• Rural Digital Europe
• 2014-2023close
• Doctoral thesis close
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The work done in this thesis is about the interactions between human and humanoid robot HRP-2Kai as co-workers in the industrial scenarios. By interactions, we started with the non-physical human-robot interaction scenario based on an industrially inspired Pick-n-Place task example and then advanced towards the physical human-robot interactions with an example of human, humanoid robot dual-arm bi-directional object handover. The research topics in the thesis are divided into two categories. In the context of non-physical human-robot interactions, the studies conducted in the 1st part of this thesis are mostly motivated by social interactions between human and humanoid robot co-workers, which deal with the implicit behavioural and cognitive aspects of interactions. While in the context of physical human-robot interactions, the 2nd part of this thesis is motivated by the physical manipulations during object handover between human and humanoid robot co-workers in close proximity using humanoid robot whole-body control framework and locomotion. When an individual (human and robot) performs an action followed by the observation of someone’s action, implicit behavioural effects such as motor contagions causes certain features (kinematics parameters, goal or outcome) of that action to become similar to the observed action. However, previous studies have examined the effects of motor contagions induced either during the observation of action or after but never together; therefore, it remains unclear whether and how these effects are distinct from each other. We designed a paradigm and a repetitive task inspired by the industrial Pick-n- Place movement task, in first HRI study, we examine the effect of motor contagions induced in participants during (we call it on-line contagions) and after (off-line contagions) the observation of the same movements performed by a human, or a humanoid robot co-worker. The results from this study have suggested that off-line contagions affects participant’s movement velocity while on-line contagions affect their movement frequency. Interestingly, our findings suggest that the nature of the co-worker, (human or a robot), tend to influence the off-line contagions significantly more than the on-line contagions. Moreover, while the past studies have examined how the effects of induced motor contagions due to the observation of human and robot movements have affected either human co-worker’s movement velocity or how it affected movement variance but never both together. Therefore we argue that since precision in movements along with speed is the key in most industrial tasks, hence it is necessary to consider both task accuracy and task speed to measure the performance in a task accurately. Therefore in second HRI study, under the same paradigm and repetitive industrial task, we systematically varied the robot behaviour and observed viii whether and how the performance of a human participant is affected by the presence of the humanoid robot. We also investigated the effect of physical form of humanoid robot co-worker where the torso and head were covered, and only the moving arm was visible to the human participants. Later, we compared these behaviours with a human co-worker and examined how the observed behavioural effects scale with experience of robots. Our results show that the human and humanoid robot co-workers have been able to affect the performance frequencies of the participants, while their task accuracy remained undisturbed and unaffected. However, with the robot co-worker, this is true only when the robot head and torso were visible, and a robot made biological movements. Next, in pHRI study, we designed an intuitive bi-directional object handover routine between human and biped humanoid robot co-worker using whole-body control and locomotion, we designed models to predict and estimate the handover position in advance along with estimating the grasp configuration of an object and active human hand during handover trials. We also designed a model to minimize the interaction forces during the handover of an unknown mass object along with the timing of the object handover routine. We mainly focused on three important key features during the human humanoid robot object handover routine —the timing(s) of handover, the pose of handover and the magnitude of the interaction forces between human hand(s) and humanoid robot end-effector(s). Basically we answer the following questions, —when(timing), where (position in space), how(orientation and interaction forces) of the handover. Later, we present a generalized handover controller, where both human and the robot is capable of selecting either of their hand to handover and exchange the object. Furthermore, by utilizing a whole-body control configuration, our handover controller is able to allow the robot to use both hands simultaneously during the object handover. Depending upon the shape and size of the object that needs to be transferred. Finally, we explored the full capabilities of a biped humanoid robot and added a scenario where the robot needs to proactively take few steps in order to handover or exchange the object between its human co-worker. We have tested this scenario on real humanoid robot HRP-2Kai during both when human-robot dyad uses either single or both hands simultaneously.; Human-robot interaction is an emerging field which deals with the study andresearch of interactions between humans and robots Goodrich et al. [2008]. Thework done in this thesis is about the interactions between human and humanoidrobot HRP-2Kai as co-workers in the industrial scenarios. In the context of nonphysical human-robot interactions (HRI), the studies conducted in the 1st part of this thesis investigated the implicit behavioral effects of humanoid robot onthe behavior of human co-workers during an industrially inspired Pick-n-Placetask paradigm. In the context of physical human-robot interactions (pHRI), wedeveloped a novel bi-manual object handover framework using robot whole-bodycontrol and locomotion in the 2nd part of this thesis.The results from this study have suggested that off-line contagions affects participant’s movement velocity while on-line contagions affect their movement frequency. Interestingly, our findings suggest that the nature of the co-worker, (human or a robot), tend to influence the off-line contagions significantly more than the on-line contagions. Moreover, while the past studies have examined how the effects of induced motor contagions due to the observation of human and robot movements have affected either human co-worker’s movement velocity or how it affected movement variance but never both together. Therefore we argue that since precision in movements along with speed is the key in most industrial tasks, hence it is necessary to consider both task accuracy and task speed to measure the performance in a task accurately. Therefore in second HRI study, under the same paradigm and repetitive industrial task, we systematically varied the robot behaviour and observed viii whether and how the performance of a human participant is affected by the presence of the humanoid robot. We also investigated the effect of physical form of humanoid robot co-worker where the torso and head were covered, and only the moving arm was visible to the human participants. Later, we compared these behaviours with a human co-worker and examined how the observed behavioural effects scale with experience of robots. Our results show that the human and humanoid robot co-workers have been able to affect the performance frequencies of the participants, while their task accuracy remained undisturbed and unaffected. However, with the robot co-worker, this is true only when the robot head and torso were visible, and a robot made biological movements. Next, in pHRI study, we designed an intuitive bi-directional object handover routine between human and biped humanoid robot co-worker using whole-body control and locomotion, we designed models to predict and estimate the handover position in advance along with estimating the grasp configuration of an object and active human hand during handover trials. We also designed a model to minimize the interaction forces during the handover of an unknown mass object along with the timing of the object handover routine. We mainly focused on three important key features during the human humanoid robot object handover routine —the timing(s) of handover, the pose of handover and the magnitude of the interaction forces between human hand(s) and humanoid robot end-effector(s). Basically we answer the following questions, —when(timing), where (position in space), how(orientation and interaction forces) of the handover. Later, we present a generalized handover controller, where both human and the robot is capable of selecting either of their hand to handover and exchange the object. Furthermore, by utilizing a whole-body control configuration, our handover controller is able to allow the robot to use both hands simultaneously during the object handover. Depending upon the shape and size of the object that needs to be transferred. Finally, we explored the full capabilities of a biped humanoid robot and added a scenario where the robot needs to proactively take few steps in order to handover or exchange the object between its human co-worker. We have tested this scenario on real humanoid robot HRP-2Kai during both when human-robot dyad uses either single or both hands simultaneously.

