Redox dysregulation in schizophrenia : effect on myelination of cortical structures and connectivity

Cette thèse traite du rôle qu'un facteur de risque génétique développé chez les patients souffrant de schizophrénie, à savoir un déficit de la synthèse du glutathion, peut jouer dans les anomalies de la connectivité cérébrale trouvées chez ces patients. L'essentiel du travail a été consacré à évaluer la structure de la substance blanche dans l'ensemble du cerveau chez un modèle animal par une méthode similaire à celle utilisée en recherche clinique avec l'imagerie par résonance magnétique (IRM). Cette approche de translation inverse chez la souris knock-out de glutamate-cystéine ligase modulateur sous-unité (Gclm KO), avait l'objectif d'étudier l'effet des défenses redox déficientes sur le développement des connexions cérébrales, tout en excluant celui des facteurs non liés au génotype. Après avoir établi le protocole de recherche, l'influence d'une manipulation environnementale a également été étudiée. Pour effectuer une analyse statistique fiable des données d'IRM obtenues, nous .avons d'abord créé un atlas du cerveau de la souris afin de l'utiliser comme modèle pour une segmentation précise des différentes régions du cerveau sur les images IRM obtenues in vivo. Les données provenant de chaque région d'intérêt ont ensuite été étudiées séparément. La qualité de cette méthode a été évaluée dans une expérience de simulation pour déduire la puissance statistique réalisable dans chaque région en fonction du nombre d'animaux utilisés. Ces outils d'analyse nous ont permis d'évaluer l'intégrité de la substance blanche dans le cerveau des souris durant le développement grâce à une expérience longitudinale, en utilisant l'imagerie du tenseur de diffusion (DTI). Nous avons ainsi observé des anomalies dans les paramètres dérivés du tenseur (diffusivité et anisotropie) dans la Commissure Antérieure et le Fimbria/Fornix des souris Gclm KO, par rapport aux animaux contrôles. Ces résultats suggèrent une substance blanche endommagée dans ces régions. Dans une expérience électrophysiologique, Pascal Steullet a montré que ces anomalies ont des conséquences fonctionnelles caractérisées par une réduction de la vitesse de conduction dans les fibres nerveuses. Ces données renforcent les conclusions des analyses d'imagerie. Le mécanisme par lequel une dérégulation redox affecte la structure de la substance blanche reste encore à définir, car une analyse immunohistochimique des protéines constituantes de la couche de myéline des fibres concernées n'a pas donné de résultats concluants. Nous avons également constaté un élargissement des ventricules dans les jeunes souris Gclm KO, mais pas chez les adultes et des anomalies neurochimiques déjà connues chez ces animaux (Duarte et al. 2011), à savoir une réduction du Glutathion et une augmentation de l'acide N-acétylaspartique, de l'Alanine et du ratio Glutamine/Glutamate. Nous avons ensuite testé l'effet d'un stress environnemental supplémentaire, l'élevage en isolement social, sur le phénotype. Ce stress n'a eu aucun effet sur la structure de la substance blanche évaluée par DTI, mais a réduit la concentration de myo-Inositol et augmenté le ratio de Glutamine/Glutamate dans le cortex frontal. Nous avons aussi reproduit dans ce groupe indépendant d'animaux les effets du génotype sur le profil neurochimique, sur la taille des ventricules et aussi sur les paramètres dérivés du tenseur de diffusion dans le Fimbria/Fornix, mais pas dans la Commissure Antérieure. Nos résultats montrent qu'une dérégulation redox d'origine génétique perturbe la structure et la fonction de la substance blanche dans des régions spécifiques, causant ainsi l'élargissement des ventricules. Ces phénotypes rassemblent certaines caractéristiques neuro-anatomiques de la schizophrénie, mais les mécanismes qui en sont responsables demeurent encore inconnus. L'isolement social n'a pas d'effet sur la structure de la substance blanche évaluée par DTI, alors qu'il est prouvé qu'il affecte la maturation des oligodendrocytes. La