Dissertations / Theses on the topic 'Sensing-based control'
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Saeidpourazar, Reza. "Microcantilever-based force sensing, control and imaging." Connect to this title online, 2009. http://etd.lib.clemson.edu/documents/1247509027/.
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Allwine, Daniel Alan. "Personal computer based data acquisition, sensing and control." Ohio : Ohio University, 1993. http://www.ohiolink.edu/etd/view.cgi?ohiou1174932273.
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Craver, Matthew David. "Mobile Robot Homing Control Based on Odor Sensing." Thesis, North Carolina State University, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3690207.
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Stieber, Michael E. "Aspects of vision-based sensing and control for space robots." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/tape17/PQDD_0027/NQ36796.pdf.
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Aalderink, Bernard Johan. "Sensing, monitoring and control for laser based welding of aluminium sheets." Enschede : University of Twente [Host], 2007. http://doc.utwente.nl/58019.
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Zhang, Zhongkai. "Vision-based calibration, position control and force sensing for soft robots." Thesis, Lille 1, 2019. http://www.theses.fr/2019LIL1I001/document.
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La modélisation de robots souples est extrêmement difficile, à cause notamment du nombre théoriquement infini des degrés de liberté. Cette difficulté est accentuée lorsque les robots ont des configurations complexes. Ce problème de modélisation entraîne de nouveaux défis pour la calibration et la conception des commandes des robots, mais également de nouvelles opportunités avec de nouvelles stratégies de détection de force possibles. Cette thèse a pour objectif de proposer des solutions nouvelles et générales utilisant la modélisation et la vision. La thèse présente dans un premier temps un modèle cinématique à temps discret pour les robots souples reposant sur la méthode des éléments finis (FEM) en temps réel. Ensuite, une méthode de calibration basée sur la vision du système de capteur-robot et des actionneurs est étudiée. Deux contrôleurs de position en boucle fermée sont conçus. En outre, pour traiter le problème de la perte d'image, une stratégie de commande commutable est proposée en combinant à la fois le contrôleur à boucle ouverte et le contrôleur à boucle fermée. Deux méthodes (avec et sans marqueur(s)) de détection de force externe pour les robots déformables sont proposées. L'approche est basée sur la fusion de mesures basées sur la vision et le modèle par FEM. En utilisant les deux méthodes, il est possible d'estimer non seulement les intensités, mais également l'emplacement des forces externes. Enfin, nous proposons une application concrète : un robot cathéter dont la flexion à l'extrémité est piloté par des câbles. Le robot est contrôlé par une stratégie de contrôle découplée qui permet de contrôler l’insertion et la flexion indépendamment, tout en se basant sur un modèle FEMThe modeling of soft robots which have, theoretically, infinite degrees of freedom, are extremely difficult especially when the robots have complex configurations. This difficulty of modeling leads to new challenges for the calibration and the control design of the robots, but also new opportunities with possible new force sensing strategies. This dissertation aims to provide new and general solutions using modeling and vision. The thesis at first presents a discrete-time kinematic model for soft robots based on the real-time Finite Element (FE) method. Then, a vision-based simultaneous calibration of sensor-robot system and actuators is investigated. Two closed-loop position controllers are designed. Besides, to deal with the problem of image feature loss, a switched control strategy is proposed by combining both the open-loop controller and the closed-loop controller. Using soft robot itself as a force sensor is available due to the deformable feature of soft structures. Two methods (marker-based and marker-free) of external force sensing for soft robots are proposed based on the fusion of vision-based measurements and FE model. Using both methods, not only the intensities but also the locations of the external forces can be estimated.As a specific application, a cable-driven continuum catheter robot through contacts is modeled based on FE method. Then, the robot is controlled by a decoupled control strategy which allows to control insertion and bending independently. Both the control inputs and the contact forces along the entire catheter can be computed by solving a quadratic programming (QP) problem with a linear complementarity constraint (QPCC)
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Kirkpatrick, Daniel Eugene. "Design of a Hardware Platform for GPS-Based Orientation Sensing." PDXScholar, 2015. https://pdxscholar.library.pdx.edu/open_access_etds/2197.
