The pleasurable and euphoric effects of drugs play an important role in drug abuse; however, there are no established preclinical models for directly assessing the hedonic effects of drugs in rodents. The purpose of this dissertation was to investigate rat ultrasonic vocalizations (USVs) as a potential method for measuring positive affective states associated with amphetamine reinforcement. USVs are high-frequency social signals that rats use to communicate with one another. Calls in the 50-kHz range are thought to be a sign of positive affect, since they are elicited by naturally rewarding stimuli, and are modulated by mesolimbic dopamine activity. At the time this dissertation was begun, the majority of USV research focused on natural rewards, such as sex and social interactions, and the USVs associated with repeated exposure to a drug or appetitive desire for a drug had not been studied. Therefore, the objective of this dissertation was to characterize the production of 50-kHz USVs during repeated administration of amphetamine within different paradigms commonly used to study the behavioral and motivational effects of stimulants in rats. First, I found that the 50-kHz USVs elicited by amphetamine were sensitized by repeated exposure, showing that USV expression parallels the sensitization of mesolimbic circuitry that is involved in the development of addiction. Second, I found that rats produce conditioned anticipatory 50-kHz USVs during exposure to cues that predicted amphetamine, with the magnitude of anticipatory calling increasing as drug-cue associations were learned and strengthened. Third, I found that the number of unconditioned 50-kHz USVs produced during the initial amphetamine exposure predicted the subsequent expression of anticipatory 50-kHz USVs, the development of conditioned place preference for an amphetamine-paired environment, and corticosterone responses to the drug. Overall, these findings suggest that 50-kHz USVs are an expression of behavioral arousal associated with both the positive effects of amphetamine itself, and the incentive-motivational states elicited by drug-paired cues. In addition, they show that the intensity of the initial 50-kHz USV response to amphetamine reflects individual differences in sensitivity to drug reinforcement. / text

O desequilíbrio da homeostase emocional tem sido considerado como um mecanismo subjacente aos transtornos de ansiedade e humor. Em fêmeas, as alterações na secreção hormonal durante as diferentes fases do ciclo estral podem ser a base das alterações na reatividade emocional a eventos estressantes. Estudos comportamentais sobre diferenças sexuais no processamento das emoções mostram resultados conflitantes em fêmeas devido às dificuldades na seleção dos melhores modelos animais para testar as diferenças associadas ao ciclo estral. Uma vez que os testes comportamentais foram desenvolvidos em animais do sexo masculino, eles podem não ser apropriados para fêmeas. O presente estudo foi desenvolvido para contribuir nessa linha de pesquisa usando diferentes modelos de animais de medo incondicionado e condicionado, considerando as diferentes fases do ciclo estral das ratas. Comparou-se o desempenho de machos e fêmeas nas quatro fases do ciclo estral em dois testes de medo incondicionado: o switch-off, em que ratos cruzam uma caixa vai-e-vem para desligar uma luz aversiva, e o registro de vocalizações ultrassônicas (VUSs) a 22 kHz emitidos por animais sob o estresse agudo de restrição. Nos testes de medo condicionado, registrou-se o sobressalto potencializado pelo medo e a resposta decongelamento a um contexto aversivo. Em ambos os testes de medo condicionado, a reatividade emocional não se mostrou diferente entre os sexos. No entanto, no que diz respeito ao medo incondicionado, ratas em diestro tardio apresentaram maior reatividade emocional em desligar a luz intensa e maior emissão de VUSs em resposta à restrição em relação a outras fases do ciclo. Estes achados sugerem que o perfil hormonal durante a fase do diestro 2 pode aumentar a reatividade emocional de ratas frente a estímulos inatos, porém não àqueles aprendidos. / Dysfunctional emotional regulation has been implicated as a potential mechanism underlying anxiety and mood disorders. Changes in hormonal secretion during the different phases of the estrous cycle may underlie changes in emotional reactivity to stressful events in female animals. Previous behavioral studies of sex differences in emotion processing in females have yielded conflicting results. This may be due to the range of different behavioral tests used and difficulties in selecting the best animal models to test for estrous cycle-linked differences in responsiveness. Furthermore, the commonly used behavioral tests were developed in male animals and it may not be appropriate to translate directly the protocols from males to females. In the present study we have attempted to address these problems by using different animal models of anxiety based on tests for unconditioned or conditioned fear. We compared the performance of male rats and female rats at four stages of the estrous cycle defined by differences in vaginal cytology. To test for unconditioned fear, we used two tests: a light switch- off test, in which rats escape to the other compartment of a shuttle-box to turn off an aversive light and recordings of 22 kHz ultrasound vocalizations (USVs) during acute restraint stress. For the conditioned fear paradigm, we used fear potentiated startle in an aversive context and conditioned freezing using an aversive context as the conditioned stimulus. In both tests of conditioned fear there were no gender or estrous cycle-linked differences in emotional reactivity. However, with respect to unconditioned fear, female rats in late diestrus showed greater emotional reactivity expressed as switch-off responses to a light environment and USVs in response to restraint compared to other phases of the cycle. These findings suggest that the hormonal profile during the late diestrous phase may predispose to up-regulated emotional reactivity in rats facing emotional challenges to unconditioned, but not conditioned fear- inducing stimuli.

