<p>Saab Bofors Dynamics har som huvudsaklig verksamhet att utveckla missiler. Ofta krävs det att någon form av navigationsfunktion byggs in, och eftersom det inte är lätt att testa nya lösningar och algoritmer direkt på missilerna har man tagit fram två autonoma testplattformar, Freke och Gorm, i form av självgående bilar som kan ta sig fram inomhus i t.ex. en korridor.</p><p>För navigation utomhus lämpar sig GPS väl i många situationer, men i autonoma sammanhang är det inte tillräckligt. GPS är inte alltid tillgänglig på grund av att man inte alltid har fri sikt till minst fyra satelliter och i militära sammanhang är den också lätt att störa ut. Därför förlitar man sig hellre på noggranna tröghetsnavigeringssystem (TNS) som kan ge data i 100-tals Hz, och kompletterar med GPS för att korrigera för avvikelser. Oftast integrerar man sensorerna med någon form av Kalmanfilter för att kunna skatta felparametrar. Om GPS:en faller ifrån kan man med hjälp av felparametrarna navigera noggrannare med ett TNS än man skulle ha gjort annars</p><p>Noggranna TNS är dock både relativt stora och dyra. Referenssystem kan kosta uppåt en miljon kronor, och lämpar sig alltså varken för engångsbruk (i missiler) eller små billiga autonoma bilar. Nu finns det små och relativt billiga tröghetssensorer (IMU, Inertial Measurement Unit) som storleksmässigt lämpar sig väldigt väl, men som dock har ganska låg noggrannhet.</p><p>I detta examensarbete görs en studie av två olika navigationsmodeller där en billig IMU och en GPS integreras med hjälp av ett Extended Kalmanfilter (EKF).</p>

Saab Bofors Dynamics har som huvudsaklig verksamhet att utveckla missiler. Ofta krävs det att någon form av navigationsfunktion byggs in, och eftersom det inte är lätt att testa nya lösningar och algoritmer direkt på missilerna har man tagit fram två autonoma testplattformar, Freke och Gorm, i form av självgående bilar som kan ta sig fram inomhus i t.ex. en korridor. För navigation utomhus lämpar sig GPS väl i många situationer, men i autonoma sammanhang är det inte tillräckligt. GPS är inte alltid tillgänglig på grund av att man inte alltid har fri sikt till minst fyra satelliter och i militära sammanhang är den också lätt att störa ut. Därför förlitar man sig hellre på noggranna tröghetsnavigeringssystem (TNS) som kan ge data i 100-tals Hz, och kompletterar med GPS för att korrigera för avvikelser. Oftast integrerar man sensorerna med någon form av Kalmanfilter för att kunna skatta felparametrar. Om GPS:en faller ifrån kan man med hjälp av felparametrarna navigera noggrannare med ett TNS än man skulle ha gjort annars Noggranna TNS är dock både relativt stora och dyra. Referenssystem kan kosta uppåt en miljon kronor, och lämpar sig alltså varken för engångsbruk (i missiler) eller små billiga autonoma bilar. Nu finns det små och relativt billiga tröghetssensorer (IMU, Inertial Measurement Unit) som storleksmässigt lämpar sig väldigt väl, men som dock har ganska låg noggrannhet. I detta examensarbete görs en studie av två olika navigationsmodeller där en billig IMU och en GPS integreras med hjälp av ett Extended Kalmanfilter (EKF).

Background: Multiple sclerosis (MS) is a chronic, neurological disease characterized by targeted destruction on central nervous system (CNS) myelin. The autoimmune theory is the most widely accepted explanation of disease pathology. Circulating Th-1 cells become activated by exposure to CNS-specific antigens such as myelin basic protein. The activated Th-1 cells secrete inflammatory cytokines, which are pivotal for inflammatory responses. We hypothesize that enhanced production of inflammatory cytokines triggers cellular events within the dorsal root ganglia (DRG) and/or spinal cord, facilitating the development of neuropathic pain (NPP) in MS. NPP, the second worst disease-induced symptom suffered by patients with MS, is normally regulated by DRG and/or spinal cord. Objective: To determine gene and protein expression levels of tumor necrosis factor-alpha (TNF ) within DRG and/or spinal cord in an animal model of MS. Methods: Experimental autoimmune encephalomyelitis (EAE) was induced in adolescent female Lewis rats. Animals were sacrificed every 3 days post-disease induction. DRG and spinal cords were harvested for protein and gene expression analysis. Results: We show significant increases in TNF expression in the DRG and of EAE animals at peak disease stage, as assessed by clinical symptoms. Conclusion: Antigen-induced production of inflammatory cytokines such as TNF within the DRG identifies a potential noel mechanism for MS-induced NPP.