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Unmanned aerial vehicles (UAV's) have recently gained popularity in military, civil service, agriculture, commercial, and hobby use. This is due in part to their affordability, which comes from advances in component technology. That technology includes microelectromechanical systems (MEMS) for inertial sensing, microprocessor technology for sequential algorithm processing, field programmable gate arrays (FPGA's) for parallel data processing, camera technology, global navigation satellite systems (GNSS's) for navigation, and battery technology such as the high energy density of lithium polymer batteries.
Despite the success of the technology to date, there remains development before UAV's should be flying alongside manned aircraft or over populated areas. One concern is that UAV electronics are not as safe, reliable or robust as manned-aircraft electronics because UAV's are not certified by the FAA. Another concern for UAV operation is with control algorithms and sensors, particularly in the estimation of the aircraft state, which is the position, velocity, and orientation of the aircraft. Some problems, such as numerical stability of a control algorithm or flight in windy and turbulent conditions have only been solved for certain conditions of wind, weather, or maneuvers. Outside those conditions, the actual orientation of a flying craft can mislead to the control system, and the control system may not be able to recover without a crash. When pilots fly manned aircraft in instrument meteorological conditions, or conditions of limited visibility of the ground, terrain, and obstacles, the pilot must fly in a manner which avoids abrupt maneuvers which could disturb accuracy of the aircraft's instruments. In a UAV without a pilot, there is a need to estimate the position and orientation of a UAV in an absolute manner unambiguous relative to the Earth. The position and orientation estimate must not depend on carefully controlled flight paths, but instead the estimate must be robust in the presence of UAV flight dynamics.
This thesis describes the design, implementation, and evaluation of a hardware platform for GPS based orientation sensing research. In this work, we considered a receiver with three or four RF sections, each connected to an antenna in a triangular or tetrahedral pyramid constellation. Specific requirements for the receiver hardware and functionality were created. Circuitry was designed to meet the requirements using commercial off-the-shelf (COTS) radio frequency (RF) modules, a mid-sized microcontroller, an FPGA, and other supporting components. A printed circuit board (PCB) was designed, fabricated, assembled, and tested. A GPS baseband processor was designed and coded in Verilog hardware description language. The design was synthesized and loaded to the FPGA, and the microcontroller was programmed to track satellites.
With the hardware platform implemented, live satellite signals were found and tracked, and experiments were performed to explore the validity of GPS based orientation sensing using short antenna baselines. The platform successfully allows the user to develop correlator designs and explore carrier phase based orientation measurement using only software/Verilog modifications. Initial results of carrier phase based orientation sensing are promising, but the presence of multipath signal interference shows room for improvement to the baseband processing code.
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Schgallis, Richard J. "Phase diversity wavefront sensing for control of space based adaptive optics systems." Thesis, Monterey, Calif. : Naval Postgraduate School, 2007. http://bosun.nps.edu/uhtbin/hyperion-image.exe/07Dec%5FSchgallis.pdf.
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Thesis (M.S. in Applied Physics)--Naval Postgraduate School, December 2007.Thesis Advisor(s): Agrawal, Brij ; Larazza, Andres. "December 2007." Description based on title screen as viewed on January 18, 2008. Includes bibliographical references (p. 53-54). Also available in print.
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Wang, Jun. "Switching-Cycle Control and Sensing Techniques for High-Density SiC-Based Modular Converters." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/83518.
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Nowadays high power density has become an emerging need for the medium-voltage (MV) high-power converters in applications of power distribution systems in urban areas and transportation carriers like ship, airplane, and so forth. The limited footprint or space resource cost such immensely high price that introducing expensive advanced equipment to save space becomes a cost-effective option. To this end, replacing conventional Si IGBT with the superior SiC MOSFET to elevate the power density of MV modular converters has been defined as the concentration of this research work.
