Dissertations / Theses on the topic 'I2V communication'

The objective of this thesis is the analysis and the study of the various access techniques for vehicular communications, in particular of the C-V2X and WAVE protocols. The simulator used to study the performance of the two protocols is called LTEV2Vsim and was developed by the CNI IEIIT for the study of V2V (Vehicle-to-Vehicle) communications. The changes I made allowed me to study the I2V (Infrastructure-to-Vehicle) scenario in highway areas and, with the results obtained, I made a comparison between the two protocols in the case of high vehicular density and low vehicular density, putting in relation to the PRR (packet reception ratio) and the cell size (RAW, awareness range). The final comparison allows to fully understand the possible performances of the two protocols and highlights the need for a protocol that allows to reach the minimum necessary requirements.

With the rapid advances of technology, digitisation of many facets of our existence is taking place in an attempt to improve everyday life. The automotive industry is following suit, attempting to introduce connected traffic technology that is meant to improve traffic fluidity and safety. To facilitate this, connected vehicles aim to create solutions for the sharing of information between other vehicles, infrastructure - such as traffic light controllers, and pedestrians. In an attempt to further investigate the connected vehicle landscape of today, the thesis compared the two most prominent technologies, DSRC and cellular communication. An essential part of this comparison was highlighting the potential attacks that the two technologies could be exposed to. This was done in order to open up a discussion on what technology is the most suitable to focus on for the future both in terms of viability and security. DSRC has been considered the prominent communication technology for connected vehicles, but the development has stagnated. As such, the ever-evolving cellular technology is looking like the superior technology. This, however, is reliant on 5G delivering the speeds, stability and security promised. The state of constant vehicular connection is going to lead to many issues and concerns, both for the privacy of the individual but also the safety of the public. While connected traffic aims to solve a number of issues from traffic accidents to emissions - if the security of the communication is not constantly evolving to meet the rapid development of new technology, the consequences of connecting such a delicate system might nullify the potential benefits.

This master thesies deals about pressure sensors producing by Honeywell and their applications in distributed measuring system. It deals also about base specifications from personal sensors of blood pressure, barometric hypsometer to 500 m, sensors of relative air velocity to 350km/h.

The purpose of this master’s thesis is to design and to realize the universal analyzer of serial buses. At the beginning there are described in detail specifications and properties of buses IC, SMBus, PMBus and of the UART interface. The second part is targeted especially to design and to realize the control unit, which is the main part of the whole analyzer. It provides connecting to the unknown bus, to buses IC, SMBus, PMBus and SPI and to the UART interface. The main part of the control unit is the microcontroller PIC24HJ128GP204, which partially analyses connected bus. In the next part there is created the user application for PC, which controls and sets the control unit and receives from it partially analyzed data through the USB port. These data are used for the rest of the analysis that is done by the user application. Results may be presented to user in graphical or text form. The user application provides export of results into some of image formats. Supported formats are PS, SVG, PDF, PNG and BMP. In case of the control unit is not available, the user may choose the simulator to simulate some functions that the application provides. It supports simulation of the analysis of the unknown bus and the IC bus. The user application also contains the function of the generating own signals. Signals can be created interactively by using the mouse in the graphical representation of this signal. They can be sent to the control unit and after that it applies them to output. This function is not supported in current version of the control unit software. The user application includes some items, which do not have implemented any methods and they are prepared for the future upgrading of the analyzer. It means especially user controls and components for signal conversions between any buses.

Dissertation examined the impact of the application of ICT on IV-th grade students mathematical competence development(sef-development).
Disertacijoje nagrinėjamas IKT taikymo poveikis IV klasės mokinių matematinės kompetencijos ugdymui(si).

Doutoramento em Engenharia Electrotécnica
In the last decades the number of vehicles travelling in European road has raised significantly. Unfortunately, this brought a very high number of road accidents and consequently various injuries and fatalities. Even after the introduction of passive safety systems, such as seat belts, airbags, and some active safety systems, such as electronic brake system (ABS) and electronic stabilization (ESP), the number of accidents is still too high. Approximately eight per cent of the fatal accidents occur in motorways, in the Portuguese case, the number of fatalities has remained constant in the first decade of the 21st century. The evolution of wireless communications, along with the north-American and European policies that reserve spectrum near the 5,9GHz band for safety applications in the vehicular environment, has lead to the development of several standards. Many of these applications are based on the possibility of using a wireless communication system to warn drivers and passengers of events occurring on the road that can put at risk their own safety. Some examples of safety applications are the hard-brake warning, the wrong-way warning and the accident warning. This work aims to contribute in defining a communication protocol that guarantees the timely dissemination of safety critical events, occurring in scenarios with a high number of vehicles or in the neighbourhood of so called motorway “blackspots”, to all vehicles in the zone of interest. To ensure information integrity and user trust, the proposed system is based on the motorway infrastructure, which will validate all events reported by the vehicles with the usage of several means, such as video surveillance or other sensors. The usage of motorway infrastructure that has full motorway coverage using fixed stations also known as road side units, allows to have a global vision of the interest zone, avoiding the problems associated to networks that depend solely on vehicle to vehicle communication, generally total ad-hoc networks. By using the infrastructure, it is possible to control medium access, avoiding possible badly intended intrusions and also avoiding the phenomenon known as alarm showers or broadcast storm that occur when all vehicles want to simultaneously access the medium to warn others of a safety event. The thesis presented in this document is that it is possible to guarantee in time information about safety events, using an architecture where the road side units are coordinated among themselves, and communicate with on board units (in vehicles) that dynamically register and deregister from the system. An exhaustive and systematic state of the art of safety applications and related research projects is done, followed by a study on the available wireless communications standards that are able to support them. The set of standards IEEE802.11p and ETSI-G5 was created for this purpose and is found to be the more adequate, but care is taken to define a scenario where WAVE enabled and non-enabled vehicles can coexist. The WAVE medium access control protocol suffers from collision problems that do not guarantee a bounded delay, therefore a new protocol (V-FTT) is proposed, based on the adaptation of the Flexible Time Triggered protocol to the vehicular field. A theoretical analysis of the V-FTT applied to WAVE and ETSI-G5 is done, including quantifying a real scenario based on the A5 motorway from Lisbon to Cascais, one of the busiest Portuguese motorways. We conclude the V-FTT protocol is feasible and guarantees a bounded delay.
Nas últimas décadas tem-se assistido a um aumento do número de veículos a circular nas vias rodoviárias europeias, trazendo consigo um elevado número de acidentes e como consequência muitos feridos e vítimas mortais. Apesar da introdução de sistemas de segurança passivos, tais como cintos de segurança, airbags e de alguns sistemas de segurança activos, tais como o sistema electrónico de travagem (ABS) e o sistema electrónico de estabilidade (ESP), o número de acidentes continua a ser demasiado elevado. Aproximadamente oito por cento dos acidentes fatais na Europa ocorrem em auto-estradas, no caso Português, o número de vítimas mortais tem-se mantido constante ao longo da primeira década do século XXI. A evolução das comunicações sem fios, acompanhada de políticas europeias e norte-americanas no sentido de reservar frequências próximas dos 5,9GHz para aplicações de segurança no ambiente veicular, levou à especificação de várias normas. A maior parte destas aplicações baseiam-se na possibilidade de usar um sistema confiável de comunicação sem fios para alertar os condutores e passageiros de veículos para eventos ocorridos nas estradas que possam colocar em risco a sua segurança. Exemplos de aplicações de segurança crítica são o aviso de travagem brusca, o aviso de veículo em contra mão e o aviso de acidente na estrada. Este trabalho contribui para a definição de protocolos de comunicação capazes de garantir que a informação sobre eventos relacionados com situações de segurança crítica, que ocorram em cenários com um elevado número de veículos em zonas urbanas ou na vizinhança dos chamados “pontos negros” das auto-estradas, é disseminada com pontualidade por todos os veículos localizados na zona de interesse Por uma questão da integridade das comunicações e confiança dos condutores, o sistema proposto baseia-se na infra-estrutura do concessionário da auto-estrada, que validará os eventos reportados pelos veículos usando vários meios à sua disposição, como por exemplo sistemas de videovigilância e outros sensores. O uso de uma infra-estrutura de comunicações, que dispõe de cobertura integral a partir de estações fixas, permite uma visão global da zona coberta, evitando os problemas associados a redes baseadas apenas na comunicação entre veículos, que são em geral totalmente ad-hoc. O uso da infra-estrutura permite, entre outras vantagens, controlar o acesso ao meio, evitando simultaneamente intrusões de estranhos ao sistema e o fenómeno conhecido como “chuva de alarmes” desencadeado quando todos os veículos querem aceder simultaneamente ao meio para avisar os restantes da existência dum evento de segurança crítica. A tese apresentada neste documento defende que é possível garantir informação atempada sobre eventos que põem em risco a segurança dos veículos a partir de uma arquitectura de interligação entre as estações de comunicações fixas, coordenadas entre si, e unidades móveis (veículos) que se registam e se desligam dinamicamente do sistema. Nesta tese faz-se um levantamento exaustivo e sistemático das aplicações de segurança abordando projectos de investigação relacionados, estudam-se as tecnologias de comunicação sem fios disponíveis e a sua possibilidade de suportar aplicações de segurança rodoviária. Desta análise, conclui-se que a norma norte americana WAVE/IEEE802.11p e a europeia ETSI-G5, criadas especificamente para o efeito são as que mais se adequam à finalidade desejada. Considera-se que o cenário de utilização é evolutivo, podendo coexistirem veículos que não dispõem de sistemas de comunicação com outros que suportam a norma WAVE. Dado que o protocolo de acesso ao meio proposto pela norma WAVE não garante um acesso determinístico ao meio partilhado, propõe-se um novo protocolo, o Vehicular Flexible Time-Triggered protocol (VFTT). Faz-se a análise teórica da viabilidade do protocolo proposto para a norma WAVE e respectiva norma europeia (ETSI-G5). Quantifica-se o protocolo VFTT para um cenário real: a auto-estrada A5 Lisboa-Cascais, uma das autoestradas portuguesas mais movimentadas. Conclui-se que o protocolo é viável e garante um atraso restringido temporalmente.

