Defects in thermosensitive colloidal crystals

Poly-N-Isopropylacrylamide (PNIPAM) colloidal particles form crystal phases that show a thermosensitive behaviour and can be used as atomic model systems. This polymer has both hydrophilic and hydrophobic character and has interesting stimuli-responsive properties in aqueous solution, of which the most important is the temperature response. Above a certain temperature, called Lower Critical Solution Temperature (LCST), the system undergoes a volume phase transition (VPT). Above the LCST, the water is expelled from the polymer network and the swollen state at low temperature transforms into a shrunken state at high temperature. The thermoresponsive behaviour of PNIPAM can be influenced by pH and ionic strength, as well as by the presence of copolymers, such as acrylic acid. In a system formed both by particles of PNIPAM and PNIPAM doped with acrylic acid, one can control the size ratio of the two components by changing the temperature of the mixture, while keeping particle interactions relatively the same. It is therefore possible to obtain thermoresponsive colloidal crystal in which temperature changes induce defects whose formation processes and dynamics can be analysed in an optical microscope at a convenient spatial and temporal scale. The goal of this thesis project was to find the conditions in which such a system could be formed, by using characterization techniques such as Static Light Scattering, Dynamic Light Scattering and Confocal Laser Scanning Microscopy. Two PNIPAM-AAc systems were available, and after characterization it was possible to select a suitable one, on the basis of its low polydispersity and the lack of a VPT, regardless of the external conditions (system JPN_7). The synthesis of a PNIPAM system was attempted, with particles of dimensions matching the JPN_7 system and, unlike JPN_7, displaying a VPT, and one suitable candidate for the mixed system was finally found (system CB_5). The best conditions to obtain thermoresponsive crystal were selected, and the formation and healing of defects were investigated with CLSM temperature scans. The obtained results show that the approach is the correct one and that the present report could represent a useful start for future developments in defect analysis and defect dynamics studies.

Klassische und ab initio Molekulardynamik-Untersuchungen zu Germaniumdioxidschmelzen

Germaniumdioxid (GeO2) ist ein Glasbildner, der wie das homologe SiO2 ein ungeordnetes tetraedrisches Netzwerk ausbildet. In dieser Arbeit werden mit Hilfe von Molekulardynamik-Computersimulationen die Struktur und Dynamik von GeO2 in Abhängigkeit von der Temperatur untersucht. Dazu werden sowohl Simulationen mit einem klassischen Paarpotentialmodell von Oeffner und Elliott als auch ab initio-Simulationen gemäß der Car-Parrinello-Molekulardynamik (CPMD), bei der elektronische Freiheitsgrade mittels Dichtefunktionaltheorie beschrieben werden, durchgeführt. In der klassischen Simulation werden dazu ein Temperaturen zwischen 6100 K und 2530 K betrachtet. Darüberhinaus ermöglichen Abkühlläufe auf T=300 K das Studium der Struktur des Glases. Zum Vergleich werden CPMD-Simulationen für kleinere Systeme mit 60 bzw. 120 Teilchen bei den Temperaturen 3760 K und 3000 K durchgeführt. In den klassischen Simulationen kann die im Experiment bis 1700 K nachgewiesene, im Vergleich zu SiO2 starke, Temperaturabhängigkeit der Dichte auch bei höheren Temperaturen beobachtet werden. Gute Übereinstimmungen der Simulationen mit experimentellen Daten zeigen sich bei der Untersuchung verschiedener struktureller Größen, wie z.B. Paarkorrelationsfunktionen, Winkelverteilungen, Koordinationszahlen und Strukturfaktoren. Es können leichte strukturelle Abweichungen der CPMD-Simulationen von den klassischen Simulationen aufgezeigt werden: 1. Die Paarabstände in CPMD sind durchweg etwas kleiner. 2. Es zeigt sich, daß die Bindungen in den ab initio-Simulationen weicher sind, was sich auch in einer etwas stärkeren Temperaturabhängigkeit der strukturellen Größen im Vergleich zu den klassischen Simulationen niederschlägt. 3. Für CPMD kann ein vermehrtes Auftreten von Dreierringstrukturen gezeigt werden. 4. In der CPMD werden temperaturabhängige Defektstrukturen in Form von Sauerstoffpaaren beobachtet, die vor allem bei 3760 K, kaum jedoch bei 3000 K auftreten. Alle strukturellen Unterschiede zwischen klassischer und CPMD-Simulation sind eindeutig nicht auf Finite-Size-Effekte aufgrund der kleinen Systemgrößen in den CPMD-Simulationen zurückzuführen, d.h. sie sind tatsächlich methodisch bedingt. Bei der Dynamik von GeO2 wird in den klassischen Simulationen ebenfalls eine gute Übereinstimmung mit experimentellen Daten beobachtet, was ein Vergleich der Diffusionskonstanten mit Viskositätsmessungen bei hohen Temperaturen belegt. Die Diffusionskonstanten zeigen teilweise ein verschiedenes Verhalten zum homologen SiO2. Sie folgen in GeO2 bei Temperaturen unter 3000 K einem Arrheniusgesetz mit einer deutlich niedrigeren Aktivierungsenergie. Darüberhinaus werden die Möglichkeiten der Parametrisierung eines neuen klassischen Paarpotentials mittels der Kräfte entlang der CPMD-Trajektorien untersucht. Es zeigt sich, daß derartige Parametrisierungen sehr stark von den gewählten Startparametern abhängen. Ferner führen sämtliche an die Schmelze parametrisierten Potentiale zu zu hohen Dichten im Vergleich zum Experiment. Zum einen liegt dies sehr wahrscheinlich daran,daß für das System GeO2 Kraftdaten allein nicht ausreichen, um grundlegende strukturelle Größen, wie z.B. Paarkorrelationen und Winkelverteilungen, der CPMD-Simulationen gut reproduzieren zu können. Zum anderen ist wohl die Beschreibung mittels Paarpotentialen nicht ausreichend und es ist erforderlich, Merkörperwechselwirkungen in Betracht zu ziehen.