As the modular multilevel converter (MMC) is the most typical modular converter for high power applications, the research topic is narrowed down to study the SiC MOSFET-based MMC. Fundamentals of the MMC is firstly investigated by introducing a proposed state-space switching model, followed by unveiling all possible operation scenarios of the MMC. The lower-frequency energy fluctuation on passive components of the MMC is interpreted and prior-art approaches to overcome it are presented.
By scrutinizing the converter's switching states, a new switching-cycle control (SCC) approach is proposed to balance the capacitor energy within one switching cycle is explored. An open-loop model-predictive method is leveraged to study the behavior of the SCC, and then a hybrid-current-mode (HCM) approach to realize the closed-loop SCC on hardware is proposed and verified in simulation.
In order to achieve the hybrid-current-mode SCC (HCM-SCC), a high-performance Rogowski switch-current sensor (RSCS) is proposed and developed. As sensing the switching current is a critical necessity for HCM-SCC, the RSCS is designed to meet all the requirement for the control purposes. A PCB-embedded shielding design is proposed to improve the sensor accuracy under high dv/dt noises caused by the rapid switching transients of SiC MOSFET.
The overall system and control validations have been conducted on a high-power MMC prototype. The basic unit of the MMC prototype is a SiC Power Electronics Building Block (PEBB) rated at 1 kV DC bus voltage. Owing to the proposed SCC, the PEBB development has achieved high power density with considerable reduction of passive component size. Finally, experimental results exhibit the excellent performance of the RSCS and the HCM-SCC.Ph. D.
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Xiong, Rentian. "In situ sensing for chemical vapor deposition based on state estimation theory." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/22711.
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Thesis (Ph. D.)--Chemical and Biomolecular Engineering, Georgia Institute of Technology, 2008.Committee Chair: Gallivan, Martha; Committee Member: Ferguson, Ian; Committee Member: Henderson, Cliff; Committee Member: Hess, Dennis; Committee Member: Lee, Jay.
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Lu, Wei-Bin. "GFP-based sensing and state estimation in transgenic plant cell culture /." free to MU campus, to others for purchase, 2002. http://wwwlib.umi.com/cr/mo/fullcit?p3060120.
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Di, Long. "Cognitive Formation Flight in Multi-Unmanned Aerial Vehicle-Based Personal Remote Sensing Systems." DigitalCommons@USU, 2011. https://digitalcommons.usu.edu/etd/985.
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This work introduces a design and implementation of using multiple unmanned aerial vehicles (UAVs) to achieve cooperative formation flight based on the personal remote sensing platforms developed by the author and the colleagues in the Center for Self-Organizing and Intelligent Systems (CSOIS). The main research objective is to simulate the multiple UAV system, design a multi-agent controller to achieve simulated formation flight with formation reconfiguration and real-time controller tuning functions, implement the control system on actual UAV platforms and demonstrate the control strategy and various formation scenarios in practical flight tests. Research combines analysis on flight control stabilities, develop- ment of a low-cost UAV testbed, mission planning and trajectory tracking, multiple sensor fusion research for UAV attitude estimations, low-cost inertial measurement unit (IMU) evaluation studies, AggieAir remote sensing platform and fail-safe feature development, al- titude controller design for vertical take-off and landing (VTOL) aircraft, and calibration and implementation of an air pressure sensor for wind profiling purposes on the developed multi-UAV platform. Definitions of the research topics and the plans are also addressed.
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Chong, Ian Ian. "Vibration control and genetic algorithm based design optimization on self-sensing active constrained layer damped rotating plates." Thesis, University of Macau, 2011. http://umaclib3.umac.mo/record=b2493698.