Seed reserves are the primary source of mineral nutrients for early seedling development. ?Nutrient seed priming? is a technique in which seeds are soaked in nutrient solution and subsequently dried back to initial moisture content for storage. It is an efficient approach to increase seed nutrient contents along with priming effects to improve seed quality, germination speed and seedling establishment. Various abiotic stresses, such as sub-optimal temperature, drought, submergence and soil pH extremes can seriously affect seedling establishment and nutrient acquisition at early growth stages. This thesis focused on the role and contribution of nutrient seed priming in plant growth and nutritional status in maize and soybean under conditions of limited nutrient availability and low root-zone temperature. Protocols for nutrient seed priming with Zn, Mn, Zn+Mn, B and P were optimised for application in maize and soybean seeds (B and P priming in maize only). Optimum priming durations of 24 h (maize) and 12 h (soybean) were identified for both plant species but in instead of submerging seeds in priming solutions slow imbibition between filter papers was essential for soybean to minimise development of abnormal seedlings to avoid imbibition damage. Nutrient concentrations were calculated according to water uptake to double the natural seed reserves of the respective micronutrients and 50% increase in phosphorus. However, final uptake of the micronutrients was generally much higher (+500-1000%) while it was lower for P (+20%). In case of soybean this could be attributed to a high Zn and Mn binding capacity of the seed coat, which adsorbed up to 60% of the primed nutrients. Particularly, Zn and Zn+Mn priming stimulated plant growth in hydroponic culture systems and to a lower extent also on a soil with low availability of P, Zn and Fe. This was associated with a high shoot translocation of the primed nutrients (Zn and Mn), which was most expressed in the hydroponic culture system. Combined priming treatments with Zn and Mn were usually less effective than Zn priming alone, suggesting an antagonistic interaction. By contrast, mobility of primed B was extremely low and B priming was completely ineffective. In soil culture also P priming moderately increased shoot biomass production by 10-20 %. However the efficiency of P priming was largely limited by the high P demand of the plants. Low root zone temperature (RZT) at early spring is a limiting factor for maize production in Central and Northern Europe. Nutrient acquisition, nutrient uptake and particularly root growth are severely affected at low RZT and the consequences of these growth depressions are often not completely compensated until final harvest. Model experiments in hydroponics and soil culture revealed that maize nutrient seed priming with Zn, Mn and Fe is a promising strategy to diminish the deficiency of specific nutrients, such as Zn, Mn and also P and to maintain plant growth under low RZT stress. This was mainly attributed to significantly increased root growth and particularly fine root production in plants grown from nutrient-primed seeds. Improved net photosynthesis of primed plants was mainly related with increased leaf area and preliminary results suggest a higher tolerance to oxidative damage due to increased production of protective phenolics. Two independent field experiments under conditions of suboptimal temperatures during germination and early growth revealed an increase in grain yield of 10 ? 15 % for plants derived from Zn+Mn and Fe primed seeds. This finding demonstrates long-lasting persistence of priming effects. The molecular and physiological mechanisms behind require further investigation. Samenreserven sind die primäre Quelle für die Mineralstoffversorgung während der frühen Keimlingsentwicklung. Nährstoffpriming ist ein methodischer Ansatz, bei dem Saatgut in Mineralstofflösungen vorgequollen und anschließend zur weiteren Lagerung auf Ausgangsfeuchte zurückgetrocknet wird. Hierdurch ist es möglich, neben vorquellungsbedingten Primingeffekten auch die Mineralstoffreserven zur Verbesserung der Saatgutqualität zu erhöhen sowie die Auflauf-Geschwindigkeit und die Keimlingsentwicklung zu verbessern, die durch verschiedenste Stressfaktoren, wie suboptimale Temperaturbedingungen, Trockenheit, Staunässe und pH-Extreme beeinträchtigt werden kann. Die vorliegende Arbeit beschäftigt sich mit der Wirkung von Nährstoffpriming auf das Wachstum und den Ernährungsstatus von Mais und Soja unter Bedingungen eingeschränkter Nährstoffverfügbarkeit und niedriger Wurzelraumtemperatur. Für die Saatgutapplikation von Zink (Zn), Mangan (Mn), Mn+Zn, Bor (B), Eisen (Fe) und Phosphat (P) bei Mais und Soja wurden Primingprotokolle entwickelt. Bei beiden Pflanzenarten ergab sich eine optimale Behandlungsdauer von 24 h. Jedoch war es notwendig, das Soja-Saatgut anstelle von submerser Inkubation in den Nährlösungen, langsam in Nährlösungsgetränktem Filterpapier einzuquellen, um die Entwicklung abnormaler Keimlinge aufgrund von Quellungsschäden zu vermeiden. Anhand der Wasseraufnahme der Keinlinge wurden die Nährlösungskonzentrationen so berechnet, das sich nach Einquellen eine Verdopplung der natürlichen Mineralstoffreserven im Samen ergeben sollte. Jedoch wurden für die Mikronährstoffe erheblich höhere Aufnahmeraten gemessen (+500 - 1000%), während die Aufnahme von P geringer war (+ 20%). Bei Soja konnte gezeigt werden, das die erhöhten Mikronährstoffgehalte auf eine hohe Bindungskapazität der Zwei unabhängige Feldversuche bei suboptimaler Temperatur während der Keimphase und des Jugendwachstums ergaben Kornertragssteigerungen von 10-15 % bei Mais nach Saatgutpriming mit Zn+Mn oder Fe. Diese Ergebnisse belegen die Langzeitwirkung der Primingeffekte. Die molekularen und physiologischen Grundlagen erfordern allerdings noch weitere Untersuchungen.