neurochimie corticale et en particulier le rapport Glutamine/Glutamate a été affecté par le dérèglement redox ainsi que par l'isolement social. En conséquence, ce ratio représente un indice prometteur dans la recherche sur l'interaction du stress environnemental avec le déséquilibre redox dans le domaine de la schizophrénie. -- The present doctoral thesis is concerned with the role that a genetic risk factor for the development of schizophrenia, namely a deficit in Glutathione synthesis, may play in the anomalies of brain connectivity found in patients. Most of the effort was devoted to perform a whole-brain assessment of white matter structure in the Glutamate-Cysteine ligase modulatory knockout mouse model (Gclm KO) using Magnetic Resonance Imaging (MRI) techniques similar to those used in state-of-the-art clinical research. Such reverse translational approach taking brain imaging from the bedside to the bench aimed to investigate the role that deficient redox defenses may play in the development of brain connections while excluding all influencing factors beside the genotype. After establishing the protocol, the influence of further environmental manipulations was also studied. Analysis of MRI images acquired in vivo was one of the main challenges of the project. Our strategy consisted in creating an atlas of the mouse brain to use as segmentation guide and then analyze the data from each region of interest separately. The quality of the method was assessed in a simulation experiment by calculating the statistical power achievable in each brain region at different sample sizes. This analysis tool enabled us to assess white matter integrity in the mouse brain along development in a longitudinal experiment using Diffusion Tensor Imaging (DTI). We discovered anomalies in diffusivity parameters derived from the tensor in the Anterior Commissure and Fimbria/Fornix of Gclm KO mice when compared to wild-type animals, which suggest that the structure of these tracts is compromised in the KO mice. In an elegant electrophysiological experiment, Pascal Steullet has provided evidence that these anomalies have functional consequences in form of reduced conduction velocity in the concerned tracts, thus supporting the DTI findings. The mechanism by which redox dysregulation affects WM structure remains unknown, for the immunohistochemical analysis of myelin constituent proteins in the concerned tracts produced inconclusive results. Our experiments also detected an enlargement of the lateral ventricles in young but not adult Gclm KO mice and confirmed neurochemical anomalies already known to affect this animals (Duarte et al. 2011), namely a reduction in Glutathione and an increase in Glutamine/Glutamate ratio, N-acetylaspartate and Alanine. Using the same methods, we tested the effect of an additional environmental stress on the observed phenotype: rearing in social isolation had no effect on white matter structure as assessed by DTI, but it reduced the concentration of myo-Inositol and increased the Glutamine/Glutamate ratio in the frontal cortex. We could also replicate in this separate group of animals the effects of genotype on the frontal neurochemical profile, ventricular size and diffusivity parameters in the Fimbria/Fornix but not in the Anterior Commissure. Our data show that a redox dysregulation of genetic origin may disrupt white matter structure and function in specific tracts and cause a ventricular enlargement, phenotypes that resemble some neuroanatomical features of schizophrenia. The mechanism responsible remains however unknown. We have also demonstrated that environmental stress in form of social isolation does not affect white matter structure as assessed by DTI even though it is known to affect oligodendrocyte maturation. Cortical neurochemistry, and specifically the Glutamine to Glutamate balance was affected both by redox dysregulation and social isolation, and is thus a good target for further research on the interaction of redox imbalance and environmental stress in schizophrenia.