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Teoh, Pek Loo. "A study of single laser interferometry-based sensing and measuring technique in robot manipulator control and guidance. Volume 1." Monash University, Dept. of Mechanical Engineering, 2003. http://arrow.monash.edu.au/hdl/1959.1/9565.
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Löchner, Anne Christina [Verfasser], and Victor [Akademischer Betreuer] Sourjik. "Quorum sensing- and contact-dependent inhibition-based population control in synthetic microbial communities / Anne Christina Löchner ; Betreuer: Victor Sourjik." Marburg : Philipps-Universität Marburg, 2021. http://d-nb.info/1228535647/34.
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Schmedtmann, Jonas. "Automatizing photo interpretation of satellite imagery in the context of the Common Agriculture Policy subsidy control." Master's thesis, ISA/UL, 2014. http://hdl.handle.net/10400.5/8294.
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Mestrado em Engenharia do Ambiente - Instituto Superior de AgronomiaComputer Assisted Photo-Interpretation (CAPI) uses remotely sensed imagery to control farmers’ subsidy applications in the context of the EU’s Common Agriculture Policy. A simple and reproducible method to automatize CAPI in an operational context with the overreaching goal to reduce control costs and completion time was developed in this study. Validated control data provided by the Portuguese Control and Paying Agency for Agriculture (IFAP) and a multispectral atmospherically corrected Landsat ETM+ time series were used to calibrate and test the method. Taking advantage of the nature of subsidy declarations, object-based land cover classification for the 12 most controlled classes was carried out in the region of Ribatejo. The main feature of the presented method is that it allows choosing a confidence level on the automatic classification of farmers’ parcels. While higher confidence levels reduce the risk of misclassifications, lower levels increase the number of automatic control decisions. A confidence level of 80% is a good compromise. This confidence level leads to over 55% of automatically taken control decisions with an overall accuracy of 84%. Furthermore, over 85% of all parcels classified as maize, rice, wheat or vineyard can be controlled by the method with the optimal confidence level.
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Long, Fei. "Three-Dimensional Motion Control and Dynamic Force Sensing of a Magnetically Propelled Micro Particle Using a Hexapole Magnetic Actuator." The Ohio State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=osu1452093964.
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Öberg, Månsson Ingrid. "Electroanalytical devices with fluidic control using textile materials and methods." Licentiate thesis, KTH, Fiberteknologi, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279327.
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This thesis, written by Ingrid Öberg Månsson at KTH Royal Institute of Technology and entitled “Electroanalytical devices with fluidic control using textile materials and methods”, presents experimental studies on the development of textile based electronic devices and biosensors. One of the reasons why this is of interest is the growing demand for integrated smart products for wearable health monitoring or energy harvesting. To enable such products, new interdisciplinary fields arise combining traditional textile technology and electronics. Textile based devices have garnered much interest in recent years due to their innate ability to incorporate function directly into, for example, clothing or bandages by textile processes such as weaving, knitting or stitching. However, many modifications of yarns required for such applications are not available on an industrial scale. The major objective of this work has been to study how to achieve the performance necessary to create electronic textile devices by either coating yarns with conductive material or using commercially available conductive yarns that are functionalized to create sensing elements. Further, liquid transport within textile materials has been studied to be able to control the contact area between electrolyte and electrodes in electrochemical devices such as sensors and transistors. Yarns with specially designed cross-sections, traditionally used in sportswear to wick sweat away from the body and enhance evaporation, was used to transport electrolyte liquids to come in contact with yarn electrodes. The defined area of the junction where the fluidic yarn meets the conductive yarn was shown to increase stability of the measurements and the reproducibility between devices. The results presented in the two publications of this thesis as well as additional results presented in the thesis itself show the promising potential of using textile materials to integrate electronic and electrochemical functionality in our everyday life. This is shown by using basic textile materials and processing techniques to fabricate complex devices for various application areas such as sensors and diagnostics as well