This project explores the ability to use “smart” media devices for the TV set as platforms for interactive TV shows. The research approach was research-based design where a prototype was designed, developed, and evaluated with user tests. The project used a Swedish television game show called “På spåret” and an application for tvOS on Apple TV was developed, which allow users to play along with the show. The software implements a model-view-controller architecture and uses the AVFoundation framework for playing video streams together with the UIKit framework to create interactive overlay views. The interactive elements were synchronized with the video by the usage of metadata. The user test results show that the interactive TV show gained in both entertainment and excitement among the users. Further conclusions are that interactive elements can be available both during playing or paused video and the context should decide which mode. A multimodal interface with gestures and sound as feedback seems to be a good option, based on user tests. This project also presents a solution for user input with the remote, using a virtual keyboard together with filter function. The user filtering out the input from a data set to minimize the typing of letters. User tests show that the filter solution seems to be a good option for text input in a specific domain or category of allowed input. However, for free text input, a better method is required.
Detta projekt utforskar möjligheten att använda ”smarta” mediaspelare till TV-apparaten som plattform för interaktiva TV program. Forskningsmetoden var forskningsbaserad design där en prototyp designades och utvecklades som sedan utvärderades med användartest. Projektet använde sig av TV-programmet ”På spåret” som scenario och en applikation, som tillåter användare att spela med i programmet, utvecklades till Apple TV och tvOS. Applikationen implementerade model-view-controller-arkitektur och använde sig av ramverken AVFoundation samt UIKit för att skapa interaktiva överläggsvyer på en video-vy med strömmande video. De interaktiva inslagen synkades med videon med hjälp av metadata. Användartesterna visar på att det interaktiva TV-programmet ökade både i underhållningsvärde och i exaltation hos testpersonerna. Vidare slutsatser är att interaktivitet kan implementeras både under spelande och pausad video, och vilket man väljer är det som passar videoinnehållet bäst. Multimodala interaktioner såsom gester och feedback med ljud rekommenderas baserat på användartesterna. I detta projekt presenteras också en lösning för användarinput med fjärrkontrollen. Med ett virtuellt tangentbord filtrerar användaren ut sin inputdata utifrån en bestämd datamängd, vilket minimerar antalet skrivna bokstäver. Användartester bekräftar att filterlösningen är ett bra alternativ för inmatning i en specifik kategori av tillåten input. För helt fri textinmatning behövs dock bättre metoder.

Content of the Bachelor Thesis covers design and realisation of an unit for multipoint temperature measuring in cooling and freezing equipments in food stores and shops. As a controlling microcomputer is used an Atmel ATMega128, temperature sensors are realised by DS18S20 digital thermometers, connected via 1-wire bus. Unit can read temperature from 32 temperature sensors, includes memory for measured data, real time clock, Ethernet interface and display with buttons for basic user control. Temperatures are measured periodically with user defined interval, values are stored into internal memory and showed on display. Measured data can also be transferred via Ethernet to clinent PC, where can be viewed in form of table and graphs.

The main purpose of this project is to design and implement a system for controlling targets on a shooting range. This consists of the main control unit and some motor-turning targets. Both control unit and targets are battery powered and use wireless data transfer. This work describes the selection of the proper platform for wireless communication and design of the hardware and software part of the system in relation to low price and high reliability of the equipment. The conclusion of this work should be the system for practical use.

Ova doktorska disertacija predstavlja istraživački rad sproveden sa ciljem da reši problem koji se odnosi na realizaciju povezivanja laboratorijskog, medicinskog mernog uređaja sa personalnim računarom. Rezultat istraživačkog rada je opšta metoda koja obezbeđuje efikasnu konverziju podataka I2S protokola u TCP/IP protokol.
This doctoral thesis presents the research work carried out in order to solve a practical problem, the realization of a connection between a medical measuring device and a personal computer. The result of the research is a general method that provides efficient data conversion from the I2S protocol to the TCP/IP protocol.

Master´s thesis focuses on certain possibilities of how user can anonymously commununicate through the Internet. There are described following anonymous programs: TOR, JAP, I2P and CyberGhost, which allow user to hide his own identity to other IP address. Subsequently, measurements from different technologies are made by anonymous program TOR for calculate transmission speed.