Using computational fluid dynamics to predict head losses in the auxiliary elements of a microirrigation sand filter

It is often assumed that total head losses in a sand filter are solely due to the filtration media and that there are analytical solutions, such as the Ergun equation, to compute them. However, total head losses are also due to auxiliary elements (inlet and outlet pipes and filter nozzles), which produce undesirable head losses because they increase energy requirements without contributing to the filtration process. In this study, ANSYS Fluent version 6.3, a commercial computational fluid dynamics (CFD) software program, was used to compute head losses in different parts of a sand filter. Six different numerical filter models of varying complexities were used to understand the hydraulic behavior of the several filter elements and their importance in total head losses. The simulation results show that 84.6% of these were caused by the sand bed and 15.4% were due to auxiliary elements (4.4% in the outlet and inlet pipes, and 11.0% in the perforated plate and nozzles). Simulation results with different models show the important role of the nozzles in the hydraulic behavior of the sand filter. The relationship between the passing area through the nozzles and the passing area through the perforated plate is an important design parameter for the reduction of total head losses. A reduced relationship caused by nozzle clogging would disproportionately increase the total head losses in the sand filter

Ydinreaktorin painesäiliön ulkoisen jäähdytyksen lämmönsiirtokokeita

The purpose of this work was to design and carry out thermal-hydraulic experiments dealing with overcooling transients of a VVER-440-type nuclear reactor pressure vessel. Sudden overcooling accident could have negative effect on the mechanical strength of the pressure vessel. If part of the pressure vessel is compromised, the intense pressure inside a pressurized water reactor could cause the wall to fracture. Information on the heat transfer along the outside of the pressure vessel wall is necessary for stress analysis. Basic knowledge of the overcooling accident and heat transfer types on the outside of the pressure vessel is presented as background information. Test facility was designed and built based to study and measure heat transfer during specific overcooling scenarios. Two test series were conducted with the first one concentrating on the very beginning of the transient and the second one concentrating on steady state heat transfer. Heat transfer coefficients are calculated from the test data using an inverse method, which yields better results in fast transients than direct calculation from the measurement results. The results show that heat transfer rate varies considerably during the transient, being very high in the beginning and dropping to steady state in a few minutes. The test results show that appropriate correlations can be used in future analysis.

Ultralujasta teräksestä valmistetun henkilönostimen teleskooppipuomin kehittäminen

Tässä työssä kehitettiin palo- ja pelastuskäyttöön tarkoitettuun henkilönostimeen teleskooppipuomin profiilit. Profiilien valmistusmateriaalina oli kuumavalssattu, ultraluja säänkestävä rakenneteräs. Työssä kehitettiin standardien ja ohjeiden pohjalta laskentapohja, jolla voidaan tutkia teleskooppipuomin jaksojen tukireaktioita, taivutus- ja vääntömomentteja ja leikkaus ja normaalivoimia. Laskentapohjassa voidaan varioida eri kuormitusten suuntia, teleskooppipuomin sivusuuntaista ulottumaa ja nostokulmaa. Profiilien alustavassa mitoituksessa hyödynnettiin paikallisen lommahduksen huomioon ottavia standardeja ja suunnitteluohjeita. Eri poikkileikkausten ominaisuuksia verrattiin keskenään ja profiili valittiin yhdessä kohdeyrityksen kanssa. Alustavan mitoituksen yhteydessä muodostettiin apuohjelma valitulle poikkileikkaukselle, jolla voitiin tutkia profiilin eri muuttujien vaikutusta mm. paikalliseen lommahdukseen ja jäykkyyteen. Laskentapohjaan sisällytettiin myös optimointirutiini, jolla voitiin minimoida poikkileikkauksen pinta-ala ja tätä kautta profiilin massa. Lopullinen mitoitus suoritettiin elementtimenetelmällä. Mitoituksessa tutkittiin alustavasti mitoitettujen profiilien paikallista lommahdusta lineaarisen stabiilius- ja epälineaarisen analyysin pohjalta. Profiilien jännityksiä tutkittiin tarkemmin mm. varioimalla kuormituksia ja osittelemalla elementtien normaalijännityksiä. Diplomityössä kehitetyllä ja analysoidulla teleskooppipuomilla voitiin keventää jaksojen painoja 15-30 %. Sivusuuntainen ulottuma parani samalla lähes 20 % ja nimelliskuorma kasvoi 25 %.

Vertailuanalyysin käyttö termohydraulisten koelaitteistojen tulosten laitosmittakaavaan skaalautumisen tutkimisessa

