<p>Many of the applications that have been proposed for future small unmanned aerial vehicles (UAVs) are at low altitude in areas with many obstacles. A vital component for successful navigation in such environments is a path planner that can find collision free paths for the UAV.</p><p>Two popular path planning algorithms are the probabilistic roadmap algorithm (PRM) and the rapidly-exploring random tree algorithm (RRT).</p><p>Adaptations of these algorithms to an unmanned autonomous helicopter are presented in this thesis, together with a number of extensions for handling constraints at different stages of the planning process.</p><p>The result of this work is twofold:</p><p>First, the described planners and extensions have been implemented and integrated into the software architecture of a UAV. A number of flight tests with these algorithms have been performed on a physical helicopter and the results from some of them are presented in this thesis.</p><p>Second, an empirical study has been conducted, comparing the performance of the different algorithms and extensions in this planning domain. It is shown that with the environment known in advance, the PRM algorithm generally performs better than the RRT algorithm due to its precompiled roadmaps, but that the latter is also usable as long as the environment is not too complex. The study also shows that simple geometric constraints can be added in the runtime phase of the PRM algorithm, without a big impact on performance. It is also shown that postponing the motion constraints to the runtime phase can improve the performance of the planner in some cases.</p> / Report code: LiU–Tek–Lic–2006:10.

No description available.

This thesis is aiming to describe and understand the access to and evolvement of necral land (burial and crematory grounds) in Dar es Salaam, the largest city in Tanzania and one of the most rapid growing cities in Africa. The study is based on field work conducted in Kinondoni District during the spring of 2010. It could partly be described as intensive research, because it is done like a pioneer study, trying to describe and understand a phenomena; not so much trying to find out how widespread the phenomena is. The data was primarily produced through interviews with persons representing different actors. The result from the field study is that even if there are differences in costs and needs for permits to access the land, it seems like there are ways for everyone to bury or cremate a dead body. One common way of manage costs is to collect financial contributions from friends, family and neighbours. The problem however is the evolvement, where centrally located burial grounds are considered full but still used and the cemetery established by the municipality outside the centre is not used by city dwellers, because of the lack of information and the transportation cost.

In this study we investigate the properties of trapped atoms subjected to rapid rotations. The study is divided into two distinct parts, one for fermions, another for bosons. In the case of the degenerate Fermi gas we explore the density structure of non-interacting cold atoms when they are rotated rapidly. On the other hand, for rapidly rotating two component Bose condensate, we search for new lattice structures in the presence of contact and dipolar interactions. First, the density structure of Fermi gases in a rotating trap is investigated. We focus on the anisotropic trap case, in which two distinct regimes, two and one dimensional regimes, depending on rotation frequency and anisotropy are observed. Two regimes can be illustrated by a simple description of maximum number of states between two Landau levels, which is strongly related to the dimensionality of the system. The regimes are separated from each other by a minimum point in this description. For small anisotropy values the density profiles show a step structure where each step is demonstrated by an elliptical plateau. Each plateau represents a Landau level with a constant density. The local density approximation describes the two dimensional regime with a perfect similarity in the structure of fermion density. The case for one dimensional regime is a little different from the two dimensional case. For large anisotropy values the Friedel oscillation is the dominant aspect of the density profiles. The density profiles show gaussian structure along the direction of strong trapping, and a semicircular form with prominent oscillations along the weak confining direction. Again, the system is nicely described by local density approximation in this regime. A smooth crossover between two regimes is observed, with a switching from a step structure profile to a soft edge transition with Friedel oscillations. At finite temperatures, the step structures are smeared out in two dimension. In one dimensional regime the Friedel oscillations are cleaned as soon as the temperature is turned on. The second part of the study is devoted to the investigation of different lattice structures in two component Bose condensates subjected to very fast rotation, this time in the presence of interactions. We explore the existence of new vortex lattice structures for dipolar two component condensates scanning a wide range of interaction strengths. We introduce a phase diagram as a function of intra and inter-component interactions showing different type of vortex lattice structures. New types of lattice structures, overlapped square and overlapped rectangular, emerge as a result of dipolar interactions and s-wave interaction for a two component condensate. The region where the attractive inter-component interactions dominate the repulsive interactions, the overlapped lattices are formed. The intra-component interactions, which defines the behavior of each component inside, result in different type of lattices by changing the strength of interactions. Two different limits of phase diagram reproduce the results of ordinary two component and dipolar one component Bose condensates. The results of calculation are in agreement with the results of previous studies for two regimes.