The project presented in this report is set out to develop a portable electronic system to be used as a medicine pill container. With the functionality to configure up to twelve daily repeated alarms, the purpose of the medicine dosage system is first and foremost to remind the user when they should take their medicine. Secondly, LED lights and user-recorded voice notifications are to be implemented to further aid the user in taking the right medicine each time. The device is also to have a memory log, recording up to one hundred missed dosages, enabling an authorized medicine professional to verify the medicine adherence of the user.Prior to the start of the project, an outline for the functionality and physical appearance of the device was set by the project owner, Victrix AB. This project covers the hardware and software development, as well as the design choices within. The aim is to follow the proposed functionality specification as close as possible, while making justified hardware and software choices considering simplicity, efficiency, power consumption, and availability. By following the specification, the goal is ultimately to increase the medicine adherence for users of the device developed with this thesis.Using qualitative research methods, a valid background study was created, preceding the development of the medicine dosage system. Hardware for a first prototype of the device was then chosen based on the gathered information about existing technologies and related work. With thorough testing and recurrent information exchange with the client, a prototype of the medicine dosage system, based on an Arduino microcontroller, was constructed. The prototype was evaluated to fulfill 92% of the requirements considered as high priority by Victrix.
Projektet som presenteras i denna rapport är tänkt att utveckla ett portabelt elektroniskt system för användning som en medicinsk pillerbehållare. Med funktionaliteten att konfigurera upp till tolv dagligen upprepande alarm är syftet med medicindoseringssystemet först och främst att påminna användaren när de ska ta sin medicin. Lysdioder och användarens egna inspelade röst som notifikationer ska implementeras för att vidare hjälpa användaren att ta rätt medicin vid varje tillfälle. Enheten ska också ha en minneslogg som sparar upp till etthundra missade doseringar, vilket gör det möjligt för auktoriserad sjukvårdspersonal att verifiera användarens följsamhet till medicineringen.En översiktlig beskrivning av funktionaliteten samt det fysiska utseendet av enheten skrevs av projektägaren Victrix AB innan projektet startades. Det som detta projekt täcker är hårdvaruoch mjukvaruutvecklingen, så väl som där tillhörande designval. Projektet siktar på att följa den föreslagna funktionalitetsspecifikationen så nära som möjligt, och samtidigt göra välgrundade val för hårdoch mjukvara med enkelhet, effektivitet, energiförbrukning och tillgänglighet i åtanke. Genom att följa specifikationen är det slutliga målet att frambringa ökad medicinföljsamhet för användare av den med det här projektet utvecklade enheten.Utvecklingen av medicindoseringssystemet föregicks av en befogad bakgrundsstudie utformad genom användningen av kvalitativa forskningsmetoder. Hårdvara att användas för en första prototyp av enheten valdes sedan baserat på den insamlade informationen om existerande teknologier och relaterat arbete. Genom grundliga tester och regelbundet informationsutbyte med kunden konstruerades en prototyp av medicindoseringssystemet baserat på en Arduinomikrokontroller. Prototypen utvärderades att uppfylla 92% av kraven som Victrix ansåg vara av hög prioritet.

This paper is engaged in specification, design and implementation of a telemetry module for flying object. Specifically, it focuses on the selection of the appropriate carrier frequency of the integrated circuit providing bidirectional communication to a sufficient distance and design of the protocol used in the transmission. Furthermore, the document focuses on the design of communication modules using these integrated circuits, altimeter sensor module, module to control the actuators and design of the application for mobile phones used to display the measured data. With regard to legislative and technical options, I chose a carrier frequency of 2.4 GHz. For this frequency is commercially available integrated circuit CC2511, which in cooperation with integrated circuit CC2591 should be able to provide telemetry range about 2 km. I chose BMP085 sensor for altitude measuring. It is communicating over I2C bus as well as a module for controlling the actuator, which uses a microcontroller ATMEGA48-20AU. The mobile phone communicates with the ground station via the USB bus.

The thesis deals with design and realization of communication among autonomous mobile robots and stationary localization stations using Nucleo development boards and a wireless IQRF modules. The theoretical part is focused on characterization of suitable hardware elements and communication technologies. In the practical part, the thesis deals with the description of possible communication schemes, used hardware, developed algorithm, software of individual members and diagnostic tools developed for thesis's purpose. In the last part, attention is paid to testing the resulting solution.

The aim of this thesis is to describe the electronics of autonomus outdoor robot called TIM2. TIM2 is a group project and only a part of the project is presented. First part this work is about chasses common used in robotics. Detailed description of each type of module used is described in this work. There is also described communication protocol. A controllers for front and rear axle are also described. One part of this work is measurement, it contains electronics characteristic of modules and measurement to describe quality of motor controllers. Last part of the document is about communication between modules and impact on the robot functionality in the case of failure of a module. Enclosure provides complete circuit diagrams, printed circuit boards, planting plans, lists of components for all designed modules.

Family house, security system, wireless communication, IQRF, RSA, central control unit, SPI, I2C, glass break sensors, motion sensors, magnetic contact sensors, graphic displey, LCD displey, microcontroler, SIM900, 24FJ256GB106, EA DOGM106, eDIPTFT43-A.