Since the end of the 19th century, the mining area of Gafsa (south-west Tunisia) has specialized in the single-activity extraction and enrichment of phosphate for reasons of economic profits. With these exports, this area has suffered an intense degradation of soil resources, vegetation cover and an advanced deterioration of agricultural areas. The management of the mining infrastructure has failed to meet environmental standards, causing social and spatial inequalities and increasing the level of environmental risks.The mining activity was at the origin of the birth and genesis of the mining towns in the Basin of Gafsa (BMG). The formation of spontaneous cities has caused the disarticulation of the urbanization. Urban extensions, including the expansion of anarchic cities, extending to laundries and to mines, thus created conflicts with the phosphatier domain. All these factors make costly and complicated attempts at development and rehabilitation that mining companies do not dare to commit.Taking into account the complexity of the many social, spatial and environmental aspects of the BMG, we used both the classical geographical approach and the geomatics approach that seemed appropriate for better decision-making. The interest of this latter approach makes it possible to identify, analyze, and model the state of the sites, the urban and environmental mutations in relation to the spatial-mining growth.; Depuis la fin du 19ème siècle, l’espace minier de Gafsa (Sud-Ouest de Tunisie) s’est spécialisé dans la mono-activité de l’extraction et l’enrichissement du phosphate pour des raisons de profits économiques certains. Avec ces exportations, l’espace a subi une dégradation intense des ressources du sol, de la couverture végétale et une détérioration avancée des zones agricoles. La gestion des infrastructures minières n’a pas su répondre aux normes environnementales et a provoqué ainsi des inégalités sociales et spatiales et a accentué le niveau des risques environnementaux.L’activité minière a été à l’origine de la naissance et de la genèse des villes minières dans le Bassin Minier de Gafsa (BMG). La formation de cités spontanées a provoqué la désarticulation du tissu urbain. Les extensions urbaines notamment l’expansion des quartiers anarchiques, s’étendant vers les laveries et vers les mines, ont créé ainsi des conflits avec le domaine phosphatier. Tenant compte de la complexité des multiples aspects sociaux, spatiaux et environnementaux du BMG, nous avons utilisé à la fois l’approche géographique classique et l’approche géomatique qui nous a semblé appropriée pour aider à la prise de décision. L’intérêt de cette dernière approche permet d’identifier, d’analyser, et de modéliser l’état des lieux, les mutations urbaines et environnementales en relation avec la croissance spatiale-minière. Les principaux résultats permettent d’avoir une banque de données statistiques et cartographiques, à différentes échelles, pour une vision synthétique et une meilleure compréhension du BMG et de réaliser un modèle d’aide à la décision.

Industrielle Röntgendurchleuchtungsgeräte lassen sich für die Untersuchung verschiedenster Fragestellungen anwenden. Das Spektrum der Anwendbarkeit reicht von der hochauflösenden in vivo-Bildgebung von z. B. Glioblastomen, zerebralen Hirngefäßen, abdominellen und thorakalen Organen in der Maus, bis hin zur hoch-auflösenden Untersuchung von Objekten wie z. B. Stents, Zähnen, Insekten oder auch einzelner Organe ex vivo. Desweitern zeichnet das hier eingesetzte industrielle Röntgengerät die Möglichkeit zur Strahlentherapie von Tieren aus, was mit herkömmlichen speziellen Kleintier-Computertomographen nicht möglich ist. Ziel dieser Dissertation war zum einen die Etablierung eines Glioblastom-Maus-Modells und anschließend die Überprüfung der Anwendbarkeit eines Mikro-CT für die wiederholte bildgebende Darstellung der Hirntumoren vor und nach Strahlentherapie. Darüber hinaus wurde die Mikro-CT für die Evaluierung sowohl der Verschlussrate von Aneurysmen als auch der artefaktfreien Darstellung der verwendeten Materialien im Modellversuch getestet. Wir konnten in beiden von uns durchgeführten Studien die Mikro-CT erfolgreich zur Bildgebung anwenden. Zur Etablierung des Glioblastom-Maus-Modells wurde die gesamte OP-Methode zur Tumorzellimplantation in das Gehirn zunächst an toten Mäusen durchgeführt. Anstatt Zellen wurde eine äquivalente Menge an mit Kontrastmittel vermengter Methylcellulose des später geplanten Injektionsvolumens an Zellen in das Gehirn appliziert. Anschließend wurde zur Erfolgskontrolle eine Röntgenaufnahme im Mikro-CT angefertigt. Anhand der Aufnahmen konnten wir die genaue Lokalisation und Ausdehnung der applizierten Menge beurteilen und unsere OP-Methode gegebenenfalls optimieren. Erst nach verlässlicher Reproduzierbarkeit der OP wurden humane Zellen in vivo in die rechte Hemisphäre von insgesamt 27 NOD/SCID/yc-/- Mäusen injiziert. Zwei Wochen nach Xenotransplantation erfolgte eine erste kontrasmittelgestützte Untersuchung im Mikro-CT zur Tumordetektion. Bei negativem Befund wurde bei den Tieren wöchentlich eine weitere Mikro-CT durchgeführt. Tiere mit positivem Befund wurden je nach geplantem Versuch nicht therapiert (n=21) oder mittels Strahlentherapie (n=6) behandelt. Alle Tiere wurden im weiteren Verlauf wöchentlich bis zum Versuchsende im Mikro-CT untersucht. Insgesamt wurden 103 kontrastmittelgestützte Untersuchungen im Mikro-CT durchgeführt. Der maximale Tumordurchmesser und das maximale