Objectives: To review, develop, and validate appropriate methods for quality control testing of sublingual (SL) tablets; to formulate and characterize new generations of SL tablets of epinephrine (E) for the potential first-aid treatment of anaphylaxis; and to evaluate the effects of non-medicinal ingredients (NMIs) on the in vitro characteristics and in vivo bioavailability of the formulated tablets. Methods: A custom-made apparatus and a novel method that simulates SL conditions were evaluated for dissolution testing of SL tablets. An electronic tongue (e-Tongue) was used to assess the degree of E bitterness and to demonstrate the masking effects of sweetening and/or flavoring agents. The effect of several NMIs in various properties on the in vitro characteristics of new generations of E SL tablets was evaluated. Formulations with the best in vitro characteristics, containing E 30 mg and 40 mg, were evaluated in vivo using our validated rabbit model and compared with placebo SL tablets (negative control) and E 0.3 mg intramuscular (IM) injection (positive control). Results: The novel in vitro dissolution testing resulted in accurate and reproducible data and was capable of detecting the effect of minor changes in formulations. Using the e-Tongue, E bitartrate had an extremely bitter taste which was masked to various degrees by the addition of aspartame, acesulfame potassium, and citric acid alone or in combination. Citric acid alone masked the bitter taste by >80%. The evaluation of NMIs revealed that the best formulation contained specific proportions of mannitol and coarse and fine grades of microcrystalline cellulose. Appropriate comparative testing resulted in the selection of a taste-masked E SL formulation with optimum in vitro characteristics. This formulation containing E 40 mg resulted in similar bioavailability to E 0.3 mg IM. This formulation containing E 30 mg had higher bioavailability than placebo, but lower bioavailability than E 40 mg tablets. Conclusions: Grades and proportions of NMIs carefully selected using appropriate in vitro testing resulted in successful formulations. The results of these in vitro tests enabled the development of the optimum E SL tablet formulation which was bioequivalent to the EpiPen. These tablets are potentially suitable for Phase 1 studies in humans and might transform the first-aid treatment of anaphylaxis in community settings.

Objectives: To review, develop, and validate appropriate methods for quality control testing of sublingual (SL) tablets; to formulate and characterize new generations of SL tablets of epinephrine (E) for the potential first-aid treatment of anaphylaxis; and to evaluate the effects of non-medicinal ingredients (NMIs) on the in vitro characteristics and in vivo bioavailability of the formulated tablets. Methods: A custom-made apparatus and a novel method that simulates SL conditions were evaluated for dissolution testing of SL tablets. An electronic tongue (e-Tongue) was used to assess the degree of E bitterness and to demonstrate the masking effects of sweetening and/or flavoring agents. The effect of several NMIs in various properties on the in vitro characteristics of new generations of E SL tablets was evaluated. Formulations with the best in vitro characteristics, containing E 30 mg and 40 mg, were evaluated in vivo using our validated rabbit model and compared with placebo SL tablets (negative control) and E 0.3 mg intramuscular (IM) injection (positive control). Results: The novel in vitro dissolution testing resulted in accurate and reproducible data and was capable of detecting the effect of minor changes in formulations. Using the e-Tongue, E bitartrate had an extremely bitter taste which was masked to various degrees by the addition of aspartame, acesulfame potassium, and citric acid alone or in combination. Citric acid alone masked the bitter taste by >80%. The evaluation of NMIs revealed that the best formulation contained specific proportions of mannitol and coarse and fine grades of microcrystalline cellulose. Appropriate comparative testing resulted in the selection of a taste-masked E SL formulation with optimum in vitro characteristics. This formulation containing E 40 mg resulted in similar bioavailability to E 0.3 mg IM. This formulation containing E 30 mg had higher bioavailability than placebo, but lower bioavailability than E 40 mg tablets. Conclusions: Grades and proportions of NMIs carefully selected using appropriate in vitro testing resulted in successful formulations. The results of these in vitro tests enabled the development of the optimum E SL tablet formulation which was bioequivalent to the EpiPen. These tablets are potentially suitable for Phase 1 studies in humans and might transform the first-aid treatment of anaphylaxis in community settings.