Background: Multiple sclerosis (MS) is a chronic, neurological disease characterized by targeted destruction on central nervous system (CNS) myelin. The autoimmune theory is the most widely accepted explanation of disease pathology. Circulating Th-1 cells become activated by exposure to CNS-specific antigens such as myelin basic protein. The activated Th-1 cells secrete inflammatory cytokines, which are pivotal for inflammatory responses. We hypothesize that enhanced production of inflammatory cytokines triggers cellular events within the dorsal root ganglia (DRG) and/or spinal cord, facilitating the development of neuropathic pain (NPP) in MS. NPP, the second worst disease-induced symptom suffered by patients with MS, is normally regulated by DRG and/or spinal cord. Objective: To determine gene and protein expression levels of tumor necrosis factor-alpha (TNF ) within DRG and/or spinal cord in an animal model of MS. Methods: Experimental autoimmune encephalomyelitis (EAE) was induced in adolescent female Lewis rats. Animals were sacrificed every 3 days post-disease induction. DRG and spinal cords were harvested for protein and gene expression analysis. Results: We show significant increases in TNF expression in the DRG and of EAE animals at peak disease stage, as assessed by clinical symptoms. Conclusion: Antigen-induced production of inflammatory cytokines such as TNF within the DRG identifies a potential noel mechanism for MS-induced NPP.

This research started by recognizing the role that local, municipal governments can play to reach the global goal of sustainability. In addition,a municipal community must be able to cope with change and disturbance in order to successfully achieve a sustainable future. This research investigates how improving municipal resilience can be a strategy to reach sustainability, and answers the primary research question “How can planning resilience help a municipal government lead a community towards sustainability?” Research was conducted through an inter-disciplinary literature review focusing on identifying key characteristics of resilience.Other methods included diagramming exercises to identify factors which foster or undermine resilience characteristics. Finally, implementable measures where identified which municipalities can implement to improve resilience and sustainability. These measures were selected using a synergy matrix, which helps select measures which most support principles for sustainability and resilience characteristics. The feasibility and current adoption of such measures was checked through interviews with municipal experts of Swedish, Canadian and Finnish municipalities.

The purpose of this study was to explore how organizations can apply the Strategic Sustainable Development (SSD) Framework (Robèrt et al. 2006) as a lens and filter to a Knowledge Management Framework to move an organization towards sustainability. A conceptual framework of Knowledge Management (KM) was developed and then utilized to conduct a sustainability assessment on The Natural Step (TNS) organization as a case study. The researchers explored how an understanding of KM can support SSD and aid an organization in leveraging their existing knowledge. To achieve the objective, the most commonly accepted KM frameworks were summarized through a literature review. Then the researchers’ understanding of a conceptual KM Framework was developed. The SSD lens was used to identify gaps within the KM frameworks when an organization’s ultimate goal of success is sustainability. The conceptual KM Framework viewed through the SSD lens was utilized in conducting a sustainability assessment on TNS as a case study. The authors attempted to illustrate how using SSD as a lens could assist any organization, not just NGO’s with a sustainability mandate, to enhance any Quality Management System, such as KM, to tackle global issues. The scope of the analysis was focused on understanding the role of KM as it relates to an organization’s journey towards sustainability. Specifically a strengths and weaknesses assessment was conducted. The assessment was used to identify gaps and successes in the following areas: knowledge sharing, sharing methodology and sustainable practices. / <p>norm.tyler@community.royalroads.ca</p>

Överaktiv blåsa är ett vanligt problem som beräknas drabba 16 % av befolkningen. En behandlingsform som använts länge är elektostimulering av genitalia. På senare år har stimulering av tibialisnerven vid mediala malleolen prövats som behandling. Syftet med studien var att undersöka vad som finns skrivet om elektrostimulering av tibialisnerven för att lindra symtom vid överaktiv blåsa. En litteraturstudie baserad på tio kvantitativa artiklar genomfördes. Resultaten visade att behandling med tibialisstimulering kunde öka blåskapaciteten och minska antalet miktioner och inkontinensepisoder. Flera studier visade att livskvaliteten förbättrades för patienterna efter behandlingen. Den vanligaste behandlingstiden var en gång i veckan i 12 veckor. Subjektiv respons, uttryckt som patientens önskan om fortsatt behandling, uppmättes till mellan 50-60 % i flera av studierna. Inga allvarliga biverkningar rapporterades. / Overactive bladder is a common disorder that affects approximately 16% of the population. Electrostimulation in the genitalia is a treatment that has been used for many years. In recent years stimulation of the tibial nerve by the medial malleol has been tried. The aim of the study was to find out what has been written about treating OAB (overactive bladder) with electric stimulation of the tibial nerve. A literature review based on ten quantitative articles was carried out. The results showed that treatment with stimulation of the tibial nerve might improve bladder capacity and reduce frequency and incontinence-episodes. Several studies showed an increased quality of life after treatment. Most common was to perform treatment once a week for 12 weeks. Subjective success, defined as a request from the patient for continous treatment, was seen in 50-60 % of the patients in some studies. No serious side effects were reported.