La integración de Cataluña en la monarquía francesa en 1641 abrió un período de convivencia entre dos mundos políticos. Para Francia, la incorporación de la nueva provincia tiene lugar en una sociedad enamorada del heroísmo. El reinado de Luis XIII parece ser la culminación de un proceso de reformulación del paradigma heroico: un modelo político y un referente ético nobiliario. La Guerra de España llevó la cultura heroica a su clímax. En particular, la proclamación del rey como soberano de Cataluña abre nuevos horizontes a este mundo imaginario, que moviliza también a los antiguos referentes mesiánicos. La historia de la compañía catalana producida por el séquito real ofrece una nueva perspectiva sobre la construcción de la imagen de Luis XIII. El horizonte catalán "completa" la construcción de su perfil heroico, y sirve de apoteosis, valorando el hecho de una muerte "sacrificial" como consecuencia de la presencia real en la sede de Perpiñán. Los virreyes se convertirán también en el centro de una narrativa heroica, protagonistas de una verdadera "epopeya catalana". Las luces y sombras de esta heroica experiencia política aparecen en el destino a veces trágico de estos representantes del rey, que deben hacer frente, además de a los retos militares y políticos de su cargo, a los equilibrios de poder en la corte. Por el lado catalán, la llegada de Luis XIII forma parte de la dinámica "revolucionaria" que se inició en 1640, cuando los líderes de la revuelta, que querían ser fieles al rey Felipe IV, formularon una historia capaz de domar acontecimientos que a veces se les escapaban. El horizonte de una providencial "restauración" de Cataluña está cerca. El "momento" republicano parece imposible de encontrar aquí, entre la interrupción formal de la jurisdicción de un rey y la aclamación del otro. A partir de entonces, un discurso providencial de restauración de la provincia se desarrolló a través de la realeza encarnada por un nuevo príncipe "mesías". La imagen del rey se convierte en un ideal sobre el que se proyectan expectativas políticas y por el que los propios líderes de la "revuelta" buscan justificarse. El rey se perdió la visita a Barcelona, justo antes de su muerte. El funeral real servirá para cristalizar esta historia y ofrecerá, a través de la imagen del rey "sacrificado" y "canonizado", un emblema del régimen francés en Cataluña.
L’intégration de la Catalogne dans la monarchie française, en 1641, ouvre une période de coexistence de deux univers politiques. Pour la France l’incorporation de la nouvelle province intervient dans une société éprise d’héroïsme. Le règne de Louis XIII apparaît comme la culmination d’un processus de reformulation du paradigme héroïque: modèle politique et référent étique nobiliaire. La guerre espagnole porte la culture héroïque à son paroxysme. Singulièrement la proclamation du roi comme souverain de Catalogne ouvre des nouveaux horizons à cet imaginaire mobilisant aussi des référents messianiques anciens. Le récit de l’entreprise catalane produit par l’entourage royal offre un nouveau regard sur la construction de l’image de Louis XIII. L’horizon catalan «achève» la construction de son profil héroïque, et lui sert d’apothéose, valorisant le fait d’une mort «sacrificielle» conséquence de la présence royale au siège de Perpignan. Les vice-rois deviendront aussi le centre d’un récit héroïque, protagonistes d’une vraie «épopée catalane». Les lumières et les ombres de cette expérience héroïque du politique apparaissent dans le destin, parfois tragique, de ces représentants du roi, qui doivent faire face, outre aux défis militaires et politiques relevant de sa charge, aux equilibres de pouvoir à la cour. Du côté catalan l’avénement de Louis XIII s’inscrit dans la dynamique «révolutionnaire» entamée en 1640. Le meneurs de la révolte, qui se veulent fidèles au roi, Philippe IV, formuleront un récit capable d’apprivoiser des événements parfois leur échappant. L’horizon d’une «restauration» providentielle de Catalogne intervient. Le «moment» républicain semble ici introuvable, entre l’interruption formelle de la juridiction d’un roi et l’acclamation de l’autre. Des lors se développe un discours providentiel de restauration de la province à travers la royauté incarnée par un nouveau prince «messie». L’image du roi devient un idéal sur lequel l’on projette les attentes politiques et par lequel les propres dirigeants de la «révolte» cherchent à se justifier. La visite manquée du roi à Barcelone, précédée de peu à sa mort. Les funérailles royales serviront à la cristallisation de ce récit, et offriront par l’image du roi «sacrifié» et «canonisé», un emblème pour le régime français en Catalogne.
The integration of Catalonia into the French Monarchy, in 1641, opens a period of coexistence of two political universes. In France, The incorporation of the new province arrives in a social context under the influence of an strong culture of heroism. Under Louis XIII’s reign culmines a processus of reformulation of the heroic paradigm: a political model of gouvernement and an ethical referent for the French nobility. The heroic culture is taken to its paroxysm when the Spanish war begins. Specially the proclamation of the king as sovereign of Catalonia opens new horizons for this imaginary, mobilizing also old messianic referents. The narrative of the catalan entreprise developed by the royal entourage offers a new perspective of the Louis XIII’s image making processus. The catalan completes the built of the king’s heroical profile, and serves to make his apotheosis, emphasizing the fact of a sacrificial death as a consequence of the royal presence in the Perpignan’s siege. Vice-rois become the center of an heroical narrative also. They are protagonists of a true «catalan epic». The lights and darkness of this heroical experience of Politics, appear throw the destiny, sometimes tragic, of these king’s agents (and images). They have to face, besides the military and political challenges, to the power’s struggles at court. By the catalan side, the accession of king Louis XIII has to be considered in the «revolutionary» context of 1640. The leaders of the revolt, who revendique to be loyal to their king, Philip IV, build a narrative able to tame serious adverse events, that sometimes escape to their control. The horizon of a providential «restauration» of Catalonia appears in this narrative. Republican time seems here «introuvable», between the broken of one king’s jurisdiction and the other king proclamation. Since then a providential propaganda speech about the restauration of the Principality throw a royalty incarnated by a new prince «messiah». The new king’s figure becomes one idealized image where Catalans look to project their political expectatives. Also a way for the catalan leaders to justify himself. The failed royal visit to Barcelone precedes for little the king’s death. The royal funerals serves to the crystallization of these narratives: they offer the image of an «sacrificed» king, who is also a saint. He becomes the real emblem of the franco-catalan regime.

The diploma thesis deals with the design and implementation of the system that will control the water supply for the family house and its garden. The system aslo allows you to store a history that can be viewed via the web interface. The web interface also allows you to set system parameters and monitor the current status.

碩士
國立雲林科技大學
電機工程系碩士班
92
Under the competition in the industry, the proprietor needs to seek the cost down and promotes the good quality and production efficiency. The most important topics of the site management are the production movement control in the process of the manufacture. In the other words, the information and control of production equipment must be managed promptly. So, we need a system to provide: (1) The interface in connection with Production Management System (2) Check the program recipe before the production. (3) Prevent the mixing of different product lots by electric characteristics needed. (4) Manage the related equipment materials when the process station in the different equipment operation. (5) Provide the real-time report when the production equipment is in unusual state. This thesis offers a low cost way to deal with production assembly of equipment monitor and integration of production management support system. This research obeys the production character of semiconductor assembly and the operation needed, to set up the interface between the equipment and production management. In the thesis, we point out the automatic substitution program for the semiconductor assembly and automatic test on the management of complex wire bond equipment. We expect the target about the research for this system: 1. Offer the immediate identification about the material on the machine and the analysis of the decision, to prevent the dangerous of mixing different materials and give the correct quantity. 2. Offer the records of workers and analysis of equipment operation, to expect no paper in the site and raise the ratio of people and machine and the automatic statistics of equipment monitor. 3. Offer the correction of the program recipe to conform the material character and check the quality of the production.

碩士
元智大學
機械工程學系
92
Due to the limited ability of single-chip controller, it can not cover all the functionality provided by “Powerful controllers”, so we propose a single-chip system based on I2C network communication to integrate single-controller, and replace centralized communication architecture with multi-controllers distributed one. The core of this chip is PIC18F452 produced by Microchip, we utilize this to develop a chain of communication components to fit any different requirements in single-chip communication and fault tolerance field. In addition, we build up a testing module applied on “broken line” simulation, it assists us to detect if any communication component can fix fault during “broken line”. This test module is implemented by C language, so it could be ported to different platforms without extra efforts. This research has been carried out in X-Y platform, Stewart platform and auto pilot system. The experiments show that I2C network distributed single-chip system takes several benefits such as modulization, open architecture, simple layout, and scalable.