as electrical and energy harvesting components.Denna avhandling, skriven av Ingrid Öberg Månsson vid Kungliga Tekniska Högskolan och titulerad ”Elektroanalytiska sensorer med vätskekontroll integrerad genom användande av textila material och metoder”, presenterar experimentella studier inom utvecklingen av textilbaserade elektroniska komponenter och biosensorer. Detta är av intresse på grund av den ökade efterfrågan på integrerade smarta produkter som till exempel bärbara sensorer för hälsoövervakning eller för att samla upp och konvertera energi till elektricitet. För att möjliggöra denna typ av produkter föds nya interdisciplinära fält där traditionell textilteknologi och elektronik möts. Textilbaserade enheter har väckt stort intresse under de senaste åren på grund av den naturliga förmågan att integrera funktion i till exempel kläder eller förband genom textila tillverkningsprocesser som väveri, stickning eller sömnad. Många modifikationer hos garner som krävs för att möjliggöra sådana tillämpningar är dock inte tillgängliga i större skala. Därför har det huvudsakliga syftet med denna studie varit att undersöka hur man kan uppnå den prestanda som krävs för att tillverka elektroniska textila komponenter, antingen genom att belägga garner med elektroniskt ledande material eller genom att använda kommersiellt tillgängliga ledande garner som sedan modifieras kemiskt för att skapa sensorer. Utöver detta har vätsketransport inom textila material studerats för att kunna styra och kontrollera kontaktytan mellan elektrolyt och elektroder i elektrokemiska enheter så som sensorer och transistorer. Garner med speciella tvärsnitt, som traditionellt använts i sportkläder för att transportera svett bort från kroppen och underlätta avdunstning, har använts för att transportera elektrolytvätska till elektroder av garn. Den definierade kontaktytan där det vätsketransporterade garnet korsar elektrodgarnet har visats öka stabiliteten av mätningen och reproducerbarheten mellan mätenheter. Resultaten som presenteras i de två artiklar som denna avhandling bygger på samt i avhandlingen själv visar på lovande potential för användandet av textila material för att integrera elektronisk och elektrokemisk funktionalitet i våra vardagsliv. Detta har uppnåtts genom att använda grundläggande textila material och tillverkningsprocesser för att tillverka komplexa enheter för olika tillämpningsområden så som sensorer för diagnostik samt elektroniska komponenter.
QC 2020-08-21
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Wijesoma, Wijerupage Sardha. "Robot control using joint and end-effector sensing." Thesis, University of Cambridge, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.279587.
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West, Jerry. "Orthoplanar Spring Based Compliant Force/Torque Sensor for Robot Force Control." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6637.
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A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and reduces impact forces.
Sensor design considerations are discussed, followed by a discussion of the proposed design concept. Theoretical compliance and stress analysis of the orthoplanar spring is presented that allows for rapid design calculations; these calculations are validated via finite element analysis. A mechanical design method is given which uses the results of the compliance and stress analysis. Transducer design is then addressed by developing a model of the sensor. The design methods are used to design a prototype sensor which is tested to determine its instrument uncertainty. Finally, the sensor is implemented on a robotic platform to test its performance in force control.
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Tokarz, Ryan E. "Spatial-temporal Distribution of Mosquito Larval Hot Spots in Papoli, Uganda: A Community-Based Approach to Mosquito Control." Scholar Commons, 2017. https://scholarcommons.usf.edu/etd/7448.
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Mosquito species of the Anopheles gambaie complex are the predominant vectors of malaria transmission throughout sub-Saharan Africa. These mosquitoes tend to be endophilic, as well as anthropophilic, making them prime candidates for disease transmission. Within the same region, related mosquito vectors play a significant role in the transmission of additional human and zoonotic diseases. Furthermore, mosquito nuisance biting is an immense issue that cannot be ignored in terms of its impact on African communities. Depending on the respective factors involved, mosquito control programs throughout the continent have attempted to tackle these issues in a multitude of ways. This research approached the issue by developing and integrating an American-style mosquito control district within the eastern Ugandan community of Papoli. The basic structure of such a district was blended with a community-based approach, employing local community members and leaders, thus ensuring an effective and sustainable program. A guide detailing all aspects and steps needed to properly develop and implement such a program is outlined.
