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Nowadays, robotics plays an important role in increasing fields of application. There exist many environments or situations where mobile robots instead of human beings are used, since the tasks are too hazardous, uncomfortable, repetitive, or costly for humans to perform. The autonomy and the mobility of the robot are often essential for a good solution of these problems. Thus, such a robot should at least be able to answer the question "Where am I?". This thesis investigates the problem of self-localizing a robot in an indoor environment using range measurements. That is, a robot equipped with a range sensor wakes up inside a building and has to determine its position using only its sensor data and a map of its environment. We examine this problem from an idealizing point of view (reducing it into a pure geometric one) and further investigate a method of Guibas, Motwani, and Raghavan from the field of computational geometry to solving it. Here, so-called visibility skeletons, which can be seen as coarsened representations of visibility polygons, play a decisive role. In the major part of this thesis we analyze the structures and the occurring complexities in the framework of this scheme. It turns out that the main source of complication are so-called overlapping embeddings of skeletons into the map polygon, for which we derive some restrictive visibility constraints. Based on these results we are able to improve one of the occurring complexity bounds in the sense that we can formulate it with respect to the number of reflex vertices instead of the total number of map vertices. This also affects the worst-case bound on the preprocessing complexity of the method. The second part of this thesis compares the previous idealizing assumptions with the properties of real-world environments and discusses the occurring problems. In order to circumvent these problems, we use the concept of distance functions, which model the resemblance between the sensor data and the map, and appropriately adapt the above method to the needs of realistic scenarios. In particular, we introduce a distance function, namely the polar coordinate metric, which seems to be well suited to the localization problem. Finally, we present the RoLoPro software where most of the discussed algorithms are implemented (including the polar coordinate metric).
The thesis contains two major parts. The first part deals with structural investigations on different coordination compounds performed by using infrared absorption and FT-Raman spectroscopy in combination with density functional theory calculations. In the first section of this part the starting materials Ph2P-N(H)SiMe3 and Ph3P=NSiMe3 and their corresponding [(MeSi)2NZnPh2P-NSiMe3]2 and Li(o-C6H4PPh2NSiMe3)]2·Et2O complexes have been investigated in order to determine the influence of the metal coordination on the P–N bond length. In the next section the vibrational spectra of four hexacoordinated silicon(IV) and germanium(IV) complexes with three symmetrical bidentate oxalato(2-) ligands have been elucidated. Kinetic investigations of the hydrolysis of two of them, one with silicon and another one with germanium, have been carried out at room temperature and at different pH values and it was observed that the hydrolysis reaction occurs only for the silicon compound, the fastest reaction taking place at acidic pH. In the last section of this part, the geometric configurations of some hexacoordinated silicon(IV) complexes with three unsymmetrical bidentate hydroximato(2-) ligands have been determined. The second part of the thesis contains vibrational investigations of some biologically active molecules performed by means of Raman spectroscopy together with theoretical simulations. The SER spectra of these molecules at different pH values have also been analysed and the adsorption behaviour on the metal surface as well as the influence of the pH on the molecule-substrate interaction have been established.
The thesis consists of two major parts. The first part contains a theoretical-experimental study of confocal micro-Raman spectroscopy on hybrid polymer coatings and an application of this spectroscopic method on PDMS-membranes. The theoretical-experimental study includes the application of a model that describes the influence of the refraction effect on the focus length on confocal Raman experiments, and the development of a new model that additionally takes into account the effect of diffraction on the focus dimensions. A parallel comparison between these two theoretical approaches and experimental data has been also drawn and a better agreement between theory and experiment was observed, when both refraction and diffraction effects were considered. Further, confocal resonance micro-Raman spectroscopy has been applied to characterise the diffusion processes of pharmacologically relevant molecules (b-carotene dissolved in dimethylsulfoxide) through a polydimethylsiloxane (PDMS)-membrane. The diffusion rate as a function of the measurement depth and diffusion time as well as the concentration gradient under a steady flux have been determined. The measurements shown that the confocal micro-Raman technique is a powerful tool to investigate the kinetics of diffusion processes within a membrane before the steady state has been reached. The second part of the thesis contains infrared and Raman spectroscopic studies of copper and iron doped B2O3-Bi2O3 glass systems. These studies were performed to obtain specific data regarding their local structure and the role played by dopant ions on boron and bismuthate units. The changes of B2O3 and Bi2O3 structural units due to the relaxation of the amorphous structure, which was induced in these samples by the thermal treatment, were also evidenced.