Motivated by the topic of promoting traffic safety applications and information systems, this work aims to bring a study on VLC outdoor application scenarios. The developed topic is part of intelligent transportation systems (ITS) that aim at the delivery of traffic safety and information amongst other safety functions. VLC technology in traffic communication applications gains interest due to some advantages it presents. The use of LEDs in traffic signaling infrastructures and vehicle headlights started to be a growing standard. With the combination of illuminating proprieties and communication in the same device, VLC becomes a very attractive technology for the implementation of outdoor communication systems for traffic information and control. Outdoor VLC channels present variable ambient conditions, with the presence of different optical sources. One major problem in this communication channel is the presence of shot-noise, generated by optical background radiance from different light sources. This dissertation presents two different communication scenarios for traffic information systems, the first being directed at the infrastructure to car (I2C) link and the second one for car to car (C2C) communication. In order to simulate the communication link performance with variable ambient channel conditions, several models for optical propagation, emitter, receiver and noise sources were implemented in MATLAB. Models for different optical sources were also implemented, with field measurements on the illuminance incident on a photo detector and their impact on the noise generated. In the simulation’s performance of the VLC link, several baseband modulation schemes were considered, aiming at the assessment of link performance, based on the traditional digital modulation performance metrics.
Motivado em promover o tópico de segurança rodoviária e sistemas de informação, este trabalho providência um estudo dedicado a sistemas de comunicação por luz visível (VLC) para aplicação em cenários de exterior. O tópico desenvolvido faz parte de sistemas de transporte inteligentes (ITS) cujo propósito é a disseminação de sistemas de segurança no tráfego e transferência de informação, para aplicações de segurança. A tecnologia VLC aplicada a sistemas de comunicação de tráfego rodoviário suscita elevado interesse devido a vantagens que esta apresenta. O uso de LED’s em semáforos e faróis de carros começa a ser bastante comum. Com a combinação de diferentes valências, como iluminação e transferência de dados no mesmo dispositivo, a tecnologia VLC torna-se muito atrativa para a implementação em sistema de comunicação exterior dedicados a sistemas de informação e controlo de tráfego. O canal de comunicação VLC exterior apresenta condições variáveis, devido ao fato de existirem condições ambientais diferentes. Um grave problema neste tipo de canal de comunicação é a presença de ruido Shot, que é normalmente gerado devido á radiância causada por diferentes fontes de luz de fundo. Nesta dissertação estão presentes dois tipos de cenários para sistemas de informação de tráfego, em que o primeiro dedica-se á comunicação semáforo-carro (I2C) e o segundo cenário para a comunicação entre carros (C2C). Para simular o desempenho do canal de comunicação com diferentes condições ambientais, foram implementados em MATLAB modelos para a propagação ótica, descrição do emissor, recetor e fontes de ruido. Também foram incluídos modelos para diferentes fontes óticas de radiação, com medições de campo da iluminância incidente num foto recetor e modulado o impacto na geração de ruido. Nas simulações de desempenho da comunicação por luz visível, foram considerados diferentes esquemas de modulação da informação com o intuito de avaliar o desempenho da ligação, a qual foi feita recorrendo a métricas clássicas de desempenho de modulações digitais.
Mestrado em Engenharia Eletrónica e Telecomunicações

Indiana University-Purdue University Indianapolis (IUPUI)
Feng An and Maher Rizkalla, “Temperature/CO2 Sensor Embedded System Based Communications”, enrolled in ISCA FIRST INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING AND APPLICATIONS, to be held in Orlando, September 15-17, 2010.
In this work, inter-integrated circuit mode (I2C) software was used to communicate between sensors and the embedded control system, utilizing PIC182585 MPLAB hardware. These sensors were built as part of a system on board that includes the sensors, microcontroller, and interface circuitry. The hardware includes the PIC18 processor, FPGA chip, and peripherals. A FPGA chip was used to interface the processor with the peripherals in order to operate at the same clock speed. This hardware design features high level of integration, reliability, high precision, and high speed communications. The software was first designed to operate each sensor separately, then the sensor system was integrated (to combine all sensors, microcontroller, and interfacing circuitries), and the software was updated to provide various actions if triggered by the sensors. Actions taken by the processor may include alarming signals that are based on threshold values received from the sensors, and inquiring temperature and CO2 readings. The system was designed for HVAC (heating, ventilating and air conditioning) applications and industrial settings. The overall system incorporating temperature and CO2 sensors was implemented and successfully tested. The response of the multi-sensor system was agreeable with the design parameters. The system may be expanded to include other sensors such as light senor, pressure sensor, etc. Monitoring the threshold values should add to the security features of the integrated communication system. This design features low power consumption (utilizing the sleeping mode of the processors), high speed communications, security, and flexibility to expansion.

Indiana University-Purdue University Indianapolis (IUPUI)
Feng An and Maher Rizkalla, “Temperature/CO2 Sensor Embedded System Based Communications”, enrolled in ISCA FIRST INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING AND APPLICATIONS, to be held in Orlando, September 15-17, 2010.
In this work, inter-integrated circuit mode (I2C) software was used to communicate between sensors and the embedded control system, utilizing PIC182585 MPLAB hardware. These sensors were built as part of a system on board that includes the sensors, microcontroller, and interface circuitry. The hardware includes the PIC18 processor, FPGA chip, and peripherals. A FPGA chip was used to interface the processor with the peripherals in order to operate at the same clock speed. This hardware design features high level of integration, reliability, high precision, and high speed communications. The software was first designed to operate each sensor separately, then the sensor system was integrated (to combine all sensors, microcontroller, and interfacing circuitries), and the software was updated to provide various actions if triggered by the sensors. Actions taken by the processor may include alarming signals that are based on threshold values received from the sensors, and inquiring temperature and CO2 readings. The system was designed for HVAC (heating, ventilating and air conditioning) applications and industrial settings. The overall system incorporating temperature and CO2 sensors was implemented and successfully tested. The response of the multi-sensor system was agreeable with the design parameters. The system may be expanded to include other sensors such as light senor, pressure sensor, etc. Monitoring the threshold values should add to the security features of the integrated communication system. This design features low power consumption (utilizing the sleeping mode of the processors), high speed communications, security, and flexibility to expansion.

Trabalho de Projeto do Mestrado Integrado em Engenharia Biomédica apresentado à Faculdade de Ciências e Tecnologia
Esta dissertação inclui-se no contexto de um projeto que surgiu da necessidade de revolucionar o diagnóstico da malária, uma doença que mata ainda milhares de pessoas anualmente. O objetivo final é obter um dispositivo de alta precisão, portátil e autónomo, que seja eficiente e economicamente acessível. Para tal, a abordagem escolhida foi a da medição de impedâncias, uma vez que o organismo infetado apresenta alterações biológicas que poderão ser detetadas desta forma. Com o foco em que seja posteriormente aplicado a um detetor de malária por impedância, dispositivo descrito acima, foi desenvolvido um leitor de impedâncias, apresentado ao longo desta dissertação. O sistema final foi construído usando um microcontrolador da Texas Instruments, MSP430F5529, e um DDS da Analog Device, AD5933, como componentes principais, e a comunicação estabelecida via I2C.Uma impedância externa desconhecida é excitada a uma determinada frequência, o sinal de resposta é interpretado num valor real e num imaginário que são posteriormente processados para obter um valor de impedância em Ohms. Foram desenvolvidos o protótipo e o firmware para o sistema e testados sob valores de frequência de 5kHz, 30kHz e 100kHz. Posteriormente, foi feita a análise detalhada dos dados obtidos e determinada a incerteza média do sistema. Este sistema de conversão em impedância é de alta precisão - 95% -, tem uma frequência programável - entre 5kHz e 100kHz -, é capaz de obter medições em variadas gamas de valores - sendo cada gama definida pela calibração do sistema -, e os resultados têm uma incerteza a rondar os 8%. Tem, portanto, as características necessárias para ser incorporado num RDT de malária de baixo custo, portátil e autónomo.
This dissertation is included in a context of a project that arises from the need to revolutionize the malaria diagnosis, a disease that still kills thousands of people every year. The ultimate goal is to obtain a high precision, portable and autonomous device, that also is efficient and affordable. For such, the chosen approach was the impedance measuring, since the infected organism exhibits biological changes that could be detected this way.With the focus in, posteriorly, to be applied to a detector of malaria by impedance, the device described above, an impedance reader was developed and presented in this dissertation. The final system was built using a Texas Instruments microcontroller, MSP430F5529, and an Analog Device DDS, AD5933, as main components, and the communication established via I2C.An unknown external impedance is excited to a certain frequency, the response signal is interpreted in a real and an imaginary values, which are, then, processed to obtain an impedance value in Ohms. The prototype and the firmware for the system were developed and tested under frequencies of 5kHz, 30kHz, and 100kHz. Afterward, was done a detailed analysis of the data and determined the average uncertainty of the system.This impedance conversion system has an high-precision - 95% -, and a programmable frequency - between 5kHz and 100kHz -, is capable of obtaining measurings in a variety of ranges of values - being each range defined by the system calibration -, and the results have an uncertainty rounding the 8%. It has, therefore, the necessary features to be incorporated in a low cost, portable and autonomous malaria RTD.