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Battiston, Enrico. "Développement d’un outil innovant pour optimiser l'activité biologique des substances actives afin de contrôler des maladies fongiques chez Vitis vinifera L. Unmanned A erial Vehicle (UAV) - based remote sensing to monitor grapevine leaf stripe disease within a vineyard aff ected by esca complex Grapevine trunk diseases: a review of fifteen years of trials for their control with chemicals and biocontrol agents." Thesis, Reims, 2018. http://www.theses.fr/2018REIMS046.
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Ce travail a consisté en l'étude l'application du phosphate de calcium comme système de transporteur (" drug delivery ") pour la protection de la vigne (Vitis vinifera L.). Ce biomatériau a été étudié avec succès dans le domaine médical, de la fonctionnalité du phosphate de calcium avec des molécules anticancéreuses, à la mise au point d'un dentifrice innovant. Des essais préliminaires dans le contrôle des maladies fongiques de la vigne ont révélé des résultats prometteurs.Dans ce contexte, l'hydroxyapatite inorganique et biomimétique a été étudié en tant que système transporteur potentiel de substances bioactives autorisées en agriculture biologique pour la protection des plantes. À travers une approche multidisciplinaire, l'objectif de l'étude était d'évaluer l'efficacité de l'hydroxyapatite dans l'amélioration de l'activité biologique des composés de cuivre(II) pour lutter contre des maladies fongiques telles que le mildiou et les maladies du bois. Cette étude a pour ambition de contribuer à l'optimisation de la distribution et de la persistance des substances bioactives dans les tissus végétaux, y compris vasculaires, où des pathogènes nocifs peuvent se développer ainsi qu'à la réduction des quantités de fongicides.Cette recherche a ainsi permis de (i) comprendre l'interaction entre le système transporteur, la substance fonctionnelle et les tissus de la vigne ; (ii) démontrer le mécanisme sur lequel l'efficacité supérieure de la substance fonctionnelle est basé ; (iii) recueillir de nouvelles informations sur les mécanismes impliqués dans l'expression des symptômes des maladies du bois en étudiant les réactions de défense des plantes induites par les traitementsThe research investigates the application of biomimetic calcium phosphate as innovative delivery system for grapevine (Vitis vinifera L.) protection purposes. This smart material was successfully studied in the biomedical field, from the functionalization of biomimetic calcium phosphate with anti-cancer molecules for localized releases, to the development of an innovative toothpaste for oral hygiene. Preliminary assays to implement the control of the grapevine fungal diseases, have revealed promising results. In this framework, the biomimetic inorganic hydroxyapatite was investigated as potential delivery system of bioactive substances allowed in organic agriculture for plant protection.Through a multidisciplinary approach, the study was aimed to evaluate the efficiency of hydroxyapatite in enhancing the biological activity of copper(II) compounds, on the control of relevant common diseases, like downy mildew, and complex fungal diseases, such as the grapevine trunk diseases. This aim is related to further ambitious goals: the significant reduction of the fungicides amounts applied in plant protection and the optimization of the distribution and persistence of the bioactive substances in the plant tissues, including the vascular ones, where harmful pathogens can develop. Overall, the experimental activities allowed: (i) to understand the interaction between delivery system, functional substance and grapevine tissues; (ii) to demonstrate the mechanism on which the higher efficacy of the functional substance is based; (iii) to collect new information on the mechanisms involved in the symptoms expression by studying the plant defense reactions induced by the treatments
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Peng, Jun-Hao, and 彭君豪. "Implementation of IoT-Based Home Environment Sensing and Control System." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/15240380438987670969.
