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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.
The number of males in animal groups is an essential determinant of male and female reproductive strategies. Females may benefit from living with several males, whereas males generally strive to monopolize a group of females. Due to male intrasexual competition, the sex ratio of groups of anthropoid primates is generally female-biased. Gregarious Malagasy lemurs deviate from theoretical expectations derived from sexual selection theory and from patterns found among anthropoids because they live in relatively small groups with an even or male-biased adult sex ratio and lack sexual dimorphism. The aim of this thesis was to investigate sex-specific reproductive strategies relating to the unusual group composition of redfronted lemurs (Eulemur fulvus rufus) by combining behavioral, demographic and endocrinological data. In the first of a set of four studies I investigated the applicability of non-invasive endocrine measurements for monitoring ovarian function in wild redfronted lemur females in order to evaluate the degree of estrus synchrony. Further, I tested the prediction that males living in multi-male groups rely on indirect mechanisms of intrasexual competition, such as physiological suppression of testicular function. Several possible benefits gained from living with many males have been proposed and the hypothesis that additional males improve social thermoregulation was tested in the third study. Finally, I examined the proximate determinants of the unusual sex ratio within groups, the variation in the adult sex ratio as well as possible social benefits of the high number of males for both sexes. The study was conducted in Kirindy Forest, Madagascar, between April 1999 and July 2000. I recorded >3000 hours of focal animal data on social and sexual behavior of all adult members of five groups. Additionally, >2200 fecal samples of males and females were collected for subsequent hormone analysis using enzymeimmunoassay (EIA). Further, I analyzed demographic data from seven Eulemur fulvus rufus groups collected between 1996 and 2002. The analyses of fecal estrogen and progestogen excretion in wild and captive females revealed that monitoring ovarian function is principally possible in redfronted lemurs, as demonstrated by the analysis of samples from captive females. Characterization of ovarian cycles in wild females, however, was not possible, because of a high day-to-day variability in excreted hormones. Nevertheless, the study provided reliable information on gestation and cycle length as well as endocrine changes associated with gestation. Additionally, I established a method for prenatal sex determination using maternal fecal samples collected during late gestation. The excretion pattern of androgens in samples of males revealed no differences between dominant and subordinate males, indicating that dominant males did not suppress the endocrine function of subordinate rivals. High frequencies of matings in combination with large testes size suggest that male reproductive competition relies at least partly on sperm competition. Females did not benefit from the high number of males in their groups in terms of improved thermoregulation because surplus males did not participate frequently in huddling groups with females. Analysis of the demographic data revealed that birth and mortality rates were not sex-biased and that males migrated considerably more frequently than females, providing no proximate explanation for the unusual sex ratio. Females in this study may proximately regulate group composition by synchronizing their fertile periods, which were inferred indirectly from the temporal distribution of births within groups. Both males and females benefit from the high number of co-resident males because reduced male group size seemed to be the main predictor of take-over rate, and thus, infanticide risk. The results of these studies suggest that certain life history traits (fast maturation, short inter-birth intervals) may ultimately determine the high number of males and the lack of single-male groups seen in redfronted lemurs. An accelerated male life history may facilitate joint group transfers and take-overs of male coalitions without a transitional time outside bisexual groups. Because males and females both benefit from a high number of males the conflict of interests between the sexes is considerably defused.