碩士
國立臺北科技大學
車輛工程系
106
The age of IoT is coming, it brings IoV, smart factory, autonomous cars, self-driving cars..,etc on. In this paper analyzes the related technologies mentioned in Industry 4.0. The key points of IoT and IoV are technologies of wireless communication and sensor. In this paper uses Sigfox as a wireless communication method, it belongs to LPWAN transmission way, its characteristic are long range transmission distance, broad corved range, low power consumption. Foucsing on analysis and formula derivation of modulation of transmitter and receiver, proving its transmission distance can cover the widest range, and it can also be known that its power loss is the best way to save energy in all wireless communication. Hardware implementation are using UnaShied_V2S, Arduino Uno, Mini Duino combined with Sigfox wireless communication module also collcation with sensors, like PM2.5 sensor of SMS5003, multi-function BME280 module, power management, GPS module, I2C protocol integration, it can also utilize Sigfox could system as backend processing center to build completely vehicle sensing system. Through Arduino IDE, the software can be optimized to meet the hardware requirements. Finally, this paper will present the characteristics and advantages of its hardware architecture with experimental results and data.

碩士
國立臺北科技大學
車輛工程系
107
The age of IoT is coming, it brings IoV, smart factory, autonomous cars, self-driving cars..,etc on. In this paper analyzes the related technologies mentioned in Industry 4.0. The key points of IoT and IoV are technologies of wireless communication and sensor. In this paper uses Sigfox as a wireless communication method, it belongs to LPWAN transmission way, its characteristic are long range transmission distance, broad corved range, low power consumption. Foucsing on analysis and formula derivation of modulation of transmitter and receiver, proving its transmission distance can cover the widest range, and it can also be known that its power loss is the best way to save energy in all wireless communication. Hardware implementation are using UnaShied_V2S, Arduino Uno, Mini Duino combined with Sigfox wireless communication module also collcation with sensors, like PM2.5 sensor of SMS5003, multi-function BME280 module, power management, GPS module, I2C protocol integration, it can also utilize Sigfox could system as backend processing center to build completely vehicle sensing system. Through Arduino IDE, the software can be optimized to meet the hardware requirements. Finally, this paper will present the characteristics and advantages of its hardware architecture with experimental results and data.

Nowadays, companies have started to pay more attention to their human resources, looking at them as an internal market, which they should seek to satisfy in the first place. Thus, they should use internal marketing and communication techniques that will help them build an employer branding strategy, with the intention of creating a positive image of the organizational environment in the employees’ perspective, as well as generating greater commitment and involvement between both parties. These strategies should be implemented from the first contact employees have with their company, during their onboarding process. In this context, this project aims to develop an integration plan for new employees at Do It Better, a certified professional training center. Therefore, we used different methods for collecting information, including a semi-structured interview, two survey questionnaires (internal and external), and the analysis of internal and external statistical data. In the services marketing-mix, a six-step integration plan was proposed, defining the items that would be included in it, as well as how it would be implemented in the company.
Atualmente, as empresas têm vindo a dar maior importância aos seus recursos humanos, olhando para estes como um mercado interno que devem procurar satisfazer em primeiro lugar. Deste modo, devem usar técnicas de marketing e comunicação interna que as ajude a estabelecer uma estratégia de "employer branding", tendo como objetivo criar uma imagem positiva da empresa na perspetiva dos colaboradores, bem como de gerar um maior compromisso e envolvimento entre ambas as partes. Estas estratégias devem ser implementadas desde o primeiro contacto que os colaboradores têm com a empresa, durante o processo de integração. Neste âmbito, o presente projeto tem como objetivo desenvolver um plano de integração para novos colaboradores para a Do It Better, centro de formação certificada profissional. Para tal, recorreu-se a diferentes métodos para a recolha de informação, entre os quais uma entrevista semiestruturada, dois questionários por inquérito (um interno e um externo) e a análise de dados estatísticos internos e externos. No marketing-mix de serviços, foi proposto um plano dividido em seis passos, onde se definiram os itens que seriam incluídos, bem como a forma como este seria implementado na empresa.

In today’s world, the applications of Unmanned Aerial Vehicle (UAV) systems are leaping by extending their scope from military applications on to commercial and medical sectors as well. Owing to this commercialization, the need to append external hardware with UAV systems becomes inevitable. This external hardware could aid in enabling wireless data transfer between the UAV system and remote Wireless Sensor Networks (WSN) using low powered architecture like Thread, BLE (Bluetooth Low Energy). The data is being transmitted from the flight controller to the ground control station using a MAVlink (Micro Air Vehicle Link) protocol. But this radio transmission method is not secure, which may lead to data leakage problems. The ideal aim of this research is to address the issues of integrating different hardware with the flight controller of the UAV system using a light-weight protocol called UAVCAN (Unmanned Aerial Vehicle Controller Area Network). This would result in reduced wiring and would harness the problem of integrating multiple systems to UAV. At the same time, data security is addressed by deploying an encryption chip into the UAV system to encrypt the data transfer using ECC (Elliptic curve cryptography) and transmitting it to cloud platforms instead of radio transmission.