O desequilíbrio da homeostase emocional tem sido considerado como um mecanismo subjacente aos transtornos de ansiedade e humor. Em fêmeas, as alterações na secreção hormonal durante as diferentes fases do ciclo estral podem ser a base das alterações na reatividade emocional a eventos estressantes. Estudos comportamentais sobre diferenças sexuais no processamento das emoções mostram resultados conflitantes em fêmeas devido às dificuldades na seleção dos melhores modelos animais para testar as diferenças associadas ao ciclo estral. Uma vez que os testes comportamentais foram desenvolvidos em animais do sexo masculino, eles podem não ser apropriados para fêmeas. O presente estudo foi desenvolvido para contribuir nessa linha de pesquisa usando diferentes modelos de animais de medo incondicionado e condicionado, considerando as diferentes fases do ciclo estral das ratas. Comparou-se o desempenho de machos e fêmeas nas quatro fases do ciclo estral em dois testes de medo incondicionado: o switch-off, em que ratos cruzam uma caixa vai-e-vem para desligar uma luz aversiva, e o registro de vocalizações ultrassônicas (VUSs) a 22 kHz emitidos por animais sob o estresse agudo de restrição. Nos testes de medo condicionado, registrou-se o sobressalto potencializado pelo medo e a resposta decongelamento a um contexto aversivo. Em ambos os testes de medo condicionado, a reatividade emocional não se mostrou diferente entre os sexos. No entanto, no que diz respeito ao medo incondicionado, ratas em diestro tardio apresentaram maior reatividade emocional em desligar a luz intensa e maior emissão de VUSs em resposta à restrição em relação a outras fases do ciclo. Estes achados sugerem que o perfil hormonal durante a fase do diestro 2 pode aumentar a reatividade emocional de ratas frente a estímulos inatos, porém não àqueles aprendidos. / Dysfunctional emotional regulation has been implicated as a potential mechanism underlying anxiety and mood disorders. Changes in hormonal secretion during the different phases of the estrous cycle may underlie changes in emotional reactivity to stressful events in female animals. Previous behavioral studies of sex differences in emotion processing in females have yielded conflicting results. This may be due to the range of different behavioral tests used and difficulties in selecting the best animal models to test for estrous cycle-linked differences in responsiveness. Furthermore, the commonly used behavioral tests were developed in male animals and it may not be appropriate to translate directly the protocols from males to females. In the present study we have attempted to address these problems by using different animal models of anxiety based on tests for unconditioned or conditioned fear. We compared the performance of male rats and female rats at four stages of the estrous cycle defined by differences in vaginal cytology. To test for unconditioned fear, we used two tests: a light switch- off test, in which rats escape to the other compartment of a shuttle-box to turn off an aversive light and recordings of 22 kHz ultrasound vocalizations (USVs) during acute restraint stress. For the conditioned fear paradigm, we used fear potentiated startle in an aversive context and conditioned freezing using an aversive context as the conditioned stimulus. In both tests of conditioned fear there were no gender or estrous cycle-linked differences in emotional reactivity. However, with respect to unconditioned fear, female rats in late diestrus showed greater emotional reactivity expressed as switch-off responses to a light environment and USVs in response to restraint compared to other phases of the cycle. These findings suggest that the hormonal profile during the late diestrous phase may predispose to up-regulated emotional reactivity in rats facing emotional challenges to unconditioned, but not conditioned fear- inducing stimuli.