The hematopoietic-specific Rho-family GTP exchange factor (GEF) Vav-1 is a regulator of lymphocyte antigen receptor signaling and mediates normal maturation and activation of B and T cells. Recent findings suggest that Vav-1 also forms part of signaling pathways required for natural and antibody dependent cellular cytotoxicity (ADCC) of human NK cells. In this study, I show that Vav-1 is also expressed in murine NK cells. Vav-1-/- mice had normal numbers of splenic NK cells, and these displayed a similar expression profile of NK cell receptors as cells from wild type mice. Unexpectedly, IL-2-activated Vav-1-/- NK cells retained normal ADCC. Fc-receptor mediated activation of ERK, JNK, and p38 was also normal. In contrast, Vav-1-/- NK cells exhibited reduced natural cytotoxicity against EL4, C4.4.25, RMA and RMA/S. Together, these results demonstrate that Vav-1 is dispensable for mainstream NK cell development, but is required for NK cell natural cytotoxicity. Vav-2, a protein homologous to Vav-1 has also been implicated in NK cell functions. However, NK cells from Vav-2-/- mice have normal cytotoxic activities and NK cells that lack both Vav-1 and Vav-2 exhibit similar defect as Vav-1-/- cells. Thus Vav-2 has no apparent function in the development and the activation of NK cells. Although NK cell development is normal in Vav-1-/- mice, their numbers of NKT cells were dramatically diminished. Furthermore, NKT cells from Vav-1 mutant mice failed to produce IL-4 and IFNg following in vivo CD3 stimulation. A similar loss of NKT cells was observed in Vav-1-/-Vav-2-/- mice, but not in Vav-2-/- mice, suggesting that only Vav-1, and not Vav-2, is an essential regulator of NKT cell development and NK cell cytotoxicity. Similar to Vav-1, Lsc is a Rho GEF that is expressed specifically in the hematopoietic system. It contains a regulator of G-protein signaling (RGS) domain which negatively regulates the Ga12 and Ga13 subunits of G-protein coupled receptors (GPCRs). This study shows that NK and NKT cell development are normal in Lsc-/- mice. However, NK cells from mutant mice display enhanced cytotoxic responses towards a panel of tumor cells. These data implicate for the first time a RGS-containing Rho GEF in cytotoxic responses and suggest that Lsc down-modulate NK cell activation.
In the various groups of social bees, different systems of communication about food sources occur. These communication systems are different solutions to a common problem of social insects: efficiently allocating the necessary number of workers first to the task of foraging and second to the most profitable food sources. The solution chosen by each species depends on the particular ecological circumstances as well as the evolutionary history of that species. For example, the outstanding difference between the bumble bee and the honey bee system is that honey bees can communicate the location of profitable food sources to nestmates, which bumble bees cannot. To identify possible selection pressures that could explain this difference, I have quantified the benefits of communicating location in honey bees. I show that these strongly depend on the habitat, and that communicating location might not benefit bees in temperate habitats. This could be due to the differing spatial distributions of resources in different habitats, in particular between temperate and tropical regions. These distributions may be the reason why the mostly temperate-living bumble bees have never evolved a communication system that allows them to transfer information on location of food sources, whereas most tropical social bees (all honey bees and many stingless bees) are able to recruit nestmates to specific points in their foraging range. Nevertheless, I show that in bumble bees the allocation of workers to foraging is also regulated by communication. Successful foragers distribute in the nest a pheromone which alerts other bees to the presence of food. This pheromone stems from a tergite gland, the function of which had not been identified previously. Usage of a pheromone in the nest to alert other individuals to forage has not been described in other social insects, and might constitute a new mode of communicating about food sources. The signal might be modulated depending on the quality of the food source. Bees in the nest sample the nectar that has been brought into the nest. Their decision whether to go out and forage depends not only on the pheromone signal, but also on the quality of the nectar they have sampled. In this way, foraging activity of a bumble bee colony is adjusted to foraging conditions, which means most bees are allocated to foraging only if high-quality food sources are available. In addition, foraging activity is adjusted to the amount of food already stored. In a colony with full honeypots, no new bees are allocated to foraging. These results help us understand how the allocation of workers to the task of food collection is regulated according to external and internal nest conditions in bumble bees.