S=N versus S+-N-
(2002)
The main aim of this thesis was to characterise structurally four sulfur-nitrogen compounds in terms of their experimental electron density distribution: Sulfurdiimide S(NtBu)2 (I), sulfurtriimide S(NtBu)3 (II), methyl(diimido)sulfinic acid H(NtBu)2SMe (III) and methylene-bis(triimido)sulfonic acid CH2{S(NtBu)2(HNtBu)}2 (IV). The electron density was determined by multipole refinements on high-resolution X-ray data at low temperatures. The refined densities were analysed by means of Bader’s theory of ‘Atoms in Molecules’ to get information about the bonding types (shared/ closed shell), bond strengths, and the extent of polarisation. The distributions of the static deformation densities, which already showed the most important electronical features as lone-pairs and bonding densities, were calculated for all compounds. The spatial distributions provided a first impression about the bonding properties. The nitrogen lone-pair densities were found to be inclined towards the electropositive sulfur atoms. In II, III and IV the spatial distributions already suggested sp3 hybridisation of the nitrogen atoms. In I gradual differences between the E/Z and Z/Z oriented NtBu groups were visualised. The charge density distribution was analysed along the bond paths, which showed some of the S,N bonds to be considerably bent. In the central part of the thesis detailed topological analyses of the electron density distributions were performed. All BCPs and the related electronical properties as the electron density, the negative Laplacian, the eigenvalues of the Hessian matrix, and several values, which can be deduced from these, were calculated. Due to the low number of comparable published compounds, internal scaling facilitated by III and IV led to system-specific ranking of the S-N and S-C bonds in terms of bond type (shared vs. closed shell), bond order, and bond strength. To quantify bond polarisation a criterion was developed which relates shifts in the BCPs to electron transfer from the electropositive to the electronegative bonding partner. The distributions of the Laplacian were determined for all S-E (E = N, C) bonds because of their fundamental importance for the classification of atomic interactions. Furthermore, the spatial distribution of the negative Laplacian with respect to all important bonds was determined around the central sulfur and nitrogen atoms. The analyses led to detailed information about the S,N interactions. A calculation of the reactive surfaces where the Laplacian equals zero revealed possible reaction pathways of nucleophilic attacks to the central sulfur atoms. All nitrogen atoms in H(NtBu)2SMe (III) as well as in CH2{S(NtBu)2(HNtBu)}2 (IV) are predominantly sp3 hybridised. The S,N bonds should therefore be formulated as S+–N– single bonds, strengthened and shortened by electrostatic reinforcement. In S(NtBu)2 (I) the sp2 hybridisation of the nitrogen atoms was verified. All topological criteria unearthed the inequality of the formally equivalent S=N double bonds. The differences were assigned to the molecular E/Z conformation in the solid state. Interaction between the in-plane lone-pair density of the nitrogen and the sulfur atom located at the same side causes the non-bonding charge concentration at the sulfur atom to be dislocated into the second S–N bond. The existence of a delocalised 3-centres-2-electrons system within the planar SN2 core was assumed to be formed by non-hybridised p-orbitals. An effective delocalisation was found to be possibly disturbed by a weak intermolecular S...S interaction. The interpretation of the S,N interaction in S(NtBu)3 (II) was not straightforward, since the electron density distribution showed both, indicators for multiple bonding as well as for sp3 hybridisation of the nitrogen atoms, which verifies the formulation of a S+–N– bonding mode. The bonding situation in S(NtBu)3 was identified as an intermediate state between that of a delocalised 4-centres-6-electrons system formed by non-hybridised p-orbitals within the planar SN3 unit and that of a S+–N– system.
Epidermolysis bullosa acquisita (EBA) is an autoimmune subepidermal blistering disease associated with autoantibodies to type VII collagen, the major constituent of anchoring fibrils. Previous attempts to demonstrate the blister inducing potential of autoantibodies to this protein have failed. To address this question, we used an in vitro model involving cryosections of human skin incubated with patients’ autoantibodies and leukocytes from healthy donors. We show that sera from 14 out of 16 EBA patients, in contrast to sera from healthy controls, induced dermal-epidermal separation in the cryosections. The level of the experimentally induced split localizes to the lamina lucida of the dermal-epidermal junction. Recruitment and activation of neutrophils at the dermal-epidermal junction was necessary for split induction, whereas mononuclear cells were not required. Importantly, patients’ autoantibodies affinity-purified against a recombinant form of the non-collagenous 1 (NC1) domain of type VII collagen retained their blister-inducing capacity, while patients’ IgG that was depleted of reactivity to type VII collagen lost this ability. Monoclonal antibody LH7.2 to the NC1 domain of type VII collagen also induced subepidermal splits in the cryosections; F(ab’)2 fragments of autoantibodies to type VII collagen were not pathogenic. These findings demonstrate the capacity of autoantibodies to type VII collagen to trigger an Fcg-dependent inflammation leading to split formation in cryosections of human skin.