Tumorvolumen wurden anhand der einzelnen CT-Datensätze bestimmt. Zusätzlich wurden die Gehirne histologisch aufgearbeitet um das maximale Volumen und den maximalen Durchmesser der Tumore anhand der Histologie zu berechnen. Die histologischen Ergebnisse wurden mit der jeweils letzten Mikro-CT (durchgeführt am Tag des Versuchsendes) verglichen. Die hervorragende Korrelation von maximalem Tumordurchmesser und Tumorvolumen ermittelt in der Mikro-CT mit den Ergebnissen aus der Histologie (Tumordurchmesser: 0,929, p < 0,001; Tumorvolumen: 0969, p < 0,001, n = 17) belegt die hohe Genauigkeit und damit Anwendbarkeit der Mikro-CT für ein Hirntumormodell. Die hohe Sensitivität (0,95) und Spezifität (0,71) belegen zusätzlich die Exaktheit der Mikro-CT zur Erkennung von Gehirntumoren in sehr kleinen Tieren wie Mäusen (PPV=0,91, NPV=0,83). Die zweite im Rahmen dieser kumulativen Dissertation eingereichte Arbeit befasst sich mit der Evaluation einer neuen Methode zur Embolisation von Aneurysmen. Hierzu wurden Aneurysmen mit einem dicht gewobenem Stent (sog. Flow diverter) überdeckt. Über einen zuvor im Aneurysma platzierten Mikrokatheter wurde das Aneurysma mit Mikropartikeln embolisiert, welche größer als die Maschen des flussmodulierenden Stents sind. Die Mikro-CT konnten wir erfolgreich einsetzen, um mit einer hohen Auflösung die 700–900 µm kleinen Partikel im Aneurysma darzustellen und die komplette Ausfüllung des Aneurysmas zu verifizieren. Auch die Maschendichte des Stents im Verhältnis zum Aneurysma konnte mittels Mikro-CT analysiert werden. Die Möglichkeit der wiederholten Darstellbarkeit von Gehirntumoren im zeitlichen Verlauf mittels Mikro-CT bietet eine Grundlage für weitere Versuchsvorhaben, wie z. B. die Visualisierung morphologischer Veränderungen des Tumors unter verschiedenen Therapieansätzen. Die erfolgreiche Evaluation der Verschlussrate von Aneurysmen mittels einer neuen Technik in der Mikro-CT ist ein wesentlicher Schritt, bevor es zu einer ersten Anwendung im lebenden Tier kommt. Beide hier vorgestellten Arbeiten tragen durch den erfolgreichen Einsatz eines bildgebenden Verfahrens erheblich zur langfristigen Senkung der Versuchstierzahlen bei. Zusammenfassend konnten wir durch die erfolgreiche Anwendung der Mikro-CT in den hier vorgestellten Arbeiten das Spektrum der Anwendbarkeit eines industriellen Mikro-CTs in der präklinischen Forschung deutlich erweitern. Micro-CT systems are being used with increasing frequency in preclinical research. The range of examinations includes high-resolution in vivo imaging of glioblastoma, cerebral vessels, abdominal and thoracic organs in mice as well as investigation of other small objects like stents, teeth, insects or single organs ex vivo or in vitro. In addition, micro-CT may be used for radiation therapy of small rodents like mice and rats, as shown in our studies. Aim of this thesis was to establish an orthotopic glioblastoma mouse model and to evaluate the applicability of a micro-CT for repetetive imaging of brain tumors in mice. We furthermore used a micro-CT to evaluate the distribution of microspheres used to treat a silicone aneurysm model. The glioblastoma mouse model was trained in dead mice first. Instead of tumor cells we first injected methylcellulose mixed with contrast agent to train intracerebral injections. The use of contrast agent allowed us to verify our injection technique by subsequent micro-CT. After successfully establishing the technique, human brain tumor cells were in injected into the right hemisphere of n = 27 NOD/SCID/yc-/- mice. Two weeks after xenotransplantation mice underwent first contrast-enhanced micro-CT. Animals with negative results in micro-CT received additional micro-CT scans weekly until brain tumors were detected. Animals were left untreated (control group), or were treated with radiation- or chemotherapy. During treatment all animals received weekly micro-CT scans until animals had to be sacrificed. The maximum diameter and volume of intracerebrally growing xenografts were measured. Brains of sacrificed mice were histologically worked up and maximum tumor diameter and tumor volume were measured again. Results from histology were compared to micro-CT data. The excellent correlation between maximum tumor diameter and tumor volume measured in micro-CT and histology (tumor diameter: 0.929, p < 0.001; tumor volume: 0.969, p < 0.001, n=17). Sensitivity and specificity of micro-CT were 0.95 and 0.71, respectively (PPV=0.91, NPV=0.83). This proved the high accurary of micro-CT for brain tumor detection in animals as small as mice. The second paper referenced to within this doctoral thesis describes the evaluation of the distribution of microspheres within a silicon aneurysm and the degree of aneurysm occlusion. For this purpose a silicon aneurysm was treated with a densely woven stent (a so called flow diverter). Additionally, the aneurysm was embolized with microspheres larger than the pores of the stent via a microcatheter previously placed in the aneurysm. Using our micro-CT we were able to visualize the 700-900 µm small microspheres, which allowed us to verify complete embolization of the aneurysm. Furthermore, the mesh density of the flow diverter in relation to the size of the microspheres was analyzed using the micro-CT. From our findings we conclude, that micro-CT is a versatile tool that may be used for imaging of a vast range of objects and thus propose that micro-CT will be used with increasing frequency in preclinical research.