Processi e impatti della migrazione. L'esperienza di chi resta in tre famiglie peruviane

Questo studio propone un’esplorazione dei nessi tra fenomeno migratorio, dinamiche transnazionali e quadri familiari, in un contesto specificato che è quello peruviano. Dal confronto critico con i paradigmi disciplinari in uso negli ambiti dell’antropologia delle migrazioni, degli studi sul transnazionalismo e sulle famiglie transnazionali, e dell’etnografia multi-situata, si è tentata una lettura teorica e metodologica che renda conto del contesto socio-familiare di partenza non come parte periferica di una completa visione del migrante, ma quale oggetto specifico della ricerca. L’obbiettivo è verificare, a livello locale, quale siano gli impatti della migrazione esterna di uno o più membri sulle strutture e sulle dinamiche, sui codici e sui ruoli del nucleo parentale originario. E individuare, sul piano transnazionale, quali reti, quali rituali o pratiche di connessione funzionino tra coloro che vanno e coloro che restano, quali discorsi e quali culture migratorie si sviluppino e si condividano. La ricerca si è svolta in Perù tra il 2009 ed il 2011. Il campo dell’indagine si è diviso tra due località nell’area della Costa del Perù. Lima, la capitale, e Chiclín, un villaggio rurale nella regione settentrionale de La Libertad. Attraverso le tecniche d’inchiesta della pratica etnografica, una permanenza prolungata sul terreno e l’osservazione partecipante, si è lavorato con i membri adulti di ambo i sessi di tre gruppi parentali distribuiti tra i due luoghi menzionati, selezionati in partenza sulla base dei contatti forniti da alcuni dei loro familiari emigrati in Italia tra il 1990 ed il 2000. Centrare l’analisi sulle figure per certi aspetti marginali dell’esperienza della migrazione normalmente considerata, è servito da un lato a rovesciare parzialmente la prospettiva transnazionale aggiustandola proprio rispetto a quegli attori sociali; dall’altro e ad un tempo, ha permesso di fare luce su dinamiche migratorie più generali, di ricostruirle e di ri-teorizzarle.

Funktionelle Bedeutung von P-Glykoprotein für Wirkungen und Nebenwirkungen von Antipsychotika