The Upper Cretaceous Ajlun Group (Cenomanian-Turonian) of southern/south-eastern Jordan has been analysed in 15 detailed sections with thicknesses between 40 m and 200 m. Taxonomic, palaeoecological, taphonomic, and sedimentological aspects were taken into account. During the early Upper Cretaceous the study area was situated at the south-eastern margin of the Tethys Ocean, between the palaeo-shoreline in the south-east and an offshore carbonate platform in the west. Thus, the measured sections include a complete facies succession from terrestrial-dominated environments via marginal marine siliciclastics to an area of carbonate precipitation. So far, very little is known about the fauna and the depositional environment of the group, especially of the transitional marginal marine part. Also, in depth studies of the Cretaceous fauna of southern Jordan are very rare. Therefore, the benthic fauna of the area is described in an extensive taxonomic chapter. It consists of 117 taxa, 77 of which are bivalves, 22 gastropods, 9 echinoids, and 4 corals. The phyla Porifera, Bryozoa, and Brachiopoda are represented by 1 species each. Additionally, at least two species of decapod crustaceans were found. One bivalve species is new: Anthonya jordanica from Cenomanian claystones of the eastern study area. 41 quantitative samples of the benthic invertebrate fauna were grouped into nine associations and three assemblages by means of a Q-mode cluster analysis. These are described as remnants of former communities and their environments are discussed. Salinity and substrate consistency are assumed to have been the most important environmental parameters controlling the faunal distribution. The overall palaeo-environment is discussed on the basis of sedimentological and palaeoecological results. It was primarily influenced by the morphology of the sea floor, sediment supply, and salinity of the sea water.
In my Ph.D. thesis "On the geometry and parametrization of almost invariant subspaces and observer theory" I consider the set of almost conditioned invariant subspaces of fixed dimension for a given fixed linear finite-dimensional time-invariant observable control system in state space form. Almost conditioned invariant subspaces were introduced by Willems. They generalize the concept of a conditioned invariant subspace requiring the invariance condition to hold only up to an arbitrarily small deviation in the metric of the state space. One of the goals of the theory of almost conditioned invariant subspaces was to identify the subspaces appearing as limits of sequences of conditioned invariant subspaces. An example due to {\"O}zveren, Verghese and Willsky, however, shows that the set of almost conditioned invariant subspaces is not big enough. I address this question in a joint paper with Helmke and Fuhrmann (Towards a compactification of the set of conditioned invariant subspaces, Systems and Control Letters, 48(2):101-111, 2003). Antoulas derived a description of conditioned invariant subspaces as kernels of permuted and truncated reachability matrices of controllable pairs of the appropriate size. This description was used by Helmke and Fuhrmann to construct a diffeomorphism from the set of similarity classes of certain controllable pairs onto the set of tight conditioned invariant subspaces. In my thesis I generalize this result to almost conditioned invariant subspaces describing them in terms of restricted system equivalence classes of controllable triples. Furthermore, I identify the controllable pairs appearing in the kernel representations of conditioned invariant subspaces as being induced by corestrictions of the original system to the subspace. Conditioned invariant subspaces are known to be closely related to partial observers. In fact, a tracking observer for a linear function of the state of the observed system exists if and only if the kernel of that function is conditioned invariant. In my thesis I show that the system matrices of the observers are in fact the corestrictions of the observed system to the kernels of the observed functions. They in turn are closely related to partial realizations. Exploring this connection further, I prove that the set of tracking observer parameters of fixed size, i.e. tracking observers of fixed order together with the functions they are tracking, is a smooth manifold. Furthermore, I construct a vector bundle structure for the set of conditioned invariant subspaces of fixed dimension together with their friends, i.e. the output injections making the subspaces invariant, over that manifold. Willems and Trentelman generalized the concept of a tracking observer by including derivatives of the output of the observed system in the observer equations (PID-observers). They showed that a PID-observer for a linear function of the state of the observed system exists if and only if the kernel of that function is almost conditioned invariant. In my thesis I replace PID-observers by singular systems, which has the advantage that the system matrices of the observers coincide with the matrices appearing in the kernel representations of the subspaces. In a second approach to the parametrization of conditioned invariant subspaces Hinrichsen, M{\"u}nzner and Pr{\"a}tzel-Wolters, Fuhrmann and Helmke and Ferrer, F. Puerta, X. Puerta and Zaballa derived a description of conditioned invariant subspaces in terms of images of block Toeplitz type matrices. They used this description to construct a stratification of the set of conditioned invariant subspaces of fixed dimension into smooth manifolds. These so called Brunovsky strata consist of all the subspaces with fixed restriction indices. They constructed a cell decomposition of the Brunovsky strata into so called Kronecker cells. In my thesis I show that in the tight case this cell decomposition is induced by a Bruhat decomposition of a generalized flag manifold. I identify the adherence order of the cell decomposition as being induced by the reverse Bruhat order.