<p>Nearly thirty percent of all newly synthesized polypeptides are targeted for rapid proteasome-mediated degradation. These rapidly degraded polypeptides (RDPs) are the primary source of antigenic substrates for the major histocompatibility complex (MHC) class I presentation pathway, allowing for the immunosurveillance of newly synthesized proteins by cytotoxic T lymphocytes. Despite the recognized role of RDPs in MHC class I presentation, it remains unclear what molecular characteristics distinguish RDPs from their more stable counterparts. It has been proposed that premature translational termination products may constitute a form of RDP; indeed, in prokaryotes translational drop-off products are normal by-products of protein synthesis and are subsequently rapidly degraded. </p><p>To study the cellular fate of premature termination products, the antibiotic puromycin was used to modulate prematurely terminated polypeptide production in human cells. At low concentrations, puromycin doubled the fraction of rapidly degraded polypeptides, with enhanced degradation predominantly affecting small polypeptides, consistent with rapid degradation of truncated translation products. Immunoprecipitation experiments using anti-puromycin antisera demonstrated that the majority of peptidyl-puromycins are rapidly degraded in a proteasome-dependent manner. Low concentrations of puromycin increased the recovery of cell surface MHC class I-peptide complexes, indicating that prematurely terminated polypeptides can be processed for presentation via the MHC I pathway. In the continued presence of puromycin, MHC I export to the cell surface was inhibited, coincident with the accumulation of polyubiquitinated proteins. The time- and dose-dependent effects of puromycin suggest that the pool of peptidyl-puromycin adducts differ in their targeting to various proteolytic pathways which, in turn, differ in the efficiency with which they access the MHC class I presentation machinery. These studies highlight the diversity of cellular proteolytic pathways necessary for the metabolism and immunosurveillance of prematurely terminated polypeptides which are, by their nature, highly heterogeneous.</p> / Dissertation

The aim of this study is to disseminate a novel path planner which is particularly used for offline robots to build more efficient collision-free trajectories in terms of the length in more skilled fashion. Robotic path planning as one of the most important problems has been under investigation by a variety of researchers within the last few decades. Path planner refers to a unit which is responsible to perform a series of operations on the robots’ environment with the sole purpose of building proper trajectories from a start point to the goal configuration. A robot’s planner generally consists of some or all of the following units: analyzing the workspace, mapping the workspace into an alternative methodology such as a graph, optimizing the constructed map, and calculating and refining the desired trajectory. Various path planners have been proposed based on the different robots’ functionalities as well as the environmental specifications. A path planner basically uses a methodology inspiring a scientific theory or event to build optimal paths. This research tends to propose a novel path planner which is able to be successfully applied on a variety of workspaces with different constraints. Moreover, the presented planner successfully builds the shortest collision-free trajectories from an initial to the goal configurations. In addition, compared to the other majority of path planners, the illustrated path planner uses less environmental global information to build optimal paths. This leads the planner unit to allocate less of system resources such as memory, hence, increasing the performance of the planner in terms of preserving more system resources.