Therapeutisches Drug Monitoring (TDM) ist eine Maßnahme, bei der durch Messung der Medikamentenspiegel im Blut die Dosis ermittelt wird, bei der mit höchster Wahrscheinlichkeit mit Therapieansprechen gerechnet werden kann. Dabei wird angenommen, dass die Konzentrationen im Blut mit denen im Wirkkompartiment korrelieren. Für Antipsychotika wurde gezeigt, dass die Konzentrationen im Blut direkt mit denen im Gehirn korrelieren, die Verteilung zwischen den beiden Kompartimenten ist jedoch für die verschiedenen Antipsychotika sehr unterschiedlich. Die Distribution von Arzneistoffen zwischen Blut und Gehirn wird durch Effluxtransporter in der Blut-Hirn-Schranke kontrolliert. Welche Rolle dabei P-Glykoprotein (P-gp) für die Verteilung von atypischen Antipsychotika spielt und wie die Pharmakokinetik und –dynamik durch diesen Transporter beeinflusst werden, sollte in dieser Arbeit untersucht werden. Für die Messung des neu eingeführten Antipsychotikums Aripiprazol, sowie für seinen aktiven Metaboliten Dehydroaripiprazol, wurde eine hochleistungsflüssigchromatographische (HPLC) Methode mit Säulenschaltung und spektrophotometrischer Detektion etabliert. Die Methode wurde für die Messung von Serumproben schizophrener Patienten eingesetzt, um einen therapeutischen Bereich für Aripiprazol zu ermitteln. Aus der Analyse von 523 Patientenproben wurde herausgefunden, dass Aripiprazol-Serumkonzentrationen von 150 bis 300 ng/ml mit gutem klinischen Ansprechen und einem geringen Risiko für Nebenwirkungen einhergingen. Weiterhin wurde festgestellt, dass die Serumspiegel bei gleichzeitiger Gabe von Inhibitoren und Induktoren der Cytochrom P450 (CYP) Isoenzyme CYP2D6 und CYP3A4 erhöht bzw. gesenkt wurden. Am Modell der P-gp Knockout Maus im Vergleich zu FVB Wildtyp Mäusen wurden Konzentrationsverläufe von Antipsychotika nach i.p. Gabe von Amisulprid, Aripiprazol, Dehydroaripiprazol, Clozapin, Desmethylclozapin, Haloperidol, Olanzapin, Quetiapin, Risperidon und 9-Hydroxyrisperidon sowie der Kontrollsubstanz Domperidon im Gehirn und Blut über 24 Stunden mittels HPLC-Methoden gemessen. Welchen Einfluss eine verminderte Expression von P-gp auf die Pharmakodynamik hat, wurde in zwei Verhaltenstests untersucht. Mit Hilfe des Rotarods wurden motorische Effekte der Arzneistoffe erfasst und mittels Radial Arm Water Maze kognitive Fähigkeiten. Risperidon und sein aktiver Metabolit 9-Hydroxyrisperidon waren die stärksten Substrate von P-gp. 10-fach höhere Konzentrationen im Gehirn der P-gp Knockout Mäuse führten zu 10-fach stärkeren Beeinträchtigungen in den pharmakodynamischen Untersuchungen im Vergleich zu Wildtyp Tieren. Amisulprid, Aripiprazol, Dehydroaripiprazol, Desmethylclozapin und Quetiapin konnten ebenfalls als Substrate von P-gp identifiziert werden. Olanzapin, Haloperidol und Clozapin wurden durch P-gp wenig bzw. nicht in ihrer Pharmakokinetik und –dynamik beeinflusst. Da P-gp von Nagern und Menschen nach derzeitiger Kenntnis in ihren Substrateigenschaften weitgehend übereinstimmen, muss bei einer Behandlung von schizophrenen Patienten mit Antipsychotika, die als Substrate von P-gp identifiziert wurden, davon ausgegangen werden, dass eine Veränderung der Expression oder Aktivität von P-gp, genetisch verursacht oder durch Medikamente bedingt, für das Therapieansprechen oder das Auftreten von Nebenwirkungen bedeutsam sind.

Analisi del popolamento e delle dinamiche culturali del Neolitico nella Puglia Centrale : un approccio territoriale per la Bassa Murgia

L’obiettivo della ricerca condotta dal candidato è stato sin dal principio la proposta di un’analisi del popolamento e delle dinamiche culturali dell’età neolitica nella Puglia Centrale. Tale aspirazione derivava dal fatto che il territorio oggetto di tale ricerca è stato, negli ultimi decenni, assai meno investigato rispetto alle limitrofe aree, come la piana del Tavoliere ed il Salento in particolare. Questa mancanza di informazioni rendeva necessaria una rivisitazione delle ricerche e degli studi, attraverso la costruzione di un atlante del popolamento, al fine di colmare questo vuoto. Infatti, una valutazione del popolamento dell’età neolitica nell’Italia sud-orientale non può essere considerata per aree culturali distinte e geograficamente limitate. Nonostante vi siano importanti differenziazioni di facies archeologiche, è solo attraverso una visione complessiva e con un controllo articolato delle informazioni che è possibile descrivere i processi e le dinamiche che hanno portato ad un popolamento così imponente, dalla sua espansione al repentino collasso, causando la trasformazione del paesaggio pugliese. La scelta di guardare alla complessità neolitica di questo versante della Puglia si lega culturalmente, oltre che geograficamente, alla ricerca già effettuata sulla grande diffusione del neolitico nella piana del Tavoliere di Puglia, unico esempio europeo in quanto a colonizzazione capillare del territorio..Ciò ha permesso di disegnare un quadro globale, che al momento esclude solo la penisola salentina, del popolamento neolitico della Puglia settentrionale e centrale. Le caratteristiche che differenziano i due complessi, sono strettamente legate sia all’habitat insediativo, inteso come scelte insediamentali, che nella regione indagata appare organizzato su diversi livelli (area costiera adriatica, area prospiciente antichi alvei torrentizi, propaggini dell’altopiano delle Murge), che alle forme culturali, intese come produzione artigianale e soprattutto aspetti rituali connessi alla frequentazione delle grotte naturali.