OMB and ORG-1
(2002)
Members of the T-box gene family encode transcription factors that play key roles during embryonic development and organogenesis of invertebrates and vertebrates. The defining feature of T-box proteins is an about 200 aa large, conserved DNA binding motif, the T domain. Their importance for proper development is highlighted by the dramatic phenotypes of T-box mutant animals. My thesis was mainly focused on two Drosophila T-box genes, optomotor-blind (omb) and optomotor-blind related 1 (org-1), and included (i) a genetic analysis of org-1 and (ii) the identification of molecular determinants within OMB and ORG-1 that confer functional specificity. (i) Genetic analysis of org-1 initially based on a behavioral Drosophila mutant, C31. C31 is a X-linked, recessive mutant and was mapped to 7E-F, the cytological region of org-1. This pleiotropic mutant is manifested in walking defects, structural aberrations in the central brain, and "held-out" wings. Molecular analysis revealed that C31 contains an insertion of a 5' truncated I retrotransposon within the 3' untranslated transcript of org-1, suggesting that C31 might represent the first org-1 mutant. Based on this hypothesis, we screened 44.500 F1 female offspring of EMS mutagenized males and C31 females for the "held-out" phenotype, but failed to isolate any C31 or org-1 mutant, although this mutagenesis was functional per se. Since we could not exclude the possibility that our failure is due to an idiosyncracy of C31, we intended not to rely on C31 in further genetic experiments and followed a reverse genetic strategy . All P element lines cytologically mapping to 7E-7F were characterized for their precise insertion sites. 13 of the 19 analyzed lines had P element insertions within a hot-spot 37 kb downstream of org-1. No P element insertions within org-1 could be identified, but several P element insertions were determined on either side of org-1. The org-1 nearest insertions were used for local-hop experiments, in which we associated 6 new genes with P insertions, but failed to target org-1. The closest P elements are still 10 kb away from org-1. Subsequently, we employed org-1 flanking P elements to induce precise deletions in 7E-F spanning org-1. Two org-1 flanking P elements were brought together on a recombinant chromosome. Remobilization of P elements in cis configuration frequently results in deletions with the P element insertion sites as deficiency endpoints. In a first attempt, we expected to identify deficiencies by screening for C31 alleles. 8 new C31 alleles could be isolated. The new C31 chromosomes, however, did not carry the desired deletion. Molecular analysis indicated that C31 is not caused by aberrations in org-1, but by mutations in a distal locus. We repeated the P element remobilization and screened for the absence of P element markers. 4 lethal chromosomes could be isolated with a deletion of the org-1 locus. (ii) The consequences of ectopic org-1 were analyzed using UAS-org-1 transgenic flies and a number of different Gal4 driver lines. Misexpression of org-1 during imaginal development interfered with the normal development of many organs and resulted in flies with a plethora of phenotypes. These include a homeotic transformation of distal antenna (flagellum) into distal leg structures, a strong size reduction of the legs along their proximo-distal axis, and stunted wings. Like ectopic org-1, ectopic omb leads to dramatic changes of normal developmental pathways in Drosophila as well. dpp-Gal4/ UAS-omb flies are late pupal lethal and show an ectopic pair of wings and largely reduced eyes. GMR-Gal4 driven ectopic omb expression in the developing eye causes a degeneration of the photoreceptor cells, while GMR-Gal4/ UAS-org-1 flies have intact eyes. Hence, ectopic org-1 and omb induce profound phenotypes that are qualitatively different for these homologous genes. To begin to address the question where within OMB and ORG-1 the specificity determinants reside, we conceptionally subdivided both proteins into three domains and tested the relevance ofthese domains for functional specificity in vivo. The single domains were cloned and used as modules to assemble all possible omb-org-1 chimeric trans- genes. A method was developed to determine the relative expression strength of different UAS-transgenes, allowing to compare the various transgenic constructs for qualitative differences only, excluding different transgene quantities. Analysis of chimeric omb-org-1 transgenes with the GMR-Gal4 driver revealed that all three OMB domains contribute to functional specificity.