Työn tavoitteena oli tarkastella termohydraulisten koelaitteistojen skaalauksessa käytettäviä periaatteita ja menettelyjä sekä vertailla Apros-simulaattoriohjelmalla laskettuja kanden koelaitteistomallin ja EPR-mallin tuloksia. Tarkoituksena oli saada käsitys siitä, miten hyvin tarkastellut koelaitteistot kuvaavat EPR-Iaitostyypin käyttäytymistä onnettomuustilanteessa. Malleilla tutkittiin jäähdytteen määrän vaikutusta primääripiirin käyttäytymiseen. Koelaitteistomallien tuloksissa toistuvat samat ilmiöt kuin EPR-mallin tuloksissa. Laskettuja PKL-koelaitteistomallin tuloksia vertailtiin myös koelaitteistolla suoritettuun kokeeseen. PKL-mallin todettiin toistavan hyvin kokeen tulokset. Koelaitteistojen tuloksien perusteella kelpoistetaan laskentaohjelmia, joita käytetään ydinvoimalaitosten turvallisuustutkimuksessa. Erityistä harkintaa tulee käyttää koelaitteistojen tulosten hyödyntämisessä, sillä mittakaava vaikuttaa ilmiöiden esiintymiseen.

Puhdistetun jäteveden patogeenit ja desinfiointitarve

Turun seudulla kuuden kunnan jätevesien käsittely keskitetään Kakolanmäen kallion sisälle rakennettuun jätevedenpuhdistamoon, joka otetaan käyttöön vuoden 2008 lopulla. Kakolanmäen jätevedenpuhdistamolla on varauduttu tulevaisuudessa kiristyviin lupaehtoihin sekä mahdollisiin puhdistetun jäteveden hygieenistä laatua koskeviin lisämääräyksiin jättämällä tilavaraus puhdistetun jäteveden desinfioimiselle ultraviolettivalolla. Diplomityössä on selvitetty vuoden kestäneessä tutkimusjaksossa 1.9.2006- 31.8.2007 Turun kaupungin keskuspuhdistamolta mereen johdetun puhdistetun jäteveden ja esiselkeytetyn ohitusveden hygieenisen laadun vaihtelua. Jäteveden desinfiointitarvetta on arvioitu tarkastelemalla jätevedenpuhdistamon hygieenistä puhdistustulosta ja jätevesien vaikutusta purkuvesistön hygieeniseen tilaan. Tutkimuksen perusteella virtaama ei vaikuttanut merkittävästi jäteveden ulosteperäisten bakteerien määriin. Sen sijaan jäteveden bakteeripitoisuudet laskivat alhaisissa lämpötiloissa. Lämpötilan vaikutus näkyi selkeämmin esiselkeytetyssä kuin puhdistetussa jätevedessä eli bakteerien poistumiseen aktiivilietevaiheen aikana vaikuttavat muut tekijät. Mitä tehokkaammin aktiivilietevaihe toimi, sitä tehokkaammin myös bakteereja poistui. Taudinaiheuttajabakteerit selvisivät puhdistusprosessista paremmin viileän kauden aikana. Puhdistetun jäteveden hygieeninen laatu ei täyttänyt uimaveden tai kasteluveden laatuvaatimuksia, joten desinfiointitarve olisi perustelua. Jätevesien vaikutus Turun edustan merialueen hygieeniseen tilaan näkyi ajoittain korkeina bakteeripitoisuuksina purkupaikan lähistöllä. Vielä ei ole suoraa näyttöä siitä aiheuttavatko jätevedet purkupaikan lähistön uimarannoilla terveydellisiä riskejä. Jäteveden UV-desinfiointi kannattava toteuttaa vain jos hygieeninen puhdistusvelvoite määrätään. UV-desinfioinnin mitoituksessa Kakolanmäen jätevedenpuhdistamolla tulee ottaa huomioon suurin sallittu hydraulinen painehäviö. Mitoitus voidaan tehdä puhdistamon käyttöönoton jälkeen kun tarvitut prosessimittaustiedot ovat saatavilla.

Avaliação da salinização de açudes no semi-árido brasileiro por ICP-AES

The salt accumulation process in some reservoirs of regular and irregular use (from 10 to 50 years of constrution), located in the Southeast of Bahia State was evaluated. Inductively coupled plasma atomic emission spectrometry was used to evaluate the concentrations of Na, K, Ca and Mg in water samples from inside and upstream of the reservoirs. The results showed that for reservoirs of irregular use, the salt accumulation, indicated by the tracer Na, increases with the age of the reservoirs, however for the reservoirs of regular use the hydraulic retention time is the main parameter.