Pathogenic fungi impose a great threat to the global food production. They are globally distributed and display a huge amount of phenotypic diversity. They demonstrate high adaptability to diverse environments and to fluctuating conditions within their hosts. However, not much is known about the mechanisms underlying these processes of adaptation. Deciphering the genetic basis of phenotypic diversity may help us to get a deeper insight into the mechanisms that regulate complex adaptive traits. Furthermore, these findings may help in improving strategies for an effective and sustainable management of pathogens. In my PhD study, I aimed to understand the genetic basis of adaptation to variable environments using Zymoseptoria tritici. Z. tritici causes septoria leaf blotch of wheat and is considered to be the most devastating fungal wheat pathogen in Europe. In the first chapter of my thesis, I studied the role of melanin in adaptation of Z. tritici. I, demonstrated that melanin is essential for protection against harmful chemical fungicides such as bixafen. Remarkably, I observed high phenotypic variability in melanin accumulation levels in different Zymoseptoria tritici strains, most probably reflecting its role in adaptation to variable environments. Using genetic mapping, I was able to demonstrate that variability in melanization levels between two Swiss strains of Z. tritici was mediated by differential expression of the transcription factor Zmr1 (Zymoseptoria melanin regulation 1). I identified nucleotide mutations in the promoter region and an insertion of transposable elements (TEs) upstream of the promoter region as two mechanisms responsible for this observed differential expression of Zmr1. My findings clearly demonstrated the significance of gene expression regulation, mediated by the insertion of TEs and SNPs, in optimizing the growth and adaptation of the fungus under variable environments. Furthermore, these adaptive changes are responsible for the phenotypic diversity that we observe in Z. tritici strains from all over the world. In the second part of my thesis, I analyzed the expression of several secreted peptidases of Z. tritici at distinct stages during the infection process of wheat plants. Using computational genetic methods, I also analyzed nucleotide data sets of the peptidase genes for evolutionary signatures of genetic adaptation. By combining both approaches, I aimed at obtaining a more detailed picture of the relevance and the role of each enzyme during the infection process. I was able to show that the peptidases belonging to MEROPS families A1 and G1 were significantly up regulated during the asymptomatic phase of infection and displayed signatures of accelerated evolution, suggesting their key role in suppression of plant defenses and host specialization. In the third part of my thesis, I evaluated the role of a cellulase-encoding gene (JGI Prot. ID: 76589) using molecular biology techniques. This cellulase was only expressed during the final necrotrophic phase of Z. tritici infection and the nucleotide sequences of the gene showed signatures of diversifying selection. This pattern is consistent with the hypothesis of evasion from host recognition during the first phases of infection and subsequent induction of host-cell death by the secretion of an array of different cellulase isoforms by the fungus. To test this hypothesis, I constitutively expressed the cellulase-encoding gene in Z. tritici during all infection stages by inserting a constitutive promoter (originally from the Glyceraldehyde-3-phosphate dehydrogenase gene of Aspergillus nidulans) upstream of the start codon of the cellulase gene. I was able to show that the progress of infection in this mutant was delayed compared to the non-modified Z. tritici isolates. This suggests that the cellulase acts as an elicitor molecule that is detected by the plant and triggers the defense machinery that will hinder the growth of the pathogen. In summary, my PhD work demonstrated the significance of fine-tuning of gene expression regulation of various genes in plant pathogenic fungi to facilitate adaptation to different environmental conditions and host colonization. Remarkably, I was able to show that gene expression fine-tuning resulted in large amounts of phenotypic diversity in adaptive traits.

At the heart of the smart space vision is the idea that devices interoperate with each other autonomously to assist people in their everyday activities. In order to make this vision a reality, it is important to achieve semantic-level interoperability between devices. The goal of this dissertation is to enable Semantic Web technology-based interoperability in smart spaces. There are many challenges that need to be solved before this goal can be achieved. In this dissertation, the focus has been on the following four challenges: The first challenge is that the Semantic Web technologies have neither been designed for sharing real-time data nor large packets of data such as video and audio files. This makes it challenging to apply them in smart spaces, where it is typical that devices produce and consume this type of data. The second challenge is the verbose syntax and encoding formats of Semantic Web technologies that make it difficult to utilise them in resource-constrained devices and networks. The third challenge is the heterogeneity of smart space communication technologies that makes it difficult to achieve interoperability even at the connectivity level. The fourth challenge is to provide users with simple means to interact with and configure smart spaces where device interoperability is based on Semantic Web technologies. Even though autonomous operation of devices is a core idea in smart spaces, this is still important in order to achieve successful end-user adoption. The main result of this dissertation is a semantic interoperability framework, which consists of following individual contributions: 1) a semantic-level interoperability architecture for smart spaces, 2) a knowledge sharing protocol for resource-constrained devices and networks, and 3) an approach to configuring Semantic Web-based smart spaces. The architecture, protocol and smart space configuration approach are evaluated with several reference implementations of the framework components and proof-of-concept smart spaces that are also key contributions of this dissertation.