Normoxic and anoxic metabolism of Nicotiana tabacum transformants lacking root nitrate reductase
(2002)
The aim of this work was to find out whether and how nitrate reduction in roots would facilitate survival of hypoxic and anoxic (flooding)-phases. For that purpose, we compared the response of roots of hydroponically grown tobacco wildtype (Nicotiana tabacum cv. Gatersleben) and of a transformant (LNR-H) with no nitrate reductase (NR) in the roots but almost normal NR in leaves (based on a nia2-double mutant). As an additional control we used occasionally a 35S-transformant of the same nia2-double mutant, which on the same genetic background constitutively expressed NR in all organs. In some cases, we also compared the response of roots from WT plants, which had been grown on tungstate for some time in order to completely suppress NR activity. The following root parameters were examined: 1) Growth and morphology 2) Root respiration rates and leaf transpiration 3) Metabolite contents in roots (ATP, hexosemonophosphates, free sugars, starch, amino acids, total protein) 4) Inorganic cation and anion contents 5) Lactate and ethanol production 6) Extractable LDH-and ADH-activities 7) Cytosolic pH values (by 31P-NMR) 8) NO Cation and anion contents of roots from WT and LNR-H were only slightly different, confirming that these plants would be better suited for our purposes than the widely used comparison of nitrate-versus ammonium-grown plants, which usually show up with dramatic differences in their ion contents. Normoxia: LNR-H-plants had shorter and thicker roots than WT with a lower roots surface area per leaf FW. This was probably the major cause for the significantly lower specific leaf transpiration of LNR-H. WT-roots had lower respiration rates, lower ATP-and HMP-contents, slightly lower sugar- and starch contents and somewhat lower amino acid contents than LNR-H roots. However, total protein/FW was almost identical. Obviously the LNR-H transformants did not suffer from N-defciency, and their energy status appeared even better than that of WT-roots. Data from the 35S-transformant were similar to those of WT. This indicates that the observed differences between WT and LNR-H were not due to unknown factors of the genetic nia2-background, but that they could be really traced back to the presence resp. absence of nitrate reduction. Anoxia: Under short-term anoxia (2h) LNR-H plants, but not WT-plants exhibited clear symptoms of wilting, although leaf transpiration was lower with LNR-H. Reasons are not known yet. LNR-H roots produced much more ethanol (which was excreted) and lactate compared to WT, but extractable ADH and LDH activities, were not induced by anoxia. However, the LDH activity background was twice as high as that of the WT troughout the time period studied. Tungstate-treated WT-roots also gave higher fermentation rates than normal WT roots. Sugar- and HMP-contents remained higher in LNR-H roots than in WT. NR in WT roots was activated under anoxia and roots accumulated nitrite, which was also released to the medium. 31P-NMR spectroscopy showed that LNR-H- roots, in spite of their better energy status, acidified their cytosol more than WT roots. Conclusions: Obviously nitrate reduction affects - by as yet unknown mechanisms - root growth and morphology. The much lower anoxic fermentation rates of WT-roots compared to LNR-H roots could not be traced back to an alternative NADH consumption by nitrate reduction, since NR activity was too low for that. An overall estimation of H+-production by glycolysis, fermentation and nitrate reduction (without nitrite reduction, which was absent under anoxia) indicated that the stronger cytosolic acidification of anoxic LNR-H roots was based on their higher fermentation rates. Thus, nitrate reduction under anoxia appears advantageous because of lower fermentation rates and concomitantly lower cytosolic acidification. However, it remained unclear why fermentation rates were so different. Perspective: Preliminary experiments had indicated that WT-roots produced more nitric oxide (NO) under anoxia than LNR-H-roots. Accordingly, we suggest that nitrate reduction, beyond a merely increased NADH-consumption, would lead to advantageous changes in metabolism, eventually via NO-production, which is increasingly recognized as an important signaling compound regulating many plant functions.