Solid-state NMR investigation of phosphonic acid based proton conducting materials

In this work, new promising proton conducting fuel cell membrane materials were characterized in terms of their structure and dynamic properties using solid-state nuclear magnetic resonance (NMR) spectroscopy and X-ray diffraction. Structurally different, phosphonic acid (PA) containing materials were systematically evaluated for possible high-temperature operation (e.g. at T>100°C). Notably, 1H, 2H and 31P magic angle spinning (MAS) NMR provided insight into local connectivities and dynamics of the hydrogen bonded network, while packing arrangements were identified by means of heteronuclear dipolar recoupling techniques.rnThe first part of this work introduced rather crystalline, low molecular weight ionomers for proton conducting membranes, where six different geometries such as line, triangle, screw, tetrahedron, square and hexagon, were investigated. The hexagon was identified as the most promising geometry with high-temperature bulk proton conductivities in the range of 10-3 Scm-1 at a relative humidity of 50%. However, 2H NMR and TGA-MS data suggest that the bulk proton transport is mainly due to the presence of crystal water. Single crystal X-ray data revealed that in the tetrahedron phosphonic acids form tetrameric clusters isolating the mobile protons while the phosphonic acids in the hexagon form zigzag-type pathways through the sample.rnThe second part of this work demonstrates how acid-base pairing and the choice of appropriate spacers may influence proton conduction. Different ratios of statistical copolymers of poly (vinylphosphonic acid) and poly (4-vinylpyridine) were measured to derive information about the local structure and chemical changes. Though anhydrous proton conductivities of all statistical copolymers are rather poor, the conductivity increases to 10-2 S cm-1 when exposing the sample to relative humidity of 80%. In contrast to PVPA, anhydride formation of phosphonic acids in the copolymer is not reversible even when exposing the sample to a relative humidity of 100%.rnIn addition, the influence of both spacers and degree of backbone crystallinity on bulk proton conductivity was investigated. Unlike in systems such as poly benzimidazole (PBI), spacers were inserted between the protogenic groups along the backbone. It was found that dilution of the protogenic groups decreases the conductivity, but compared to PVPA, similar apparent activation energies for local motions were obtained from both variable temperature 1H NMR and impedance spectroscopy data. These observations suggest the formation of phosphonic acid clusters with high degrees of local proton motion, where only a fraction of motions contribute to the observable bulk proton conductivity. Additionally, it was shown that gradual changes of the spacer length lead to different morphologies.rnIn summary, applying advanced solid-state NMR and X-ray analysis, structural and dynamic phenomena in proton conducting materials were identified on a molecular level. The results were discussed with respect to different proton conduction mechanisms and may contribute to a more rational design or improvement of proton conducting membranes.rn

Structure formation as studied by EPR spectroscopy: From simple solutions to nanoparticles

In this thesis, three nitroxide based ionic systems were used to investigate structure and dynamics of their respective solutions in mixed solvents by means of electron paramagnetic resonance (EPR) and electron nuclear double resonance (ENDOR) spectroscopy at X- and W-band (9.5 and 94.5 GHz, respectively). rnFirst, the solvation of the inorganic radical Fremy’s salt (K2ON(SO3)2) in isotope substituted binary solvent mixtures (methanol/water) was investigated by means of high-field (W-band) pulse ENDOR spectroscopy and molecular dynamics (MD) simulations. From the analysis of orientation-selective 1H and 2H ENDOR spectra the principal components of the hyperfine coupling (hfc) tensor for chemically different protons (alcoholic methyl vs. exchangeable protons) were obtained. The methyl protons of the organic solvent approach with a mean distance of 3.5 Å perpendicular to the approximate plane spanned by ON(S)2 of the probe molecule. Exchangeable protons were found to be distributed isotropically, approaching closest to Fremy’s salt from the hydrogen-bonded network around the sulfonate groups. The distribution of exchangeable and methyl protons as found in MD simulations is in full agreement with the ENDOR results. The solvation was found to be similar for the studied solvent ratios between 1:2.3 and 2.3:1 and dominated by an interplay of H-bond (electrostatic) interactions and steric considerations with the NO group merely involved into H-bonds.rnFurther, the conformation of spin labeled poly(diallyldimethylammonium chloride) (PDADMAC) solutions in aqueous alcohol (methanol, ethanol, n-propanol, ethylene glycol, glycerol) mixtures in dependence of divalent sodium sulfate was investigated with double electron-electron resonance (DEER) spectroscopy. The DEER data was analyzed using the worm-like chain model which suggests that in organic-water solvent mixtures the polymer backbones are preferentially solvated by the organic solvent. We found a less serve impact on conformational changes due to salt than usually predicted in polyelectrolyte theory which stresses the importance of a delicate balance of hydrophobic and electrostatic interactions, in particular in the presence of organic solvents.rnFinally, the structure and dynamics of miniemulsions and polymerdispersions prepared with anionic surfactants, that were partially replaced by a spin labeled fatty acid in presence and absence of a lanthanide beta-diketonate complex was characterized by CW EPR spectroscopy. Such miniemulsions form multilayers with the surfactant head group bound to the lanthanide ion. Beta-diketonates were formerly used as NMR shift reagents and nowadays find application as luminescent materials in OLEDs and LCDs and as contrast agent in MRT. The embedding of the complex into a polymer matrix results in an easy processable material. It was found that the structure formation takes place in miniemulsion and is preserved during polymerization. For surfactants with carboxyl-head group a higher order of the alkyl chains and less lateral diffusion is found than for sulfat-head groups, suggesting a more uniform and stronger coordination to the metal ion. The stability of these bilayers depends on the temperature and the used surfactant which should be considered for the used polymerization temperature if a maximum output of the structured regions is wished.