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碩士明新科技大學
電機工程系碩士班
103
IoT (Internet of Things) is booming in recent years. Its concept based on the way of thing to thing is connected to a network through message passing, reading and processing. There’re smart family, logistics transportation and medical system, etc. in daily life, and more huge IoT business opportunities will be derived and broken through in the future. This study aimed at home environment sensing and home appliance monitoring, and considered the operation of WSN (Wireless Sensor Network)installation. Arduino used in node as arithmetic unit in coordination with XBee(802.15.4/ZigBee) module to transfer data, DHT11 temperature/humidity sensors and TGS-2602 gas sensors used to apply multiple nodes as SPIN routing protocol, transferring node data to server-end and mobile phone, sending controlling order to the server, and then sending controlling order to home appliance node for the control of home appliance through XBee connected to the server. Additionally, the effect of automatic controlled-environment can be also processed through automatic control module in the server according to environmental conditions.
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Cheng, Chiao-Chih, and 鄭喬植. "Based on brainwave sensing multi-control system of home appliances." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/gs976y.
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碩士樹德科技大學
電腦與通訊系碩士班
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Aging of population is the trend in the 21st century. Even though we live in an ever-changing technology country, the lowest birth rates still cause the problem of aging society with fewer children. Government must to face the aging problem in the future. At this time some elders move with difficult need to rely on these tools to improve their quality of life and control home appliances through sensing technology. Technology has also rapidly advanced in the 21st century. By using brainwave sensing technology, users can start and control electrical home appliances through the "think" way only. Because the technology does not need to talk, it can improve people who is physical disabilities greatly benefit the quality of life who is the physical abilities and the aging population in particular and the life of an aging society has also been assisted.
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Esterhuyse, Henno. "Non-invasive electromyography-based sensing for proportional prosthesis control / Henno Esterhuyse." Thesis, 2012. http://hdl.handle.net/10394/11072.
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The best design of a multi-function tool is the human hand. Normal limb functionality is taken for
granted until the day it is lost. Maslow’s theory of human motivation suggests self-actualisation and
control of one’s own situation being most needed.
The psychological implications of any disability are described in Maslow’s theory of human
motivation, based on human hierarchy of needs. “Self-actualisation” is placed on top of all needs. By
having the ability to function normal and independent and the feeling of being in control of one’s own
life or actions, usually associated with being successful in life. An amputation has a major impact on a
person’s self-esteem and affects their life style. People tend to have the urge to replace what they had,
at least with a counterpart with equal performance. Should patients have a limb amputated, the
question is, what functionality remains in the surrounding muscles and nerves?
Biomechatronics is introduced at the North West University (NWU), with the aim to research a
complete proportional powered prosthetic hand. The versatility of the human hand suggests that it is a
complex part of the body, and the future goal of the development of proportional prosthesis control is
divided into several studies. This particular study focuses on the human-machine interface (HMI) or
the sensing component for prosthesis control. The HMI has to be able to provide Matlab®/Simulink®
with the sensed data as Matlab®/Simulink® will be used for future research.
The HMI makes use of surface electromyography (sEMG). sEMG could be the most elegant design
approach, as no medical surgery procedures are required to have a device implanted. By considering
the rate at which technology improves, it would also be unwise to insert an implant that becomes outdated
in a short time. The sEMG electrodes consist of a set of five electrodes in a wristband fitted to a
patient’s forearm. This interfaces the patient with the sEMG platform. The electrodes sense antagonist
muscle activity through the patient’s skin, and is regarded as a non-invasive HMI.
The sEMG sensing platform is an interface board that acts as a serial emulator (COM port) that
connects the sEMG sensors to the Matlab®/Simulink® environment via USB. The platform’s circuitry
converts the dual-channel analogue input sEMG signals into digital format. A calibration algorithm
calibrates the sensors with the push of a button, using automatic gain control (AGC). A pulse duration
modulation (PDM) servo is used to test the effect of visual feedback on the accuracy of performing a
gesture according to an animation.