The extracellular matrix within connective tissues represents a structural scaffold as well as a barrier for motile cells, such as invading tumor cells or passenger leukocytes. It remains unclear how different cell types utilize matrix-degrading enzymes for proteolytic migration strategies and, on the other hand, non-proteolytic strategies to overcome 3D fibrillar matrix networks. To monitor cell migration, a 3D collagen model in vitro or the mouse dermis in vivo were used, in combination with time-lapse video-, confocal- or intravital multiphoton-microscopy, and computer-assisted cell tracking. Expression of proteases, including several MMPs, ADAMs, serine proteases and cathepsins, was shown by flow cytometry, Western blot, zymography, and RT-PCR. Protease activity by migrating HT-1080 fibrosarcoma cells resulting in collagenolysis in situ and generation of tube-like matrix defects was detected by three newly developed techniques:(i) quantitative FITC-release from FITC-labelled collagen, (ii) structural alteration of the pyhsical matrix structure (macroscopically and microscopically), and (iii) the visualization of focal in situ cleavage of individual collagen fibers. The results show that highly invasive ollagenolytic cells utilized a spindle-shaped "mesenchymal" migration strategy, which involved beta1 integrindependent interaction with fibers, coclustering of beta1 integrins and matrix metalloproteinases (MMPs) at fiber bundling sites, and the proteolytic generation of a tube-like matrix-defect by MMPs and additional proteases. In contrast to tumor cells, activated T cells migrated through the collagen fiber network by flexible "amoeboid" crawling including a roundish, elliptoid shape and morphological adaptation along collagen fibers, which was independent of collagenase function and fiber degradation. Abrogation of collagenolysis in tumor cells was achieved by a cocktail of broad-spectrum protease inhibitors at non-toxic conditions blocking collagenolysis by up to 95%. While in T cells protease inhibition induced neither morphodynamic changes nor reduced migration rates, in tumor cells a time-dependent conversion was obtained from proteolytic mesenchymal to non-proteolytic amoeboid migration in collagen lattices in vitro as well as the mouse dermis in vivo monitored by intravital microscopy. Tumor cells vigorously squeezed through matrix gaps and formed constriction rings in regions of narrow space, while the matrix structure remained intact. MMPs were excluded from fiber binding sites and beta1 integrin distribution was non-clustered linear. Besides for fibrosarcoma cells, this mesenchymal-toameboid transition (MAT) was confirmed for epithelial MDA-MB-231 breast carcinoma cells. In conclusion, cells of different origin exhibit significant diversity as well as plasticity of protease function in migration. In tumor cells, MAT could respresent a functionally important cellular and molecular escape pathway in tumor invasion and migration.