Genetic structuring of Eunicella singularis populations along a bathymetric gradient

Phenotypic plasticity refers to the ability of an organism to express different morphologies depending on the abiotic and biotic environment. Depth integrating many variables (e.g. temperature, light and hydrodynamics), may affect population structure and dynamics of the populations, as well as connectivity patterns and genetic diversity. Eunicella singularis is a Mediterranean arborescent gorgonian who plays an important rule as engineer species providing biomass and complexity to coralligenous habitats. It has a wide bathymetric distribution ranging from shallow rocky bottoms to deep sublittoral reefs. The species shows two depth-related morphotypes which taxonomic status is not yet clarified. The aim of the study is to analyses genetic variability and/or structuring along a vertical gradient to test the presence of the two morphotypes. Furthermore, a preliminary analyses of the phylogenetic relationship among species of the genus Eunicella has been done. Six populations of Eunicella singularis were sampled from 10 to 60 m depth in Cap de Creus and individuals belonging to Eunicella cavolinii, E. verrucosa, E. racemosa and E. stricta aphyta were collected. The genetic analyses were carried out using five microsatellite loci and ITS-1 sequence polymorphism. The results showed a reduction of genetic variability along the vertical gradient. A threshold in connectivity was observed across 30 - 40 m depth, confirming the presence of two different Eunicella singularis morphotypes. The two morphological forms could be due to phenotypic plasticity, which allowed populations to suit different environmental conditions, or to a break in gene flow that determined the isolation of the two populations and an accumulation of genetic differences. The molecular markers used were not able to clarify the phylogenetic relationship among Eunicella species and the systematic position of the two morphotypes, conversely they risen the question on the existence of single species of Mediterranean Eunicella.

Untersuchung der Kernstruktur von 3 He mittels Polarisationsobservablen

Durch die Möglichkeit, gleichzeitig mehrere Polarisationsfreiheitsgradernin der quasi-elastischen Elektronstreuung an $^3mathrm{He}$ zurnmessen, bietet sich ein neuer experimenteller Zugang zu kleinen, aber rnwichtigen Partialwellenbeiträgen ($S'$, $D$-Welle) desrn$^3mathrm{He}$-Grundzustands. Dies ermöglicht nicht nur ein tieferesrnVerständnis des Drei-Körper-Systems, sondern bietet auch diernMöglichkeit, Erkenntnisse über die $^3mathrm{He}$-Struktur undrnDynamik zu erlangen. Mit Hilfe dieser Informationen lassen sich abrninitio Rechnungen testen, sowie Korrekturen berechnen, die für anderernExperimente (z.B. Messung von $G_{en}$) benötigt werden. rnrnModerne Faddeev-Rechnungen liefern nicht nur eine quantitativernBeschreibung des $^3mathrm{He}$-Grundzustands, sondern geben auchrneinen Einblick in die sogenannten spinabhängigenrnImpulsverteilungen. Eine gründliche experimentelle Untersuchung ist in rndiesem Zusammenhang nötig, um eine solide Basis für die Üperprüfungrnder theoretische Modelle zu liefern. EinrnDreifach-Polarisationsexperiment liefert hier zum einen wichtigernDaten, zum anderen kann damit untersucht werden, ob mit der Methoderndes glqq Deuteron-Tagginggrqq polarisiertes $^3mathrm{He}$ alsrneffektives polarisiertes Protonentarget verwendet werden kann. rnrnDas hier vorgestellte Experiment kombiniert erstmals Strahl- undrnTargetpolarisation sowie die Messung der Polarisation des auslaufendenrnProtons. Das Experiment wurde im Sommer 2007 an derrnDrei-Spektrometer-Anlage der A1-Kollaboration an MAMI rndurchgeführt. Dabei wurde mit einer Strahlenergie vonrn$E=855,mathrm{MeV}$ bei $q^2=-0,14,(mathrm{GeV/c})^2$rn$(omega=0,13,mathrm{GeV}$, $q=0,4,mathrm{GeV/c})$ gemessen.rnrnDie bestimmten Wirkungsquerschnitte, sowie die Strahl-Target- und diernDreifach-Asymmetrie werden mit theoretischen Modellrechnungen vonrnJ. Golak (Plane Wave Impuls Approximation PWIA, sowie ein Modell mitrnEndzustandswechselwirkung) verglichen. Zudem wurde das Modell von dernForest verwendet, welches den Wirkungsquerschnitt über eine gemessenernSpektralfunktion berechnet. Der Vergleich mit den Modellrechnungenrnzeigt, dass sowohl der Wirkungsquerschnitt, als auch die Doppel- undrnDreifach-Asymmetrie gut mit den theoretischen Rechnungenrnübereinstimmen. rnrnDie Ergebnisse dieser Arbeit bestätigen, dass polarisiertesrn$^3mathrm{He}$ nicht nur als polarisiertes Neutronentarget, sondernrndurch Nachweis des Deuterons ebenfalls als polarisiertesrnProtonentarget verwendet werden kann.

Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots

This dissertation studies the geometric static problem of under-constrained cable-driven parallel robots (CDPRs) supported by n cables, with n ≤ 6. The task consists of determining the overall robot configuration when a set of n variables is assigned. When variables relating to the platform posture are assigned, an inverse geometric static problem (IGP) must be solved; whereas, when cable lengths are given, a direct geometric static problem (DGP) must be considered. Both problems are challenging, as the robot continues to preserve some degrees of freedom even after n variables are assigned, with the final configuration determined by the applied forces. Hence, kinematics and statics are coupled and must be resolved simultaneously. In this dissertation, a general methodology is presented for modelling the aforementioned scenario with a set of algebraic equations. An elimination procedure is provided, aimed at solving the governing equations analytically and obtaining a least-degree univariate polynomial in the corresponding ideal for any value of n. Although an analytical procedure based on elimination is important from a mathematical point of view, providing an upper bound on the number of solutions in the complex field, it is not practical to compute these solutions as it would be very time-consuming. Thus, for the efficient computation of the solution set, a numerical procedure based on homotopy continuation is implemented. A continuation algorithm is also applied to find a set of robot parameters with the maximum number of real assembly modes for a given DGP. Finally, the end-effector pose depends on the applied load and may change due to external disturbances. An investigation into equilibrium stability is therefore performed.

A multi-instrumental approach to the study of equatorial ionosphere over South America

An extensive study of the morphology and the dynamics of the equatorial ionosphere over South America is presented here. A multi parametric approach is used to describe the physical characteristics of the ionosphere in the regions where the combination of the thermospheric electric field and the horizontal geomagnetic field creates the so-called Equatorial Ionization Anomalies. Ground based measurements from GNSS receivers are used to link the Total Electron Content (TEC), its spatial gradients and the phenomenon known as scintillation that can lead to a GNSS signal degradation or even to a GNSS signal ‘loss of lock’. A new algorithm to highlight the features characterizing the TEC distribution is developed in the framework of this thesis and the results obtained are validated and used to improve the performance of a GNSS positioning technique (long baseline RTK). In addition, the correlation between scintillation and dynamics of the ionospheric irregularities is investigated. By means of a software, here implemented, the velocity of the ionospheric irregularities is evaluated using high sampling rate GNSS measurements. The results highlight the parallel behaviour of the amplitude scintillation index (S4) occurrence and the zonal velocity of the ionospheric irregularities at least during severe scintillations conditions (post-sunset hours). This suggests that scintillations are driven by TEC gradients as well as by the dynamics of the ionospheric plasma. Finally, given the importance of such studies for technological applications (e.g. GNSS high-precision applications), a validation of the NeQuick model (i.e. the model used in the new GALILEO satellites for TEC modelling) is performed. The NeQuick performance dramatically improves when data from HF radar sounding (ionograms) are ingested. A custom designed algorithm, based on the image recognition technique, is developed to properly select the ingested data, leading to further improvement of the NeQuick performance.

Computational insight into materials properties

The aim of the work was to explore the practical applicability of molecular dynamics at different length and time scales. From nanoparticles system over colloids and polymers to biological systems like membranes and finally living cells, a broad range of materials was considered from a theoretical standpoint. In this dissertation five chemistry-related problem are addressed by means of theoretical and computational methods. The main results can be outlined as follows. (1) A systematic study of the effect of the concentration, chain length, and charge of surfactants on fullerene aggregation is presented. The long-discussed problem of the location of C60 in micelles was addressed and fullerenes were found in the hydrophobic region of the micelles. (2) The interactions between graphene sheet of increasing size and phospholipid membrane are quantitatively investigated. (3) A model was proposed to study structure, stability, and dynamics of MoS2, a material well-known for its tribological properties. The telescopic movement of nested nanotubes and the sliding of MoS2 layers is simulated. (4) A mathematical model to gain understaning of the coupled diffusion-swelling process in poly(lactic-co-glycolic acid), PLGA, was proposed. (5) A soft matter cell model is developed to explore the interaction of living cell with artificial surfaces. The effect of the surface properties on the adhesion dynamics of cells are discussed.

