once SherpaTT moves onto the final stages it is recommended that at least the grousers are made from the 7000 class of aluminium, which have higher levels of strength and hardness.

The automotive industry is blooming with new interpretations of what future cars will be in the future. Progressive technologies, environmental awareness and people’s behavioral change o er new opportunities for creating more sustainable vehicles. While these are primarily being developed to solve problems in urban environments, similar developments should be aimed to preserve our natural surroundings. During this project I traveled to Iceland to explore the country and learn how we can improve the experience of travel. I used my research, observations and the Land Rover heritage to look for opportunities in an autonomous o -road scenario. Furthermore I wanted to explore of how renewable energy sources can be used to benefit vehicle development and usage. Project outcome is Land Rover Melrakki, a vehicle developed to explore Iceland while sustaining main traveller needs in a downscaled solution.

In this thesis we have looked at the possibility of using a rover for deployment oflunar interferometers on the far side of the Moon. This project was made togetherwith two other groups from the mechanical engineering program at HalmstadUniversity. The project was divided into three units and we had the mainresponsibility for the design of the chassis.The goal of this project is to create a better understanding of the origin of the universeand how it still to this day keeps changing. This is believed to be achievable by usinglunar interferometers that will collect data in form of cosmic microwaves from outerspace. The lunar interferometers will be placed at the far side of the Moon since thisis the only site in solar system that is shielded from human-generated interference.The work was completed in collaboration with JPL and NASA, which are worldleading designers and manufacturers of space-related products.

The present investigation focuses on the development of computationally efficient path planning algorithms for autonomous ground vehicles. The approach selected is based on a heuristic hill climbing local search. The cost index employed incorporates a traversability cost average, which offers two primary benefits: 1) the average extends the region of knowledge of the search algorithm, increasing optimality of the solution; and 2) the avoidance of hazardous regions is added to the decision making process. A binary traversability map representation is first utilized to analyze the performance of the enhanced heuristic hill climbing algorithm in comparison to the more traditional techniques. Next, the search algorithm is applied to a multi-valued traversability map to test the capabilities of the algorithm over natural terrain. For this purpose, a digital elevation map is automatically processed to obtain multi-valued traversability values through the de nition of a roughness, inclination and step index. The complete path planning architecture for natural terrain then consists of a three step approach, computation of the multi-valued traversability map, implementation of the enhanced heuristic hill climbing search algorithm, and a path relaxation step. This last step is employed to fine-tune and smooth the trajectory, eliminating sharp turns caused by the regular characteristics of the search space. / text