Kmetijstvo sodi med najpomembnejše dejavnike zmanjševanja biotske pestrosti v EU, vendar integracija varstva narave v Skupno kmetijsko politiko ostaja nezadostna. Namen doktorske disertacije je proučiti načrtovanje, učinke in vrednotenje slovenske kmetijske politike na področju ohranjanja narave. Analiza z modeli BRT je pokazala negativno povezavo med diverziteto ptic kmetijske krajine in neposrednimi plačili, okoljski ukrepi pa so imeli v obdobju 2008–2019 na diverziteto ptic šibek relativni vpliv. Diverziteta ptic je bila najvišja v odprti krajini na območjih Natura 2000 z visoko pestrostjo kmetijskih rastlin in nizko obtežbo z živino. Programsko-teoretična analiza slovenske kmetijske politike je pokazala številne vrzeli v opredelitvi intervencijske logike. Manjka predvsem opredelitev ciljev in kazalnikov, ki bi omogočali presojo uspešnosti ukrepanja. Integracija varstva narave je na strateškem nivoju omejena predvsem na prostovoljne ukrepe, strategije za preprečevanje konfliktov med naravovarstvenimi in drugimi cilji kmetijske politike pa večinoma niso opredeljene. Ocenili smo, da je bilo v programskem obdobju 2014–2020 varstvu narave namenjenih okrog 5 % (17,8–19,4 mio EUR) letnega proračuna slovenske kmetijske politike. Disertacijo zaokrožuje analiza možnosti za izboljšanje rezultatske naravnanosti kmetijsko-okoljskih ukrepov, ki je potekala s poskusom diskretne izbire (521 kmetov na območju Haloz in Krasa) ter kvalitativno tematsko analizo intervjujev s kmeti, raziskovalci, odločevalci in kmetijskimi svetovalci. Kmetje so izkazali statistično značilno večje preference do rezultatskih shem kot do shem s predpisanimi praksami ter naklonjenost do individualnega pristopa k svetovanju. Za uspešno uveljavitev rezultatskih shem je nujno izboljšanje podatkovnih podlag, raziskav trajnostnih proizvodnih modelov ter usposobljenosti kadrov v nadzornih in svetovalnih službah. Agriculture is one of the most important factors in reducing biodiversity in the EU. However, the integration of nature conservation into the Common Agricultural Policy remains inadequate. The purpose of the doctoral dissertation is to study the planning, effects and evaluation of the Slovenian agricultural policy in the field of nature conservation. An analysis using BRT models showed a negative link between the diversity of farmland birds and direct payments, while environmental measures had a weak relative influence on bird diversity in the period 2008–2019. Bird diversity was highest in open landscapes on Natura 2000 sites that had a high diversity of agricultural plants and low stocking density. A programme theory analysis of the Slovenian agricultural policy showed numerous gaps in the definition of the intervention logic. Particularly lacking is a definition of objectives and indicators that would enable an assessment of the effectiveness of interventions. At the strategic level, the integration of nature conservation is limited mainly to voluntary measures. Strategies for preventing conflicts between nature conservation and other objectives of agricultural policy are mostly not defined. We estimated that in the 2014–2020 programming period, approximately 5 % (17.8–19.4 million EUR) of the annual budget of the Slovenian agricultural policy was allocated to nature conservation. The dissertation is concluded with an analysis of the possibilities for improving the result-orientation of agri-environmental measures, which was conducted with a discrete choice experiment (521 farmers in the Haloze and Karst area) and a qualitative thematic analysis of interviews with farmers, researchers, decision-makers and agricultural advisers. The farmers showed statistically significant higher preferences for result-based schemes than for schemes with prescribed practices and a preference for an individual approach to knowledge transfer. In order to successfully implement result-based schemes, it is necessary to improve data bases, research into sustainable production models and the training of staff in supervisory and advisory services.

Mangroves have many ecological, socio-economic and climate change mitigation values and functions vital for the littoral populations around the world and in Madagascar.This richness induce them intense exploitation, subjecting to strong natural and anthropogenic pressures. However in Madagascar "the mangroves are very poorly understood and we do not have the elements necessary for a good diagnosis", while they are presented as of perpetual regression in the Madagascar Southwest region. This study aims at identifying, mapping and quantifying the evolution (since 1949) of 5 mangrove’s sites in the Southwest : Manombo-Fitsitike, Ambondrolava, Ankiembe, Sarodrano and Andriambe. It also aims the diagnosis of the different factors of evolution putting in perspective the anthropogenic and natural pressures. To achieve these objectives, two approaches were adopted : geomatics based on the diachronic analysis of Spot images from1987, 1998, 2012 and 2014 associated with aerial photographs (1949) and field work with floristic inventories, physico-chemical measurements, particle size analyzes of substrates and surveys. The results show complex and contrasting trend evolution’s dynamics between growth, stability and regression. In the end, based on the knowledge gained on the mangroves dynamic over more than 60 years, it is possible to make available to all a tool to help decision-making and sustainable and adequate management to protect and conserve these ecosystems, particularly in the context of climate change that will impact natural changes and anthropogenic forcing.; Les mangroves présentent des fonctions et valeurs écologiques, socio-économiques et d’atténuation du changement climatique majeures et vitales pour la population littorale dans le monde et à Madagascar. Leur richesse en fait des milieux intensément exploités, les soumettant à de fortes pressions naturelles et anthropiques. Pourtant à Madagascar « les mangroves sont très mal comprises et nous n'avons pas en main les éléments nécessaires à un bon diagnostic » alors qu’on associe celles de la région Sud-ouest à un état de perpétuelle régression. Cette thèse a pour objectifs l’identification, la cartographie et la quantification de la dynamique d’évolution (depuis 1949) des mangroves de 5 sites du Sud-Ouest : Manombo-Fitsitike, Ambondrolava, Ankiembe, Sarodrano et Andriambe. Elle vise aussi à diagnostiquer les différents facteurs d’évolution en faisant la part des pressions anthropiques et naturelles. Pour atteindre ces objectifs, deux approches ont été adoptées : la géomatique se basant sur l’analyse diachronique d’images Spot de 1987, 1998, 2012 et 2014 associées à des photos aériennes de 1949 et des recherches sur terrain avec des inventaires floristiques, des mesures physico-chimiques, des analyses granulométriques des substrats et des enquêtes. Les résultats montrent des dynamiques d’évolution complexes et contrastées entre progression, stabilité et régression. Au final, en s’appuyant sur les connaissances acquises sur les dynamiques d’évolution des mangroves sur plus de 60 ans, il est possible de mettre à la disposition de tous un outil d’aide à la décision et à la gestion durable et adéquate pour protéger et conserver ces écosystèmes, particulièrement dans le contexte du changement climatique qui va impacter les dynamiques d’évolution naturelles et les forçages anthropiques.