Transport of nanoparticles into polymersomes : a minimal model system of particles passage through biological membranes

This thesis focuses on the design and characterization of a novel, artificial minimal model membrane system with chosen physical parameters to mimic a nanoparticle uptake process driven exclusively by adhesion and softness of the bilayer. The realization is based on polymersomes composed of poly(dimethylsiloxane)-b-poly(2-methyloxazoline) (PMDS-b-PMOXA) and nanoscopic colloidal particles (polystyrene, silica), and the utilization of powerful characterization techniques. rnPDMS-b-PMOXA polymersomes with a radius, Rh ~100 nm, a size polydispersity, PD = 1.1 and a membrane thickness, h = 16 nm, were prepared using the film rehydratation method. Due to the suitable mechanical properties (Young’s modulus of ~17 MPa and a bending modulus of ~7⋅10-8 J) along with the long-term stability and the modifiability, these kind of polymersomes can be used as model membranes to study physical and physicochemical aspects of transmembrane transport of nanoparticles. A combination of photon (PCS) and fluorescence (FCS) correlation spectroscopies optimizes species selectivity, necessary for a unique internalization study encompassing two main efforts. rnFor the proof of concepts, the first effort focused on the interaction of nanoparticles (Rh NP SiO2 = 14 nm, Rh NP PS = 16 nm; cNP = 0.1 gL-1) and polymersomes (Rh P = 112 nm; cP = 0.045 gL-1) with fixed size and concentration. Identification of a modified form factor of the polymersome entities, selectively seen in the PCS experiment, enabled a precise monitor and quantitative description of the incorporation process. Combining PCS and FCS led to the estimation of the incorporated particles per polymersome (about 8 in the examined system) and the development of an appropriate methodology for the kinetics and dynamics of the internalization process. rnThe second effort aimed at the establishment of the necessary phenomenology to facilitate comparison with theories. The size and concentration of the nanoparticles were chosen as the most important system variables (Rh NP = 14 - 57 nm; cNP = 0.05 - 0.2 gL-1). It was revealed that the incorporation process could be controlled to a significant extent by changing the nanoparticles size and concentration. Average number of 7 up to 11 NPs with Rh NP = 14 nm and 3 up to 6 NPs with Rh NP = 25 nm can be internalized into the present polymersomes by changing initial nanoparticles concentration in the range 0.1- 0.2 gL-1. Rapid internalization of the particles by polymersomes is observed only above a critical threshold particles concentration, dependent on the nanoparticle size. rnWith regard possible pathways for the particle uptake, cryogenic transmission electron microscopy (cryo-TEM) has revealed two different incorporation mechanisms depending on the size of the involved nanoparticles: cooperative incorporation of nanoparticles groups or single nanoparticles incorporation. Conditions for nanoparticle uptake and controlled filling of polymersomes were presented. rnIn the framework of this thesis, the experimental observation of transmembrane transport of spherical PS and SiO2 NPs into polymersomes via an internalization process was reported and examined quantitatively for the first time. rnIn a summary the work performed in frames of this thesis might have significant impact on cell model systems’ development and thus improved understanding of transmembrane transport processes. The present experimental findings help create the missing phenomenology necessary for a detailed understanding of a phenomenon with great relevance in transmembrane transport. The fact that transmembrane transport of nanoparticles can be performed by artificial model system without any additional stimuli has a fundamental impact on the understanding, not only of the nanoparticle invagination process but also of the interaction of nanoparticles with biological as well as polymeric membranes. rn

Applications of SCET to the pair production of supersymmetric particles at hadron colliders

In this thesis we investigate the phenomenology of supersymmetric particles at hadron colliders beyond next-to-leading order (NLO) in perturbation theory. We discuss the foundations of Soft-Collinear Effective Theory (SCET) and, in particular, we explicitly construct the SCET Lagrangian for QCD. As an example, we discuss factorization and resummation for the Drell-Yan process in SCET. We use techniques from SCET to improve existing calculations of the production cross sections for slepton-pair production and top-squark-pair production at hadron colliders. As a first application, we implement soft-gluon resummation at next-to-next-to-next-to-leading logarithmic order (NNNLL) for slepton-pair production in the minimal supersymmetric extension of the Standard Model (MSSM). This approach resums large logarithmic corrections arising from the dynamical enhancement of the partonic threshold region caused by steeply falling parton luminosities. We evaluate the resummed invariant-mass distribution and total cross section for slepton-pair production at the Tevatron and LHC and we match these results, in the threshold region, onto NLO fixed-order calculations. As a second application we present the most precise predictions available for top-squark-pair production total cross sections at the LHC. These results are based on approximate NNLO formulas in fixed-order perturbation theory, which completely determine the coefficients multiplying the singular plus distributions. The analysis of the threshold region is carried out in pair invariant mass (PIM) kinematics and in single-particle inclusive (1PI) kinematics. We then match our results in the threshold region onto the exact fixed-order NLO results and perform a detailed numerical analysis of the total cross section.