Text in English with abstracts in English, Afrikaans and Venda
In this qualitative study, the research objective was to present a theoretical framework for the phenomenon of interpersonal leadership relations (denoting both the dyadic relationship between two leader/followers and the leadership communication taking place in the dyad) in knowledge-based organisational contexts. It is posited that the interpersonal leader-follower dyad (LFD) may be viewed from a systems theory perspective as a system consisting of two system parts (individuals). These individuals are labelled ‘leader/followers’ to emphasise their mutual interdependence, and to indicate that these roles may be interchangeable, based on the knowledge needs in a particular situation (in line with the tenets of shared leadership). The dyadic system is influenced by its environment, the organisational context. However, the primary focus of this study is on interpersonal leadership communication as symbolic interaction between the leader/followers in the LFD. These three systemic levels are represented as major themes in the model resulting from this study: Theme 1 – an organisational environment that supports constructive interpersonal leadership relations (ILR); Theme 2 – symbolic interaction in the LFD; and Theme 3 – personal attributes that enhance ILR. The data were collected from two convenience samples. In-depth, semi-structured interviews were conducted with participants in Sample 1, while questionnaires were used to collect data from Sample 2. In both cases, thematic analysis was used to analyse and interpret the data. The major contribution of the study is the resulting theoretical framework of ILR, which comprises a theoretically based definition of ILR; a generic model of ILR; and current guidelines for fostering constructive ILR in knowledge-based contexts, with reference to the three systemic levels. The following definition was phrased based on the study: Constructive interpersonal leadership relations (ILR) in a knowledge-based organisational context is a dyadic process of symbolic communication between two expert leader/followers who mutually influence each other and share meaning to strengthen their relationship and to collaboratively transfer and apply knowledge to achieve organisational goals. In terms of the environment, it was found that organisational leaders should actively model and promote the following: a collaborative leadership concept, workplace spirituality, cultural inclusivity, and adaptation to advancing communication technologies. Regarding symbolic interaction in the LFD, the following communication practices were found to be central to constructive ILR: active listening, supporting followers as unique individuals, respectful communication, considering followers’ input, facilitating constructive redefinition of the other leader/follower’s self, role-taking (taking the perspective of the other leader/follower’s role), awareness of attribution, conflict management through non-threatening, respectful and preferably face-to-face discussion, facilitating a sense of meaning or purpose at work for the other leader/follower, and fostering constructive relationship properties such as trust. It was found that ILR may produce system outputs into the organisation that contribute to the organisational culture and climate, job performance, employee morale and engagement, and staff retention. Personal attributes were organised into personal values and competencies that support ILR. The most important personal values were identified as honesty, love or supportiveness, respect, relationships or engagement, trust, and professional excellence. Essential competencies were identified as listening skills, emotional communication competencies (particularly self-awareness, self-reflection and attending to others’ emotions), engagement skills, conflict management skills, and multicultural competency (including generational skills).
In hierdie kwalitatiewe studie word ’n teoretiese raamwerk voorgelê vir die verskynsel ‘interpersoonlike leierskapsverhoudings‘ (verwysende na beide die diadiese verhouding tussen twee leier/volgelinge en die leierskapskommunikasie wat in die diade plaasvind) in kennisgebaseerde organisatoriese kontekste. Die uitgangspunt is dat die interpersoonlike leier-volgeling-diade (LVD) vanuit ‘n sisteemteoretiese perspektief beskou kan word as ‘n sisteem wat uit twee sisteemdele (individue) bestaan. Hierdie individue word ‘leier/volgelinge‘ genoem om hulle wedersydse interafhanklikheid te beklemtoon; en om aan te toon dat hierdie rolle uitruilbaar mag wees, afhangende van die kennisbehoeftes in ’n gegewe situasie (met verwysing na die teorie van gedeelde leierskap). As ’n sisteem word die LVD ook deur die omringende omgewing of organisatoriese konteks beïnvloed. Die primêre fokus van hierdie studie is egter op interpersoonlike leierskapskommunikasie as simboliese interaksie tussen die leier/volgelinge in die LVD. Hierdie drie sistemiese vlakke word in hierdie studie deur die hooftemas in die studie verteenwoordig en ook as sulks in die voortvloeiende model uitgebeeld: Tema 1 – ’n organisatoriese omgewing wat konstruktiewe interpersoonlike leierskapsverhoudings (ILV) ondersteun; Tema 2 – simboliese interaksie in die LVD; en Tema 3 – persoonlike eienskappe wat ILV bevorder. Die teoretiese raamwerk van ILV bestaan uit die volgende: ’n teoreties gefundeerde definisie van ILV; ’n generiese model van ILV; en ’n raamwerk van huidige riglyne vir die kweek van konstruktiewe ILV in kennisgebaseerde kontekste, met verwysing na die drie sistemiese vlakke van omgewing, diade en individuele leier/volgelinge. Die volgende definisie is op grond van die navorsingsresultate geformuleer: Konstruktiewe interpersoonlike leierskapsverhoudings (ILV) in ’n kennisgebaseerde organisatoriese konteks is ’n diadiese proses van simboliese kommunikasie tussen twee kundige leier/volgelinge wat mekaar wedersyds beïnvloed en betekenis deel om hulle verhouding te versterk en kennis samewerkend oor te dra en aan te wend om organisatoriese doelwitte te bereik. In terme van die organisatoriese omgewing is bevind dat organisatoriese leiers, veral senior leiers, die volgende aktief moet modelleer en bevorder in die organisasie: ’n samewerkende leierskapskonsep, spiritualiteit in die werkplek, kulturele insluiting, en aanpassing by vooruitgang in kommunikasietegnologie. Met verwysing na simboliese interaksie in die LVD is die volgende praktyke bevind as sentraal tot konstruktiewe ILV: aktiewe luistergedrag, die ondersteuning van volgelinge as unieke individue, respekvolle kommunikasie, die inagneming van volgelinge se insette, die fasilitering van die konstruktiewe herdefiniëring van die ander leier/volgeling se self, rol-inneming (die inneem van die rolperspektief van die ander leier/volgeling), bewustheid van attribusie, die bestuur van konflik deur nie-bedreigende, respekvolle en – waar moontlik – aangesig-tot-aangesig bespreking, die fasilitering van ’n sin van doel of betekenis by die werk vir die ander leier/volgeling, en die kweek van konstruktiewe verhoudingseienskappe (vertroue, uitruilbare leier/volgeling-rolle en wedersydse invloed is geïdentifiseer as belangrik). Dit is ook bevind dat ILV sisteemuitsette in die organisasie mag genereer wat bydra tot die organisatoriese kultuur en klimaat, werkprestasie, werknemers se moreel en betrokkenheid, en personeelbehoud. Persoonlike eienskappe is verdeel in waardes en vaardighede wat ILV ondersteun. Die belangrikste waardes is geïdentifiseer as eerlikheid, liefde, respek, verhoudings, vertroue, en professionele uitnemendheid. Die volgende vaardighede is geïdentifiseer as noodsaaklik: luistervaardighede, emosionele kommunikasievaardighede (met spesifieke verwysing na selfbewussyn, selfrefleksie en aandag aan ander se emosies), betrekkingsvaardighede, konflikbestuursvaardighede, en multi-kulturele vaardighede (wat generasievaardighede insluit). Die date is ingesamel uit twee gerieflikheidsteekproewe. Indiepte-, semi-gestruktureerde onderhoude is gevoer met Steekproef 1 (kundiges op gebiede verwant aan ILV in kennisgebaseerde kontekste), terwyl vraelyste gebruik is om data te verkry by Steekproef 2 (leier/volgelinge in kennisgebaseerde kontekste). Tematiese ontleding is in beide gevalle gebruik om die data te ontleed en te interpreteer.
Kha iyi ngudo ya u tandula ‘qualitative’, ndivho ya ṱhoḓisio yo vha u ṋetshedza mutheo wa thiyori kha sia ḽa vhushaka ha vhurangaphanḓa vhukati ha vhathu (zwine zwa amba vhushaka ha tshumisano vhukati ha vharangaphanḓa/vhatevheli vhavhili na vhudavhidzani kha vhurangaphanḓa vhune ha khou bvelela nga kha tshumisano yeneyo) kha nyimele ya tshiimiswa yo ḓitikaho nga nḓivho. Zwo sumbedziswa uri tshumisano ya murangaphanḓa-mutevheli vhukati ha vhathu (leader-follower dyad (LFD)) i nga lavheleswa u bva kha sia ḽa sisiṱeme ya thyori sa sisiṱeme ine ya vha na zwipiḓa zwivhili (vhathu). Vhathu avha vha vhidzwa ‘vharangaphanḓa/vhatevheli’ hu u itela u khwaṱhisedza u ḓitika havho nga muṅwe, na u sumbedza uri mishumo iyi i nga imelelana, zwo ḓitika nga ṱhoḓea dza nyimele yeneyo. (zwi tshi tevhedza vhatevheli vha vhurangaphanḓa uvho). Sisiṱeme ya tshumisano i ṱuṱuwedzwa nga nyimele yayo, nyimele ya tshiimiswa. Fhedziha zwa ndeme kha ngudo iyi ndi nga vhudavhidzani ha vhurangaphanḓa vhukati ha vhathu sa tshiga tsha tshumisano vhukati ha vharangaphanḓa/vhatevheli kha LFD. Maga aya mararu a sisisṱeme a imelelwa nga ṱhoho khulwane kha nḓila yo livhisaho kha ngudo iyi: Ṱhoho 1 – mupo/nyimele ya tshiimiswa i ṱuṱuwedzaho vhushaka ha vhurangaphanḓa vhu vhuedzaho vhukati ha vhathu (interpersonal leadership relations (ILR)); Ṱhoho 2 – Tshiga tsha tshumisano kha LFD; na Ṱhoho 3 – Vhuvha ha muthu vhune ha konisa ILR. Data yo kuvhanganywa u bva kha sambula dzine dza vha dza tsinisa. Mbudziso dzo ṱanḓavhuwaho, dzi sa langiho kufhindulele kha vhavhudziswa dzo itwa hu na vhadzheneli kha Sambula ya u thoma (1), ngeno khwesheya dzo shumiswa u kuvhanganya data kha Sambula 2. Kha nyimele dzoṱhe ho shumiswa ṱhaṱhuvho i re na vhushaka na ṱhoho u itela u ṱhaṱhuvha na u ṱalutshedza data. Zwine ngudo iyi ya vhuedza khazwo ndi mvelelo ya mutheo wa thyori wa ILR, ine ya vha na ṱhalutshedzo yo ḓitikaho nga thyori ya ILR, nḓila ya u angaredza ya ILR; na tsumbanḓila dza zwino u itela mbuelo ya ILR kha nyimele yo ḓitikaho nga nḓivho, zwo lavhelesa kha maga a sisiṱeme. Ṱhalutshedzo i tevhelaho yo vhekanywa zwi ḓitika nga ngudo: Vhushaka ha vhurangaphanḓa Vhuvhedzaho vhukati ha vhathu (ILR) kha nyimele ya tshiimiswa yo ḓitikaho nga nḓivho ndi maitele a tshumisano ya tshiga tsha vhudavhidzani vhukati ha vharangaphanḓa/vhatevheli vha re na nḓivho vhane vha ṱuṱuwedzana na u kovhekana zwine zwa amba u itela u khwaṱhisa vhushaka havho khathihi na u fhirisa na u shumisa nḓivho u itela u zwikelela zwipikwa zwa tshiimiswa. Zwi tshi ya nga nyimele, zwo wanala uri vharangaphanḓa vha tshiimiswa vha tea u vhumba na u ṱuṱuwedza zwi tevhelaho: muhumbulo wa tshumisano kha vhurangaphanḓa, zwa tshimuya mushumoni, u katela zwa mvelele, na u ṱanganedza u shumiswa ha thekhinoḽodzhi ya vhudavhidzani. Maelana na tshumisano nga tshiga kha LFD, maitele a vhudavhidzani a tevhelaho a wanala a one a ndeme kha ILR ire na mbuelo: u thetshelesa nga vhuronwane, u tikedza vhatevheli hu na kupfesesele kwa uri vhathu vho fhambana, vhudavhidzani ha ṱhonifho, u dzhiela nṱha mihumbulo ya vhatevheli, u ṱuṱuwedza u ṱhalutshedza nga nḓila yo fhambanaho i vhuedzaho ya vhaṅwe vharangaphanḓa/vhatevheli vha shumaho u ya nga vhone vhaṋe, u dzhia dzhenelela (u vhona nga nḓila ine vhaṅwe vharangaphanḓa/vhatevheli vha vona ngayo), u tangnedza nḓivho, ndaulo ya phambano nga kha nyambedzano i sa shushedziho, ya ṱhonifho, nga maanḓa nga nyambedzano vhathu vho livhana zwifhaṱuwo, u ṱuṱuwedza nḓivho ya ṱhalutshedzo kana ndivho ya mushumo kha vhaṅwe vharangaphanḓa/vhatevheli, u ṱuṱuwedza zwithu zwi fhaṱaho vhushaka vhu vhuedzaho u fana na u fulufhedzana. Zwo tumbulwa uri ILR i bveledza sisiṱeme ya mvelelo u vha tshiimiswa tshine tsha dzhenelela kha mvelele na vhuḓipfi, kushumele kwa mushumo, u ṱuṱuwedzea na u dzhenelela ha vhashumi, nauri vhashumi vha sa ṱuwe. U ṱanganedzea ha muthu zwo vheekanywa zwi tshi ya nga mikhwa ya muthu ene muṋe na vhukoni zwine zwa tikedza ILR. Mikhwa ya muthu ya ndemesa yo topolwa sa u fulufhedzea, lufuno, ṱhonifho kana u dzhenelela, fulufhelo, na vhukoni kha zwa phurofeshinaḽa. Vhukoni ha ndeme ho sumbedzwa sa vhukoni ha u thetshelesa, vhukoni ha vhudavhidzani ha muhumbulo (nga maanḓa u ḓiḓivha, u ḓilingulula/sedzulusa na u dzhiela nzhele vhuḓipfi ha vhaṅwe vhathu), vhukoni ha u dzhenelela, vhukoni ha ndaulo ya phambano, na vhukoni ha u dzhenelela kha mvelele nnzhi (zwi tshi katela vhukoni ha zwa murafho).
Communication Science
D. Litt. et Phil. (Communication)