In der vorliegenden Doktorarbeit sollte a) die Expression sowie b) die zelluläre Lokalisation des SLC10A6 (SOAT) im humanen Hoden geklärt werden. Der SOAT zeigt im Vergleich mit weiteren Gewebetypen vergleichsweise hohe Expression im Hoden und weist eine Transportaffinität für sulfatierte Steroide auf. Sulfatierte Steroide können aufgrund ihrer hydrophilen Eigenschaften Zellmembranen nicht durch Diffusion passieren, sondern benötigen einen Transporter. Zudem sind sulfatierte Steroide biologisch nicht aktiv und können erst nach Desulfatierung an ihre entsprechenden Rezeptoren binden und eine biologische Antwort hervorrufen. Aufgrund seiner Eigenschaften ist der SOAT ein potentieller Kandidat für den Transport sulfatierter Steroide im humanen Hoden und somit für die lokale Bereitstellung von Androgenen und Östrogenen. Die Untersuchungen wurden an Hodenbiopsien von Patienten durchgeführt, die eine normale Spermatogenese aufwiesen und Hodenbiopsien von Patienten mit gestörter Spermatogenese, bis hin zu einer völligen Abwesenheit von Keimzellen, dem Sertoli Cell Only Syndrom. Der Nachweis der Expression des SOAT erfolgte mittels TaqMan®-RT-qPCR, RT-PCR nach Laser-assistierter Mikrodissektion und In-situ- Hybridisierung. In den Untersuchungen der vorliegenden Arbeit konnte durch TaqMan®-RT-qPCR und RT-PCR nach Laser-assistierter Mikrodissektion gezeigt werden, dass der SOAT in Hodenbiopsien mit normaler Spermatogenese exprimiert wird. Der zelluläre Nachweis des SOAT erfolgte mittels In-situ-Hybridisierung in Keimzellen, den primären Spermatozyten. Für den Nachweis des SOAT Proteins wurden im Rahmen dieser Dissertation sechzehn Antikörper eingesetzt. Eine spezifische Färbung konnte jedoch bei keinem Antikörper beobachtet werden. Untersuchungen von Fietz et al. (2013) konnten das SOAT-Protein schließlich mittels eines Antikörpers gegen das Soat-Protein der Maus Soat(m329-344) in Spermatozyten und teilweise in Spermatiden nachweisen. Da es sulfatierten Steroiden nicht möglich ist, die Blut-Hoden-Schranke ohne die Hilfe eines Transporters zu überwinden und so die Keimzellen zu erreichen, stellt sich die Frage nach der Funktion des SOAT in den Keimzellen des humanen Hodens. Der Nachweis der Expression des SOAT erfolgte auch in drei Hodenbiopsien mit Spermatogenestörungen, die mit einer Infertilität einhergehen. Aufgrund der signifikant geringeren Expression des SOAT in Hodenbiopsien mit einer Hypospermatogenese kann vermutet werden, dass eine signifikant geringere Expression des SOAT mit einem verringertem Transport von sulfatierten Steroiden und in Folge mit einer reduzierten Bereitstellung von lokal verfügbaren Androgenen und Östrogenen einhergeht (Fietz et al. 2013). Diese Fragestellung könnte durch Untersuchungen der Spermatogenese von Slc10a6-knockout Mäusen weiterführend untersucht werden. It was the aim of this doctoral thesis to elucidate a) the expression and b) the cellular localization of the sodium-dependent organic anion transporter SLC10A6 (SOAT) in human testis. SOAT is predomiantly expressed in human testis and shows specific transport for sulfated steroids. Because of their hydrophilic nature, sulfated steroids are not able to pass cell membranes and therefore need the help of a transporter. Moreover, sulfated steroids are not biologically active, only after desulfatation they can bind to their receptors to induce a biological response. SOAT is a potential candidate not only for transport of sulfated steroids in the human testis, but also for a local supply of androgens and estrogens. The study included testicular biopsis showing normal spermatogenesis and spermatogenic impairment, including Sertoli cell only syndrome. Detection of SOAT mRNA was performed by TaqMan®-RT-qPCR, RT-PCR after laser-assisted microdissection and in situ hybridization. TaqMan®-RT-qPCR and RT-PCR after LAM detected expression of SOAT in testicular biopsies showing normal spermatogenesis. SOAT was localized in germ cells, in primary spermatocytes by in situ hybridization. For verification of SOAT protein distribution 16 antibodies were tested but none could give answer to the question of protein localization. Fietz et al. (2013) employed a new antibody against SOAT protein of mice (Soatm329-433) and detected SOAT in spermatocytes and spermatid of various stages. Due to unabillity for sulfated steroids to pass the blood-testis-barrier, the function of SOAT in spermatocytes is still not known. SOAT could be verified in three testicular biopsies showing impaired spermatogenesis resulting in infertility. Fietz et al. confirmed a significant lower expression of SOAT in testicular biopsies showing hypospermatogenesis. It is suggested that the reduction or lack of SOAT expression might be related to a decreased local supply with androgens and estrogens (Fietz et al. 2013). Further studies with Slc10a6-knockout mice could corroborate this hypothesis.