Combinación de sistemas de flujo de baja y alta presion para la determinacion de Mg, Ca y Sr en salmueras por espectrofotometria de absorcion atomica con llama

This article describes the combination of low- and high-pressure flow systems for the determination of Magnesium, Calcium and Strontium by flame atomic absorption spectrometry (FAAS). In the low-pressure system a short C-18 RP column (length 0,5 cm) was utilized for the preconcentration/matrix separation step, xylenol orange was used as chelating agent and tetrabutylamonium acetate for ion pair formation. The hydraulic high pressure nebulization (HHPN) was used for sample transport and sample introduction in the high pressure system. The repeatabilities and detection limits for Mg, Ca and Sr were determined and compared with those obtained by pneumatic nebulization (PN). The results show that the detection limits obtained using the HHPN for Mg, Ca and Sr are between 1.5 to 2 times better than those obtained by PN when the signal transient was measured in area. The system presented a sampling frequency of 130 h-1 for direct determination of Mg, Ca or Sr in samples of saturated sodium chloride used in the production of chlorine and sodium hydroxide.

Heat Transfer in Plate Heat Exchangers

This study illustrates the different types of plate heat exchangers that are commonly used in various domestic and industrial applications. The main purpose of this paper was to devise a methodology that is capable of calculating optimum number of plates in the design of a plate heat exchanger. To obtain the appropriate number of plates, typically several iterations must be made before a final acceptable design is completed, since plate amount depends on many factors such as, flow velocities, physical properties of the streams, flow channel geometry, allowable pressure drop, plate dimensions, and the gap between the plates. The methodology presented here can be used as a general guide for designing a plate heat exchanger. To investigate the effects of relevant parameters on the thermal-hydraulic design of a plate heat exchanger, several experiments were carried out for single-phase and counter flow arrangement with two brazed plate heat exchangers by varying the flow rates and the inlet temperatures of the fluid streams. The actual heat transfer coefficients obtained based on the experiment were nearly close to the calculated values and to improve the design, a correction factor was introduced. Besides, the effect of flow channel velocity on the pressure drop inside the unit is presented.

Degradação de corantes reativos pelo sistema ferro metálico/peróxido de hidrogênio

In this work the degradation of aqueous solutions of reactive azo-dyes is reported using a combined reductive/advanced oxidative process based in the H2O2/zero-valent iron system. At optimized experimental conditions (pH 7, H2O2 100 mg L-1, iron 7 g L-1) and using a continuous system containing commercial iron wool, the process afforded almost total discolorization of aqueous solutions of three reactive azo-dyes (reactive orange 16, reactive black 5 and brilliant yellow 3G-P) at a hydraulic retention time of 2.5 min. At these conditions the hydrogen peroxide is almost totally consumed while the released total soluble iron reaches a concentration compatible with the current Brazilian legislation (15 mg L-1).

Muutosilmiöt soodakattilakeossa

Soodakattilan sulakeon epästationaarinen käyttäytyminen sekä keon pitkä jäähtymisaika alasajon jälkeen ovat aiheuttaneet ongelmia kattilan taloudellisessa käytettävyydessä. Keon käyttäytymisestä on luotu CFD-malleja, joiden tavoitteena on havainnollistaa keon lämpötilajakaumaa ja rakennetta. Mallien ongelmana on se, että niissä huomioidaan vain keon aktiivinen pintakerros. Keon sisäosan rakennetta ja siinä tapahtuvia prosesseja ei toistaiseksi tunneta kunnolla luotettavan, koko keon kattavan mallin luomiseen. Tässä työssä tutkittiin sulakeon käytön aikana havaittuja muutosilmiöitä, jotka vaikuttavat keon rakenteeseen ja ominaisuuksiin sekä tutkittiin ilmiöiden taustalla olevia tekijöitä. Näitä tekijöitä ovat keon sisässä tapahtuvat kemialliset ja fyysiset prosessit, jotka aiheuttavat muutoksia niin lämpöteknisesti kuin fyysisesti sekä ulkoapäin tulevat tekijät, jotka aiheutuvat ajotilanteiden seurauksena tapahtuvista muutoksista. Työn kokeellisena osana luotiin sulakeon jäähtymismalli käyttäen 1-dimensionaalista ADL-mallia. Mallin pohjana käytettiin StoraEnso Oy:ltä Oulun soodakattilan sulakeosta saatua mittausraporttia. ADL-mallin avulla luotiin keon jäähtymiskäyrät lämpötilan ja syvyyden funktiona. Saadut käyrät täsmäsivät hyvin mittausraportin tuloksiin. Mallin avulla keolle saatiin muodostettua energiatase, jonka tuloksena keosta 12 tunnin aikana poistuva lämpövirta pinnalla oli noin 9.8kW/m2 ja pinnan lämmönsiirtokerroin 58.3W/m²°C. Pohjan poistuvaksi lämpövirraksi saatiin 14.1kW/m2 ja lämmönsiirtokertoimeksi 75.4W/m²°C. Termiseksi diffuusiokertoimeksi saatiin 3.9•10-7m²/s.