This study aims at reconstructing landscape evolution in the Quebrada de Purmamarca, NW-Argentina. Thorough mapping of the existing landforms and present morphodynamic situation was conducted on the base of intensive field work and the interpretation of remote sensing imagery. Aside from geomorphological mapping, field work focused on the description of numerous sedimentological and pedological profiles. The analysis of these profiles was supported by laboratory data from field samples (granulometry, CaCO3 content) but also by a 14C age date. With particular regard to pedological questions, several samples from soil crust were micromorphologically analysed and interpreted. The resulting data allowed the reconstruction of several phases of landscape evolution in the Quebrada de Purmamarca back to the Miocene. During this phase, the Andes were still a landscape of relatively low relief being subject to processes of planation under conditions markedly more humid than today. Highly faulted and deformed fanglomerates are the first evidence of a progressing uplift coupled under an increasingly arid climate. As a consequence of continued uplift and alternating phases of erosion and aggradation, large terrace systems have formed. Particularly the youngest terrace level shows good preservation. Against the background of the intense climatic changes characteristic for the Pleistocene, these terraces have been the major focus of this study. They are built up almost entirely from coarse debris-flow sediments which are thought to be the result of a significant drop of the periglacial belt of more than 1,000 meters. This interpretation is confirmed by a variety of relict periglacial landforms like “glatthang” morphology (smooth topography), sheets of frost debris and asymmetric valleys. As sediment supply from periglacial debris production exceeded the transport capacity of the drainage system leading to the dominance of depositional processes. Aggradation has been interrupted or at least weakened several times as reflected by two lacustrine to fluvial intervals within the terrace deposits. In this context, particularly the younger interval might announce a shift in morphodynamics around 49 ka BP (14C age), when the phase of terrace aggradation grades into a phase of dominant alluvial fan activity. On the terrace surfaces a well-developed reddish soil has developed. It is interpreted to indicate a phase of increased humidity possibly in relation with the “Minchin” wet phase between 40 ka BP and 25 ka BP. At many places, this reddish soil is overlain by a markedly cemented sand crust. Based on the good sorting of medium and fine sand, this sand crust could be interpreted as fluvio-eolian sediment. Its deposition under very arid and cold climatic conditions may be attributed to the Late Glacial Maximum (LGM). However, the sand crust shows signs of erosion at many places and has not been observed anywhere below the level of the terrace surface. Therefore the onset of severe erosion and incision resulting in the evacuation of enormous quantities of sediment from the study area is assumed to postdate the LGM, possibly due to increased discharge rates during a wetter Lateglacial. Regardless of its timing, the intense incision is likely to have cut down to below the present floodplain evidently causing several mass wasting events in the study area. Since the early Holocene a number of short-term changes seem to have been responsible for the landscape evolution of the Quebrada de Purmamarca. More humid phases of pronounced slope smoothing have alternated with semi-arid phases of longer duration. The well-developed, polycyclic calcretes on top of the inactive terraces and alluvial fans give evidence for these changes. At present, the marked desert pavement on top of most terraces and alluvial fan surfaces prevent soil. The concentration of runoff on these pavements amplifies badland formation and alluvial fan activity along the terrace slopes. The presently observed floodplain aggradation may be attributed to these processes but considering the severe gullying reaching far into the upper study area, the aggradation may as well reflect a more general and regional trend.
The Church is mandated by Jesus Christ to continue the mission for which he was sent into the world. The mission of Christ, which consists in “bringing the good news to the poor, proclaiming liberty to captives, restoring sight to the blind, setting the downtrodden free and the proclamation of the Lord’s year of favour” , remains the fundamental basis of the missionary and evangelising vocation of the Church. She has a message to proclaim and that message is the proclamation of making the kingdom of God present in the lives of the people. Through the ages the Church has responded to this command of the Lord to evangelise, using various methods according to different situations and times. Dialogue is a conditio sine qua non in the Church’s evangelisation. By con-voking the Second Vatican Council, Pope John gave special attention to the Church’s self-knowledge, that is the knowledge of her nature and vocation as well as the realisation of the necessity of dialogue in the Church’s pursuit of Church unity and healthy relationships with non-Christian religions and bod-ies. Besides the emphases on the importance of dialogue in the Church’s exe-cution of her mission and apostolate of building up the people of God, evi-dence from the human sciences portray the indispensable and invaluable roles of dialogue and communication in a globalised world.