Surtos associados às micobactérias de crescimento rápido (MCR) têm sido cada vez mais relatados em todo o mundo, inclusive no Brasil. Entre as MCR, o complexo M. abscessus é o mais patogênico e relacionado a multirresistência. Considerando a importância de investigar as cepas de MCR presentes em nosso Estado, este estudo teve como objetivos avaliar o perfil molecular e de suscetibilidade caracterizando os isolados de MCR encaminhados para o Centro de Referência em Micobactérias do Estado (Instituto de Pesquisas Biológicas - Laboratório Central de Saúde Pública, IPB-LACEN/RS). Além disso, foram avaliados os mecanismos de resistência à FQ conferido pelos genes gyrA e gyrB. Foram encaminhadas para o IPB-LACEN/RS, entre 2007 a 2012, 74 isolados clínicos. No total, 43 isolados relacionados a surto e 31 isolados de MCR não relacionados a surtos foram analisados. Pela técnica de PRA-hsp65 foi possivel identificar 43 isolados como M. abscessus tipo 2, 21 isolados como M. fortuitum tipo 1 e 10 isolados como M. abscessus tipo 1. Através do sequenciamento parcial do gene rpoB, foi confirmada a identificação de M. abscessus tipo 2 como M. abscessus subsp. bolletii, M. abscessus tipo 1 como M. abscessus subsp. abscessus e M. fortuitum tipo 1 como M. fortuitum subsp. fortuitum. Pela técnica de tipagem PFGE todos os isolados de M. abscessus subsp. bolletii apresentaram o mesmo perfil clonal o qual pertence ao clone BRA100, já descrito mundialmente. Os isolados de M. abscessus subsp. abscessus e M. fortuitum subsp. fortuitum apresentaram perfis distintos de PFGE. O perfil de suscetibilidade aos antibióticos foi avaliado por microdiluição em caldo de acordo com CLSI (2011) e, todos os isolados foram sensíveis a amicacina e todos foram resistentes a doxiciclina e sulfametoxazol-trimetoprima. Para M. abscessus subsp. bolletii todos os isolados foram resistentes à ciprofloxacino, moxifloxacino e tobramicina e um padrão de susceptibilidade variável foi observado para cefoxitina (Sensível - 28%, Intermediário - 72%) e claritromicina (Sensível - 86%, Resistentes - 14%). Cabe mencionar que este é o primeiro relato de resistência a claritromicina para o clone BRA100. Para M. abscessus subsp. abscessus e M. fortuitum subsp. fortuitum todos os isolados foram resistentes a claritromicina; já para a cefoxitina e tobramicina um padrão de susceptibilidade variável foi observado. Todos os isolados de M. fortuitum subsp. fortuitum foram sensíveis à ciprofloxacino, em contraste aos isolados de M. abscessus subsp. abscessus que apresentaram 70% de resistência. Todas MCR, resistentes (ou intermediárias) para ciprofloxacino apresentaram uma Ala-83 em GyrA, em contraste com uma Ser-83 em todos os isolados de M. fortuitum subsp. fortuitum sensíveis a ciprofloxacino, mas com perfil de resistência variável a moxifloxacino. Nenhuma diferença foi encontrada em GyrB independentemente do perfil de sensibilidade de MCR. Em conclusão, nosso estudo relata a persistência de um único clone M. abscessus subsp. bolletii BRA100 relacionado aos surtos, altamente resistente, mesmo após a implementação nacional das medidas de controle de infecção para contenção de surtos por MNTs. Também foi possível correlacionar que mutações no aminoácido Ala-83 de GyrA estão diretamente relacionados com a resistência à ciprofloxacino em M. abscessus subsp. abscessus e M. abscessus subsp. bolletii. / Outbreaks associated with rapidly growing mycobacteria (RGM) have been increasingly reported worldwide, including in Brazil. Among RGM, the M. abscessus complex is consider the most pathogenic, besides being related to multidrug resistance. Considering the importance of investigating the RGM strains present in our state, this study aimed to characterize the molecular and susceptibility profile of RGM isolates referred to the Reference Center for Mycobacteria State (Instituto de Pesquisas Biológicas - Laboratório Central de Saúde Pública, IPB-LACEN/RS). Furthermore, the mechanisms of quinolone resistance conferred by gyrA and gyrB genes were evaluated. A total of 74 isolates was sent to IPB-LACEN/RS between 2007 and 2012. Forty-three of the analyzed isolates were related to outbreak and 31 isolates of RGM were unrelated to outbreaks. The technique of PRA- hsp65 identified 43 isolates as M. abscessus type 2, 21 isolates as M. fortuitum type 1 and 10 isolates as M. abscessus type 1. The partial sequencing of the rpoB gene confirmed the identification of M. abscessus type 2 as M. abscessus subsp. bolletii, M. abscessus type 1 as M. abscessus subsp. abscessus and M. fortuitum type 1 and M. fortuitum subsp. fortuitum. PFGE typing technique showed the same clonal profile for all isolates of M. abscessus subsp. bolletii which belongs to clone BRA100, already