Since its founding as a social welfare state, India has been meandering through “a life of contradictions” when it comes to social and economic equality. A potent indicator of this reality is the state of food and nutrition security across the country. India’s meager progress comes on the heels of rapid economic growth over the last two decades and a slew of public programs have attempted to address the multi-faceted nature of food and nutrition security. These efforts have included subsidized grains for households through the Targeted Public Distribution System (TPDS), village health, nutrition and education programming through the Integrated Child Development Services (ICDS), and Nutrition Rehabilitation Centers (NRCs) to treat cases of severe acute malnutrition (SAM). Though these programs have been scaled across the country, numerous governance challenges and institutional failures have persisted. The latest development in India’s food and nutrition policy landscape is the National Food Security Act (hereafter referred to as the Act) of 2013, which leverages existing national programs, including the TPDS and ICDS, to grant legal entitlements to nearly 70% of the total population. This Act was the fruit of a rights-based movement in India that demanded for over a decade to codify social and economic rights. However, the question arises as to whether this new Act been able to achieve its goal to ensure food and nutrition security by strengthening the governance of these programs? This is the central question of the present thesis. This thesis investigates how the Act has reformed the implementation of food and nutrition programs in the states of Jharkhand, Madhya Pradesh and the capital of New Delhi. The four key objectives of this study are to investigate 1) what changes are prescribed by the Act; 2) how effective these reforms have been in addressing persistent governance challenges; 3) what challenges remain and why; and 4) what strategies could be used to address these gaps. A qualitative case study approach was applied, which involved the following data collection methods: key informant and in-depth interviews, focus group discussions, participant observation, matrix ranking and process net-mapping, an innovative participatory tool that maps complex institutional processes and actors. This thesis is comprised of nine chapters. The first chapter introduces the puzzle of India’s nutritional status and explores why government efforts to tackle this problem have had tepid results. The second chapter presents the conceptual framework that defines governance challenges and an institutional framework of demand and supply side factors that contribute to effective policy and programming. Chapters three and four present an overview of the TPDS, ICDS and NRCs, and review the existing literature on the governance issues of these programs. Chapter 5 lays out the study design, methods and ethical protocols. Chapters six through eight explore each of the three programs and present key findings across the selected study sites. The last chapter presents cross-cutting conclusions for these programs in the wake of the Act and proposes a way forward to address institutional gaps in tackling food and nutrition security. Seit der Gründung des Wohlfahrtsstaates erlebt Indien eine Reihe von Widersprüchen, was die soziale und wirtschaftliche Gerechtigkeit des Landes angeht. Ein aussagekräftiger Indikator dieser Realität ist der Stand der Ernährungsicherheit im Land. Indiens dürftiger Fortschritt in der Ernährungssicherung folgt einer zwei Jahrzehnte andauernden Periode rasantem Wirtschaftswachstum, sowie einer Reihe von öffentlichen Programmen, die versuchen, die vielschichtigen Aspekte von Ernährung zu adressieren. Zu diesen Bemühungen gehören subventioniertes Getreide für Haushalte durch das gezielte öffentliche Vergabesystem TPDS, dörfliche Gesundheits-, Ernährungs- und Bildungsprogramme durch die Integrierten Dienstleistungen zur Entwicklung von Kindern ICDS und Rehabilitierungszentren für Fälle von schwerer akuter Mangelernährung (NRCs). Obwohl diese Programme auf ganz Indien ausgeweitet wurden, bestehen weiterhin institutionelle Mängel sowie zahlreiche Governance-Herausforderungen. Die jüngste Entwicklung in der Indischen Ernährungspolitik ist das Gesetz zur nationalen Ernährungssicherheit NFSA aus dem Jahr 2013. Das NFSA nutzt zwei bestehende nationale Programme, TPDS und ICDS, um fast 70% der Bevölkerung Rechtsansprüche zu gewähren. Dieses Gesetz war das Ergebnis einer größeren rechtebasierten Bewegung in Indien, die seit über einem Jahrzehnt das Ziel hat, soziale und wirtschaftliche Rechte zu kodifizieren. Es stellt sich die Frage, ob dieses neue Gesetz es ermöglicht hat, durch eine Stärkung der Governance der bestehenden Programme einen Lebenszyklusansatz in der Ernährungssicherung zu etablieren. Diese Doktorarbeit verwendet einen Ansatz vergleichender Fallstudien, um zu untersuchen, wie das NFSA die Umsetzung der Ernährungsprogramme in den Staaten Jharkhand, Madhya Pradesh und der Hauptstadt Neu Delhi reformiert hat. Die vier Hauptziele der Dissertation sind: 1) die Änderungen, die durch das NFSA vorgeschrieben wurden, zu beschreiben 2) die Effektivität dieser Reformen bei der Bewältigung von Governance-Herausforderungen zu erklären, 3) die weiterhin bestehenden Governanceprobleme und Gründe dafür zu erklären, und 4) Strategien zu erarbeiten, die zur Behebung dieser Defizite beitragen können. Diese vier Aspekte wurden untersucht mittels Befragung von Schlüsselpersonen, Tiefeninterviews, Fokusgruppendiskussionen, teilnehmender Beobachtung, Matrix-Ranking und Prozessnetzkartierung (process net-mapping), ein innovatives und partizipatives Instrument, das komplexe institutionelle Prozesse und Akteure abbildet. Die vorliegende Doktorarbeit besteht aus neun Kapiteln. Das erste Kapitel gibt eine Einleitung in die Rätselhaftigkeit der Ernährungslage in Indien, und warum staatliche Bemühungen dieses Problem anzugehen, nur dürftige Ergebnisse erzielt haben. Das zweite Kapitel stellt einen konzeptionellen Rahmen bezüglich Governance-Herausforderungen und einen institutionellen Rahmen bezüglich Nachfrage- und Angebotsfaktoren, die zu wirkungsvollen Politikmaßnahmen und Programmgestaltung beitragen, dar. Kapitel drei und vier geben einen Überblick über TPDS, ICDS und NRCs, und über die bestehende Literatur bezüglich der Governance-Herausforderungen dieser drei Programme. Kapitel fünf beschreibt das Studiendesign, die angewandten Methoden und die Forschungsprotokolle. Kapitel sechs bis acht untersuchen jeweils eins der drei Programme und erklären Schlüsselergebnisse über die drei ausgewählten Untersuchungsstandorte hinweg. Die Dissertation schließt mit einer übergreifenden Zusammenfassung für diese Programme vor dem Hintergrund des neuen Gesetzes und gibt wegweisende Vorschläge wie man diese institutionellen Defizite zur Verbesserung der Ernährungssicherheit adressiert.