Dissertação de Mestrado em Ciclo de Estudos Integrados Conducentes ao Grau de Mestre em Engenharia Electrónica Industrial e Computadores
A robótica de hoje em dia tem inúmeras aplicações práticas, desde a ajuda prestada ao Homem, até situações em que a precisão e a repetibilidade a torna num grande instrumento de trabalho em diversificadas áreas. Em certos casos, em que o meio ambiente que engloba o agente não é totalmente controlado, este tem que se adaptar ao meio envolvente para finalização da sua determinada tarefa. Esta última situação é a mais complexa, mas é também a situação em que se insere o principal objectivo desta dissertação - a construção de um robô autónomo capaz de jogar futebol. O trabalho apresentado, engloba tanto a concepção como a construção de um protótipo de um robô futebolista, com software capaz de controlar o robô autonomamente, assim como software de apoio às competições. Na construção do robô é analisada desde a estrutura, forma, disposição dos componentes e materiais usados; o software é desenvolvido desde a raiz numa nova estrutura organizada; por fim, mas igualmente importante, é implementado software para a comunicação com hardware, para comunicação em rede, processamento de imagem entre outros módulos necessários ao bom funcionamento do robô. No final, são apresentados alguns aspectos críticos de aperfeiçoamento de todo este trabalho, assim como soluções futuras para os problemas encontrados.
Nowadays, robotics has numerous practical applications, from help to humans, to situations where accuracy and repeatability becomes a great tool to work in several different areas. In some cases, when the agent works on uncontrolled environments, he has to adapt itself completely to that environment or to its particular task. This becomes more complex, but it is also the main goal of this thesis - the construction of an autonomous robot, able to play football coping with the RoboCup rules. This thesis work here presented encloses the robot football player prototype design, with software that can autonomously control the robot, and software to support the competition in which it operates. The robot is analyzed regarding design, structure, shape and components arrangement, as well as the materials used. Software was developed in a new organizational structure from scratch and is also explained on this thesis. Several software modules were created, from the network communication, to hardware control, image processing as well as other modules necessary to manage the real game. In the last chapters, critical aspects are described and discussed, as well as future solutions to problems encountered during this whole process.