La gestión del regadío catalán: entre eficiencia, compatibilidad de usos y legitimidad

In previous years, irrigation and its management have become protagonists of a social debate that questions their economic, environmental and territorial limits in space and time. The hydraulic constructions as irrigation canals have played a central role in the attempt to “dominate” the water resources and so control the territory. However and after some time, both the modernization of traditional irrigation as the promotion of new irrigation projects are called into question due to the rise of environmental demands and promoting governance as a mechanism favourable to agreements between stakeholders. In Catalonia, the irrigation management must deal both efficiency requirements as to the compatibility between consumptive and non-consumptive water uses well as the social legitimacy of projects that exceed sectoral interest. The situation analysis of Bajo Ter and Muga historic irrigation canals and the running project of Segarra-Garrigues irrigation canal emphasize the need to promote a territorial management model capable of integrating and legitimize different competing water views

Minimization of the experimental workload for the prediction of pollutants propagation in rivers. Mathematical modelling and knowledge re-use

The present thesis in focused on the minimization of experimental efforts for the prediction of pollutant propagation in rivers by mathematical modelling and knowledge re-use. Mathematical modelling is based on the well known advection-dispersion equation, while the knowledge re-use approach employs the methods of case based reasoning, graphical analysis and text mining. The thesis contribution to the pollutant transport research field consists of: (1) analytical and numerical models for pollutant transport prediction; (2) two novel techniques which enable the use of variable parameters along rivers in analytical models; (3) models for the estimation of pollutant transport characteristic parameters (velocity, dispersion coefficient and nutrient transformation rates) as functions of water flow, channel characteristics and/or seasonality; (4) the graphical analysis method to be used for the identification of pollution sources along rivers; (5) a case based reasoning tool for the identification of crucial information related to the pollutant transport modelling; (6) and the application of a software tool for the reuse of information during pollutants transport modelling research. These support tools are applicable in the water quality research field and in practice as well, as they can be involved in multiple activities. The models are capable of predicting pollutant propagation along rivers in case of both ordinary pollution and accidents. They can also be applied for other similar rivers in modelling of pollutant transport in rivers with low availability of experimental data concerning concentration. This is because models for parameter estimation developed in the present thesis enable the calculation of transport characteristic parameters as functions of river hydraulic parameters and/or seasonality. The similarity between rivers is assessed using case based reasoning tools, and additional necessary information can be identified by using the software for the information reuse. Such systems represent support for users and open up possibilities for new modelling methods, monitoring facilities and for better river water quality management tools. They are useful also for the estimation of environmental impact of possible technological changes and can be applied in the pre-design stage or/and in the practical use of processes as well.

Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were carried out. It was demonstrated that the parallel robots are capable of holding all necessary machining tools and welding end-effectors in all positions accurately and stably inside the vacuum vessel sector. The kinematic models appeared to be complex especially in the case of the 10-DOF robot because of its redundant structure. Multibody dynamics simulations were carried out, ensuring sufficient stiffness during the robot motion. The entire design and testing processes of the robots appeared to be complex tasks due to the high specialization of the manufacturing technology needed in the ITER reactor, while the results demonstrate the applicability of the proposed solutions quite well. The results offer not only devices but also a methodology for the assembly and repair of ITER by means of parallel robots.