Experimentelle Untersuchung von Phasenübergängen im kolloidalen Modellsystem harter Kugeln

Die vorliegende Arbeit behandelt den fluid-kristallinen Phasenübergang sowie den Glasübergang anhand von kolloidalen Hart-Kugel(HK)-Modellsystemen. Die Untersuchungen erfolgen dabei im Wesentlichen mit unterschiedlichen Lichtstreumethoden und daher im reziproken Raum. rnDie Analyse der Kristallisationskinetik zeigt, dass es bei der Kristallisation zu signifikanten Abweichungen vom Bild der klassischen Nukleationstheorie (CNT) kommt. Diese geht von einem einstufigen Nukleationsprozess aus, wohingegen bei den hier durchgeführten Experimenten ein mehrstufiger Prozess beobachtet wird. Vor der eigentlichen Kristallisation kommt es zunächst zur Nukleation einer metastabilen Zwischenphase, sogenannter Precursor. In einer zweiten Stufe erfolgt innerhalb der Precursor die eigentliche Nukleation der Kristallite. rnDurch weitere Analyse und den Vergleich des Kristallisations- und Verglasungsszenarios konnte das Konzept der Precursornukleation auf den Vorgang der Verglasung erweitert werden. Während die Kristallnukleation oberhalb des Glasübergangspunktes zum Erliegen kommt, bleibt der Prozess der Precursornukleation auch bei verglasenden Proben erhalten. Ein Glas erstarrt somit in einem amorphen Zustand mit lokalen Precursorstrukturen. Die Korrelation der gemessenen zeitlichen Entwicklung der strukturellen sowie der dynamischen Eigenschaften zeigt darüber hinaus, dass das bisher unverstandene Ageing-Phänomen von HK-Gläsern mit der Nukleation von Precursorn zusammenhängt.rnEin solches mehrstufiges Szenario wurde bereits in früheren Veröffentlichungen beobachtet. Die im Rahmen dieser Arbeit durchgeführten Messungen ermöglichten erstmals die Bestimmung von Kristallnukleationsratendichten (Kristall-NRD) und Ratendichten für die Precursornukleation bis über den Glasübergangspunkt hinaus. Die Kristall-NRD bestätigen die Resultate aus anderen experimentellen Arbeiten. Die weiteren Analysen der Kristall-NRD belegen, dass die fluid-kristalline Grenzflächenspannung bei der Nukleation entgegen den Annahmen der CNT nicht konstant ist, sondern mit ansteigendem Volumenbruch linear zunimmt. Die Erweiterung der CNT um eine linear zunehmende Grenzflächenspannung ermöglichte eine quantitative Beschreibung der gemessenen Kristall- sowie der Precursor-NRD, was den Schluss zulässt, dass es sich in beiden Fällen um einen Boltzmann-aktivierten Prozess handelt. rnUm die beobachteten Abweichungen des Nukleationsprozesses vom Bild der CNT näher zu untersuchen, wurden die kollektiven Partikeldynamiken in stabilen Fluiden und metastabilen Schmelzen analysiert. Im klassischen Bild wird angenommen, dass die kollektive Partikeldynamik beim Vorgang der Nukleation keine Rolle spielt. Anhand der Resultate zeigen sich Abweichungen in der Dynamik stabiler Fluide und metastabiler Schmelzen. Während die kollektive Partikeldynamik in der stabilen Schmelze von der Struktur entkoppelt ist, tritt oberhalb des Phasenübergangspunktes eine Kopplung von Struktur und Dynamik auf. Dabei treten die Abweichungen zunächst in der Umgebung des ersten Strukturfaktormaximums und somit bei den am stärksten besetzten Moden auf. Mit steigender Unterkühlung nehmen die Anzahl der abweichenden Moden sowie die Stärke der Abweichungen zu. Dieses Phänomen könnte einen signifikanten Einfluss auf den Nukleationsprozess und somit auf die Kristallisationskinetik haben. Die Analyse der Dynamik im stabilen Fluid zeigt darüber hinaus Hinweise auf eine Singularität bei Annäherung an den fluid-kristallinen Phasenübergangspunkt.rnDes Weiteren wurden im Rahmen der vorliegenden Arbeit erstmals Ratendichten für die heterogene Nukleation eines HK-Systems an einer flachen Wand mittels statischer Lichtstreuung (SLS) bestimmt. Die Ergebnisse der Messung zeigen, dass die Nukleationsbarriere der heterogenen Nukleation annähernd Null ist und folglich eine vollständige Benetzung der Wand mit einer kristallinen Monolage vorliegt. Die Erweiterung der Untersuchungen auf gekrümmte Oberflächen in Form von sphärischen Partikeln (Seeds) stellt die erste experimentelle Arbeit dar, die den Einfluss eines Ensembles von Seeds auf die Kristallisationskinetik in HK-Systemen untersucht. Die Kristallisationskinetik und die Mikrostruktur werden abhängig von Größe und Anzahldichte der Seed-Partikel signifikant beeinflusst. In Übereinstimmung mit konfokalmikroskopischen Experimenten und Simulationen spielt dabei das Radienverhältnis der Majoritäts- zur Minoritätskomponente eine entscheidende Rolle.