Living apart together
(2002)
Cohesiveness between members of a social unit is a defining characteristic of animal social organization. Dispersed social organizations, where members of a social unit spend the main part of their activity period apart, have only recently been distinguished from cohesive social organizations and are still poorly understood with respect to their ecological basis and reproductive consequences. The general goal of this dissertation was to study the three components of the social system of fork-marked lemurs (Phaner furcifer), a small nocturnal primate from Madagascar living in dispersed pairs. First, I characterise their social organization, focusing on behavioural mechanisms of cohesion between pair partners. Second, through application of van Schaik's ecological model, I investigate predictions about the ecological basis of female intra-sexual avoidance, male-female social relationships and the determinants of differential female reproductive success. Finally, I analyse behavioural and genetic aspects of the mating system to test a recent hypothesis that proposes high extra-pair paternity in dispersed primate pairs resulting from constraints on male mate guarding. The study was conducted in Kirindy Forest in Madagascar between September 1998 and April 2001 during three field seasons for a total of 20 months. During more than 1400 hours of focal animal protocols, I sampled year-round data on space use, feeding ecology, time budgets, and social behaviour of all adults and three subadults of 8 families, complemented by simultaneous focal follows of both pair partners, year-round information on sleeping site use, measures on food abundance in each territory, morphological measurements, and DNA-microsatellite data for seven newly discovered polymorphic loci. Across eight social units and three breeding seasons, pairs were the prevailing grouping pattern (18 of 21 family years). Most pairs were stable for more than three mating seasons and used well defined stable territories. Although both pair partners used the same territory in a fairly similar fashion, average distance between pair partners was 100m, which was far considering that many territories measure only 200m in diameter. Pair partners spent only about 20% of activity time in less than 25m distance of each other and shared a sleeping site on average only every third day. Females were found to be dominant over their partner as well as over neighbouring males in all behavioural contexts. Most important food resources were exudates of a small number of tree species. Major food resources were distributed in small, defendable patches characterized by fast depletion and rapid renewal. In accordance with the ecological model, this led to strong within-group contest and scramble competition and weak between-group contest competition over food, as indicated by a positive dominance effect and a negative group size effect on female physical condition. Female reproductive success was determined mainly by family size. Paternity likelihood and exclusion analyses revealed that four out of seven offspring were most likely sired by an extra-pair male. Behaviour during the mating season implied that females as well as males take an active part in obtaining extra-pair copulations and that males try to guard their mates. Dispersed social organization in itself, i.e. low cohesion between pair partners, cannot explain high extra-pair paternity. I propose instead that several other factors common to most primates living in dispersed pairs constrain mate guarding and lead to high EPP. The ecological settings determine the mode of food competition and have shaped the social system of fork-marked lemurs in several ways. Intense within-group competition for food may have ultimately led to female intra-sexual avoidance and range exclusivity which represents an evolutionary precursor of pair-living. Although it remains elusive why females ultimately associated with single males, patterns of within-group contest competition for food explain why pair partners avoid each other during nocturnal activity. The limited number of food resources that is used in repetitive fashion and incomplete knowledge about the pair partners position explain why pair partners meet relatively often and why most encounters involve agonistic conflict. Rigid feeding itineraries characteristic of exudate feeders are likely to pose high costs to offspring dispersing to unfamiliar areas. Feeding ecology can, therefore, explain why parents tolerate delayed natal dispersal despite a negative effect on actual female reproductive success. In conclusion, the present study successfully applied existing socio-ecological theory to a new area of research, refined a recent evolutionary model and contributed important comparative data to our understanding of dispersed pairs in particular and primate and animal societies in general.
The classification of isoparametric hypersurfaces in spheres with a homogeneous focal manifold is a project that has been started by Linus Kramer. It extends results by E. Cartan and Hsiang and Lawson. Kramer does most part of this classification in his Habilitationsschrift. In particular he obtains a classification for the cases where the homogeneous focal manifold is at least 2-connected. Results of E. Cartan, Dorfmeister and Neher, and Takagi also solve parts of the classification problem. This thesis completes the classification. We classify all closed isoparametric hypersurfaces in spheres with g>2 distinct principal curvatures one of whose multiplicities is 2 such that the lower dimensional focal manifold is homogeneous. The methods are essentially the same as in Kramer's 'Habilitationsschrift'. The cohomology of the focal manifolds in question is known. This leads to two topological classification problems, which are also solved in this thesis. We classify simply connected homogeneous spaces of compact Lie groups with the same integral cohomology ring as a product of spheres S^2 x S^m and m odd on the one hand and a truncated polynomial ring Q[a]/(a^m) with one generator of even degree and m > 1 as its rational cohomology ring on the other hand.