described worldwide. Isolates of M. abscessus subsp. abscessus and M. fortuitum subsp. fortuitum showed distinct PFGE profiles. The antibiotic susceptibility profile was evaluated by broth microdilution according to CLSI (2011), and all isolates were susceptible to amikacin and resistant to doxycycline and trimethoprimsulfamethoxazole. All isolates of M. abscessus subsp. bolletii were resistant to ciprofloxacin, moxifloxacin and tobramycin and presented variable susceptibility pattern to cefoxitin (Susceptible - 28%, Intermediate - 72%) and clarithromycin (Susceptible - 86%, Resistant - 14%). It is important to mention that this is the first report of clarithromycin resistance for clone BRA100. Strains of M. abscessus subsp. abscessus and M. fortuitum subsp. fortuitum were all resistant to clarithromycin, and presented a variable susceptibility profile to cefoxitin and tobramycin. All isolates of M. fortuitum subsp. fortuitum were susceptible to ciprofloxacin, in contrast to isolates of M. abscessus subsp. abscessus that showed a resistance rate of 70%. All RGM ciprofloxacin non-susceptible presented an Ala-83 in GyrA, contrasting to a Ser-83 in all isolates of M. fortuitum subsp. fortuitum susceptible to ciprofloxacin, however, with a variable resistance profile to moxifloxacin. No difference was found in GyrB, regardless of the RGM susceptible profile. In conclusion, our study reports the persistence of a single clone of M. abscessus subsp. bolletii BRA100 related to outbreak, highly resistant, even after national implementation of infection control measures to contain outbreaks by NTM. It was also possible to correlate that mutations in the amino acid Ala-83 of GyrA are directly related to ciprofloxacin and moxifloxacin resistance in M. abscessus subsp. abscessus and M. abscessus subsp. bolletii.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Rapidly growing mycobacteria (RGM) are opportunistic human pathogens that are present in our environment. When in biofilms form, mycobacteria are highly resistant to antibacterial treatments. The comprehension of factors that cause mycobacteriosis treatments to fail, e.g., biofilm formation, contributes to the elucidation of the pathogenic potential and the drug resistance shown by these microorganisms. The tested antimicrobials were amikacin, ciprofloxacin, clarithromycin, doxycycline, imipenem and sulfamethoxazole, which are ordinarily employed in the treatment of mycobacteriosis. For each drug, it was evaluated the susceptibility of the pathogen, the ability to inhibit biofilm formation and the resistance of biofilms to antimicrobial activity. Results showed that although the tested antimicrobials are used as an alternative therapy for RGM, Mycobacterium abscessus presented to be resistant to clarithromycin and Mycobacterium massiliense showed a resistant profile to clarithromycin and sulfamethoxazole. Furthermore, the inhibition of biofilm formation and its destruction have not been fully met. The susceptibility profiles found emphasize the need for the determination of drug sensitivity. Considering that the biofilms are a known form of bacterial resistance, the failure of alternatives to inhibit or destroy biofilms can trigger the recurrence of infections. / As micobactérias de crescimento rápido (MCR) são patógenos humanos oportunistas que estão presentes no meio ambiente. Quando em biofilmes, as micobactérias são altamente resistentes aos tratamentos antibacterianos. A compreensão de fatores causadores de falência de tratamentos das micobacterioses, como a formação de biofilmes, contribui para a elucidação do potencial patogênico e da resistência aos fármacos apresentados por esses microrganismos. Foram testados os antimicrobianos amicacina, ciprofloxacino, claritromicina, doxiciclina, imipenem e sulfametoxazol, normalmente empregados no tratamento de micobacterioses. Para cada fármaco, avaliou-se a suscetibilidade do microrganismo, a capacidade de inibição da formação de biofilmes e a resistência dos biofilmes a atuação antimicrobiana. Os resultados demostraram que, embora os antimicrobianos testados sejam empregados como alternativa terapêutica para MCR, Mycobacterium abscessus apresentou-se resistente à claritromicina e Mycobacterium massiliense exibiu perfil resistente à claritromicina e ao sulfametoxazol. Além disso, a inibição da formação de biofilmes e a destruição dos mesmos não foram totalmente alcançadas. Os perfis encontrados reforçam a necessidade da determinação da suscetibilidade aos medicamentos. Tendo-se em vista que os biofilmes constituem uma forma conhecida de resistência bacteriana, o insucesso de alternativas para inibir a formação ou ainda destruir biofilmes pode desencadear a recorrência de infecções.