This theses deals with the syntheses and the coordination behaviour of polyimidosulfur anions like S(NR)32–, S(NR)42–, RS(NR)2– or RS(NR)3–, the nitrogen analogues of the well known oxo-anions SO32–, SO42–, RSO2– and RSO3–. The first aim was the synthesis of a triimidosulfite with three different NR-substituents, a so called asymmetrical triimidosulfite. In all reactions, that have been carried out to obtain a triimidosulfite with three (or two) different residues at nitrogen, the final product was always the dilithium sulfide adduct. The syntheses of chiral alkylenediimidosulfites was successful. Similar to Corey’s S-ylides (R2(O)S+––CR2) and Wittig’s phosphonium ylides (R3P+––CR2) these molecules contain a positively charged sulfur atom next to a carbanionic centre. The structures of the alkylenediimidosulfites are not influenced by the different substituents at nitrogen and carbon, respectively. In each case a doublecubic structure is received. The first members of a completely new class of compounds were synthesised: the aryl-bis-(diimidosulfinates). In this compounds two SN2 units are connected via a heteroaromatic linker, containing a potential donor centre in metal coordination. They represent, like the known alkyldiimidosulfinates, dipodal monoanionic ligands. In the field of sulfur (VI) chemistry the syntheses of aryltriimidosulfonates were successful. Hitherto it was believed, that only spatial less demanding lithium organics could be added to a S=N double bond in S(NtBu)3. This assumption was confirmed by the fact that methyl- and phenylacetylene-triimidosulfonate were the only known alkylsulfonates. Nevertheless, the addition of several lithiumheteroarenes to sulfurtriimide worked without difficulties. If the shape of the nucleophile permits to slot in between the NtBu substituents and to approach the electrophilic sulfur in the sulfurtriimide from the side rather than in an orthogonal angle, the addition reaction works smoothly. Although the steric demand of the tris(tert.-butyl)triimidosulfonate unit is very high, the synthesis of thiophene-bis-(triimidosulfonate) worked. The sulfonate moieties function as dipodal ligands.
Originally renowned for their spectacular epigaeic raids, army ants have captured scientific attention for almost two centuries. They now belong to one of the best studied group of ants. However, most of our knowledge about army ants was derived from the study of the minority of specialized, epigaeicly active species. These species evolved probably rather recently from hypogaeic ancestors. The majority of army ant species still leads a hypogaeic life and is almost completely unknown in its entire sociobiology. It thus remained speculative, whether the assumed 'general' characteristics of army ants represent an adaptation to epigaeic activity or apply also to the majority of hypogaeic species. Based on the recent observation that the hypogaeic Asian army ant Dorylus (Dichthadia) laevigatus recruits predictably to palm oil baits, I developed and tested an oil-baiting method for the study of hypogaeic (army)ants. Prior to my study, nothing was known about the sociobiology of the assumed rare D. laevigatus. Throughout my work, I showed D. laevigatus to be very common and abundant in a wide range of habitats in West-Malaysia and on Borneo. Investigating its foraging behavior, I revealed D. laevigatus to differ from epigaeicly active species in several ways. Never demonstrated for any of the epigaeic species, D. laevigatus established stable trunk trail systems. Such a trail system contradicted the perception of army ant foraging, which was believed to be characterized by raids with constantly alternating trail directions. The trunk trail system further enabled a near omnipresence of D. laevigatus within its foraging area, which was also believed to be atypical for an army ant. Raids differed in structure and composition of participating workers from those of epigaeic species. Also, bulky food sources could be exploited over long periods of time. The foraging system of D. laevigatus resembled in several ways that of e.g. leaf-cutter and harvester ants. Likewise contrary to the assumptions, D. laevigatus had a wide food spectrum and showed only little effect on local arthropod communities, even falling itself prey to other ants. Strong aggressive behavior was observed only towards ant species with similar lifestyles, enabling me to provide the first detailed documentation of interspecific fights between two sympatric Dorylus species. Similar to foraging habits or ecological impact, nothing was known about colony size and composition, nesting habits, or worker polymorphism for D. laevigatus or any other hypogaeic Dorylus species prior to my work. By observing and eventually excavating a colony, I showed D. laevigatus to have a much smaller colony size and to lack the large