SIP470, a putative tobacco lipid transfer protein, was identified in a yeast two-hybrid screen to interact with SABP2. SABP2 is a critical role in SA-mediated signaling in tobacco and other plants. In vitro studies using purified recombinant SIP470 confirmed that it is a lipid binding protein. In an attempt to determine its role in mediating stress responses, Arabidopsis T-DNA insertion knockout lines lacking SIP470 homolog were used for the analysis. These mutant plants were defective in basal resistance against microbial pathogens. Expression of defense gene PR-1 was also delayed in these mutant plants. Interestingly, these mutant plants were not defective in inducing systemic acquired resistance. Besides biotic stress, these mutant plants also showed increased susceptibility to abiotic stresses. To directly study the role of SIP470 in tobacco plants, transgenic tobacco lines, with reduced levels of SIP470 expression, were generated using RNAi and transgenic lines overexpressing SIP470 were also generated.

The intrinsic characteristics of the Framework for Strategic Sustainable Development (FSSD) make it useful in moving society towards sustainability. However, most of the change agents who work with the FSSD report that it is not diffused widely enough to have a systemic impact on society. The purpose of the study is to enable those who wish to foster such diffusion to be more effective in their efforts by giving them information they need to strategically plan those efforts. An ‘important factors for diffusion’ lens is constructed from Diffusion of Innovations theory and social marketing concepts, and verified with case studies of the diffusion of Biomimicry 3.8, GRI and Cradle to Cradle. 152 current barriers and enablers to broader diffusion of the FSSD are identified from interviews with 27 practitioners and a survey of 58 additional practitioners. These are scored against the lens to determine the current diffusibility of the FSSD, then distilled and influence flows between them mapped, to identify seven leverage points for broader diffusion. Interrelations between these leverage points, as well as other emergent themes, are discussed, conclusions are drawn, and further research suggested. / <p>irena.efrem@gmail.com; sijme@sijme.com; scott@notutopia.com</p>

Cette thèse s’intéresse au Théâtre National de Strasbourg durant la direction de Jean-Pierre Vincent (1975-1983). Dans une approche théorique, ce travail revient sur la remise en question de la décentralisation théâtrale et met en avant le contexte artistique, historique, social et politique qui a poussé Jean-Pierre Vincent et son collectif d’artistes à chercher une nouvelle façon d’aborder le théâtre. Tandis que certains mouvements investissent la rue, tels que le Happening ou le Bread and Puppet Theatre…, certains artistes comme Ariane Mnouchkine et Peter Brook se distinguent par une nouvelle approche expérimentale du théâtre qui met le spectateur au cœur de la recherche. Cette approche théorique nous permet de mieux cerner le contexte dans lequel évolue le TNS. En deuxième partie et en revenant sur cette période récente de l’histoire du TNS, ce travail s’interroge sur les notions de « théâtralité » et de « spectateur » à travers les créations « dans les murs » de Jean-Pierre Vincent et « hors les murs » d’André Engel. En nous concentrant sur les questions scénographiques et esthétiques, nous avons essayé de mettre en avant deux manières différentes et pourtant complémentaires d’interroger les codes théâtraux et, ce faisant, de pratiquer un théâtre profondément subversif et critique conduisant à reconsidérer le statut du spectateur, ainsi que ceux du scénographe et du metteur en scène. / The present thesis work is about the Strasbourg National Theater (TNS) under the direction of Jean-Pierre Vincent (1975-1983). In particular, the first part of the present research focuses, from a theoretical perspective, on issues related to the theatrical decentralization program and highlights the artistic, historic, socio-political context that guided Jean-Pierre Vincent and his collective of artists to consider and pioneer a new theatric approach. While several artistic movements were working on the street like Happening or Bread and Puppet Theatre…, others like Ariane Mnouchkine and Peter Brook were distinguished by a theatrical experimental approach involving the spectator in an innovative way. These theoretical perspectives illustrate the broader context in which TNS evolved. In this second part of this thesis, we investigate and discuss the “theatricality” and “spectator” notions throughout Jean-Pierre Vincent and André Engel creations (“dans les murs” and “hors les murs”). Moreover, by focusing on scenographic and aesthetic choices, we highlight two different, yet complementary, ways of questioning theatrical codes. Specifically, the practice of a subversive and critical theater led to a deep reconsideration of the status of the spectator, as well as those of the scenographer and the director.