<p dir="ltr">Unmanned surface vehicles (USVs) offer a versatile platform for various maritime applications, including research, surveillance, and search-and-rescue operations. A critical capability for USVs is maintaining position (station keeping) in dynamic environments and coordinating movement with other USVs (formation control) for collaborative missions. This thesis investigates control strategies for USVs operating in challenging conditions. </p><p dir="ltr">The initial focus is on evaluating traditional control methods like Backstepping and Sliding Mode controllers for station keeping in simulated environments with disturbances. The results from these tests pointed towards the need for a more robust control technique, like deep-learning based control for enhanced performance. </p><p dir="ltr">The thesis then explores formation control, a crucial aspect of cooperative USV missions. A vision-based passive control strategy utilizing a virtual leader concept is proposed. This approach leverages onboard cameras to detect markers on other USVs, eliminating the need for direct communication and potentially improving scalability and resilience. </p><p dir="ltr">Then the thesis presents vision-based formation control architecture and the station keeping controller evaluations. Simulation results are presented, analyzed, and used to draw conclusions about the effectiveness of the proposed approaches. Finally, the thesis discusses the implications of the findings and proposes potential future research directions</p>

Sjöräddning i Sverige sker genom samverkan mellan statliga verksamheter, kommuner och frivilligorganisationer för ett gemensamt mål att rädda personer som råkat i sjönöd. Tid är ofta en kritisk faktor i räddningsuppdragen men ett snabbt och oplanerat utryck riskerar samtidigt att sätta räddningsaktörerna själva i farozonen. Utvecklingen av obemannade autonoma farkoster för SAR (eng. Search And Rescue) ses som en lösning på behovet att kunna snabbt skicka hjälp till samt få ögon på incidentplatsen utan att försätta räddningsaktörerna för onödig risk. Nuvarande kommunikationssystem inom svensk sjöräddning kan dock inte hantera annan typ av information än muntlig varav räddningsaktörer endast känner till riktlinjer för hantering av muntlig information. Med ett framtida införande av autonoma farkoster kommer dock fler informationstyper att behöva hanteras i sjöräddningar varav oklarheten om vilka informationstyper autonoma farkoster samlar in och vilka datahanteringskrav som finns är problematiskt. Oklarhet om informationstyperna och deras datahanteringskrav är vidare problematiskt för utvecklingen och implementeringen av autonoma farkoster då risken finns att farkoster och tekniker utvecklas men inte får användas för att de inte är anpassade efter lagkraven på hantering av olika datatyper. I denna studie undersöks därför vilka informationstyper som autonoma farkoster kan samla in vid sjöräddning. Detta för att komma fram till vilka riktlinjer för datahantering som gäller vid sjöräddning med autonoma farkoster. Studien undersöker också vilka informationstyper som är kritiska för en SAR-sjöräddningssamverkan samt vilka informationsdelningsutmaningar som finns i dagens sjöräddning. Studien genomfördes i form av en kvalitativ fallstudie och har tillämpat ett socio-tekniskt systemperspektiv för att bättre se till helheten och besvara frågeställningarna. Resultatet av denna studie visar att autonoma farkoster kan samla in information om sin omgivning, vilket utgör grunden för att skapa en medvetenhet om situationen som är kritiskt för SAR-operationer, och kan även samla in information om sitt eget tillstånd. De lagverk som identifierats utgöra de huvudsakliga restriktionerna är kamerabevakningslagen, lagen för skydd av geografisk information, offentlighets- och sekretesslagen, GDPR och dataskyddslagen. Dessa lagverk innehåller riktlinjer för delning av information och personuppgiftsbehandling i SAR-sjöräddning. Kunskapsbidrag studien har genererat inkluderar bland annat identifiering av datatyper som kan samlas in av autonoma farkoster i en SAR-sjöräddning, och sannolikt andra typer av räddningsinsatser, och delning och hanteringskraven på de datatyperna i räddningsinsatser och därmed kunskap om vilka datatyper som är mest reglerade. Vidare kunskapsbidrag är kunskap om vilka informationstyper som är mest kritiska för SAR-sjöräddningar, och därför bör prioriteras att samlas in och delas, och identifieringen av utmaningar för informationsdelning mellan statliga verksamheter och frivilligorganisationer. / Maritime rescue in Sweden is performed through a cooperation between government agencies, municipalities and non-governmental organisations (NGOs) with the common goal of saving people in distress. Time is often a critical factor in the rescue missions but a fast and unplanned response may at the same time put the rescue workers in danger. The development of unmanned autonomous vehicles for SAR is seen as a solution to the need of being able to quickly sendhelp as well as get eyes on the scene of the incident without exposing the rescue workers for unnecessary risks. However, the current communications systems in Swedish maritime rescue are unable to handle any other type of information except verbal, meaning that rescue workers only know guidelines for handling verbal information. However, with a future implementation of autonomous vehicles, there will be a need to handle more information types in maritime rescue whereas the uncertainty regarding what kind of information autonomous vehicles collect and which data management requirements exist is problematic. The uncertainty about the information types and their data management requirements is also problematic for the development and implementation of autonomous vehicles as there is a risk that vehicles and technologies are developed but not allowed to be used because they are not adapted to the legal requirements on management of the different types of data. Therefore, in this study I examine what information types that autonomous vehicles can collect in a maritime rescue to find out what guidelines for data management that applies during a maritime rescue with autonomous vehicles. The study also examines what kind of information’s are critical for a SAR maritime rescue cooperation as well as what information sharing challenges exist in current maritime rescue. The study was performed as a qualitative case study and has used a socio-technical systems perspective so as to better see the overall picture and answer the research questions. The result shows that autonomous vehicles can collect information about their surroundings, which is the foundation for establishing situation awareness that is critical for SAR-operations, and that they can collect information about their own status. The main laws and regulations that have been identified as constituting the main restrictions are (translated from Swedish) the law of camera surveillance, the law for protection of geographical information, the public access to information and secrecy act, the GDPR and the data protection act. These contains guidelines for sharing information and the processing of personal data in SAR maritime rescue. The knowledge contributions of this study includes among others the identification of datatypes that can be collected by autonomous vehicles in SAR maritime rescue, and probably other types of rescue operations, and the sharing and management requirements on those datatypes in rescue operations and thus knowledge of what datatypes that are the most restricted. Further knowledge contributions is knowledge about which information types that are the most critical for SAR maritime rescue and thus should be prioritised for collection and sharing as well as the identification of challenges for information sharing between government agencies and NGOs.