sized workers of epigaeic Dorylus species. Similar to epigaeic Dorylinae, I showed D. laevigatus to have a non-phasic brood production, to emigrate rarely, and to alter its nest form along with habitat conditions. Detailed morphological and geographical descriptions give an impression of the Asian Dorylus species and are expected to aid other researchers in the difficult species identification. The genetic analysis of a male collected at a light trap demonstrated its relation to D. laevigatus. Confirming the male and queen associations, D. laevigatus is now one of five Dorylus species (out of a total of 61), for which all castes are known. In cooperation with D. Kistner, I provide a morphological and taxonomical description of nine Coleopteran beetles associated with D. laevigatus. Behavioral observations indicated the degree of their integration into the colony. The taxonomic position of the beetles further indicated that D. laevigatus emigrated from Africa to Asia, and was accompanied by the majority of associated beetles. The diversity of D. laevigatus guests, which included a number of unidentified mites, was rather low compared to that of epigaeic species. Overall, I demonstrated the developed baiting containers to effectively enable the study of hypogaeic ants. I showed several other hypogaeic ant species to be undersampled by other methods. Furthermore, the method enabled me to documented a second hypogaeic Dorylus species on Borneo. A detailed description of this species' morphology, ecology, and interactions with D. laevigatus is provided. My study indicated D. laevigatus to be an ecologically important species, able to influence soil structure and organisms of tropical regions in many ways. Relating the observed traits of D. laevigatus to epigaeicly active species, I conclude that our assumption of 'general' army ant behavior is erroneous in several aspects and needs to be changed. The oil-baiting method finally provides a tool enabling the location and study of hypogaeic (army)ant species. This opens a broad field for future studies on this cryptic but nonetheless important group of ants.
Transforming-Growth-Factor-beta1 (TGF-b1) is a multifunctional cytokine that regulates cell growth and differentiation in many types of cells. TGF-b1 is especially known to exert a variety of regulatory functions in the immune system, such as T cell differentiation and T cell function. Signal transduction of TGF-b1 is mediated by phosphorylation of receptorassociated Smad proteins (R-Smads). R-Smads are phosphorylated by the activated type I receptor, which is itself phosphorylated by the high affinity type II receptor upon ligand binding. The phosphorylated R-Smads then associate with Co-Smads. Heterooligomers of R- and Co-Smads translocate into the nucleus where they regulate transcription of target genes in concert with other transcription factors such as CBP/p300 or AP-1. Recent findings suggest that the pleiotropic effects of TGF-b1 are conferred by crosstalks to other signal transduction pathways such as the MAP-kinases or the STAT-pathway. Here we describe the effect of long-term exposure to TGF-b1 on the effector function of differentially stimulated primary murine splenocytes and purified primary murine CD8+ cytotoxic T cells. Long-term exposure to TGF-b1 results in non-responsiveness to TGF-b1- induced Smad2 phosphorylation. This is seen either by no phosphorylation or sustained phosphorylation of Smad2. Furthermore, we observed a strong correlation between sustained Smad2 phosphorylation and resistance to TGF-b1 mediated growth inhibition. In contrast, splenocyte cultures strongly growth inhibited by TGF-b1 showed no Smad2 phosphorylation. Lytic activity of these cultures, however, was found to be suppressed regardless of proliferation properties and Smad2 phosphorylation pattern. We also describe that a functional MEK-1 pathway is a prerequisite for rendering murine splenocytes unresponsive to TGF-b1 mediated growth inhibition, and that inhibition of the MEK-1 cascade alters the Smad2 phosphorylation pattern. In addition, we show that resistance to TGF-b1 mediated growth inhibition correlates with the activation of the JNK pathway. However, the resistant phenotype was found unable to be reverted upon administration of exogeneous IFNg and/or aCD28 antibody. In human or mouse T cell lines, however, the described correlation between the type of stimulation and TGF-b growth resistance or growth sensitivity is not present. Thus, this correlation is specific for primary T cells. We also cloned a chimeric dominantnegative TGF-b receptor which is coupled to a suicide gene, in order to render T cells resistant to TGF-b mediated effects.These findings shed light on how TGF-b1 mediates its immunosuppressive role, and may help to gain knowledge of averting these TGF-b1 effects in the course of tumor therapy.