The proportional control algorithm is implemented in Simulink® and has the capability of decoding
dual-channel antagonist muscles’ sEMG signal into position and force information. The algorithm and
platform is evaluated by making use of a gesture animation that asks the user to mimic the gesture.
The power of visual feedback on the accuracy of human gestures should not be underestimated, and is
demonstrated in this study.
The results obtained from this study verify the functionality of the sEMG platform and demonstrates
the possibility of proportional control through sEMG.Thesis (MIng (Computer and Electronic Engineering))--North-West University, Potchefstroom Campus, 2012
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汪奎仲. "Human Gesture Based Physical Agent Motion Control Using Body Sensing Technology." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/28669069442916020720.
Full textAbstract:
碩士逢甲大學
資訊工程學系
102
We proposes a motion-sensing technology based physical agent control interface. Through a Kinect skeleton tracking function used for recording users’ body motion data, users can easily translate human body motions into the commands/programs for triggering the corresponding robot motions. Such that an Application Programming Interface (API) for robot control/manipulation is therefore built. Such an API is helpful to programmers who involve robots’ motions in their programs in eliminating the burdens of low level and trivial coding of robot mechanical controls. Additionally, for the users who will write codes for performing continuous robot motions, this paper also proposes a graphic authoring tool for editing robot motion. Moreover, by combining the built-in speech recognition function of Kinect, programmers may easily design the desired robot motion.
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"A PVDF-based sensing system for automated micro-manipulation." 2002. http://library.cuhk.edu.hk/record=b5891131.
Full textAbstract:
Fung, Kar Man.Thesis (M.Phil.)--Chinese University of Hong Kong, 2002.
Includes bibliographical references (leaves 110-114).
Abstracts in English and Chinese.
摘要 --- p.i
ABSTRACT --- p.ii
ACKNOWLEDGMENTS --- p.iii
TABLE OF CONTENTS --- p.iv
LIST OF FIGURES --- p.vi
Chapter 1. --- Introduction --- p.1
Chapter 1.1 --- Background and Motivation --- p.1
Chapter 1.2 --- Objective of the project --- p.4
Chapter 1.3 --- Organization of the thesis --- p.5
Chapter 2. --- Literature Review --- p.7
Chapter 2.1 --- Control on Micro-Manipulation --- p.7
Chapter 2.1.1 --- Visual Feedback Control --- p.8
Chapter 2.1.2 --- Sensor-Based Feedback Control --- p.9
Chapter 2.1.3 --- Bilateral Control --- p.9
Chapter 2.2 --- Force Sensing System on Micro-Manipulation --- p.10
Chapter 2.3 --- PVDF Sensor --- p.11
Chapter 2.4 --- Summary of the Literature Review --- p.12
Chapter 3. --- Micro-Manipulation --- p.14
Chapter 3.1 --- Introduction of Micro-Manipulation --- p.14
Chapter 3.2 --- Probe Station --- p.14
Chapter 3.2.1 --- Micromanipulators --- p.15
Chapter 3.2.2 --- Microscopes --- p.15
Chapter 4. --- Piezoelectric Polyvinylidence Fluoride (PVDF) Sensor --- p.16
Chapter 4.1 --- Charteristic of PVDF Sensor --- p.16
Chapter 4.1.1 --- Piezoelectric Properties --- p.16
Chapter 4.1.2 --- Dimensions of the PVDF Sensor --- p.18
Chapter 4.2 --- Comparison of Piezoelectric Materials --- p.19
Chapter 5. --- Theoretical Analysis of PVDF Sensor --- p.21
Chapter 5.1 --- Sensitivity of PVDF Sensor --- p.21
Chapter 5.2 --- Relationship between the Deflection and the Force of the PVDF --- p.22
Chapter 5.3 --- Calculation of the Spring Constant K of the PVDF --- p.23
Chapter 5.4 --- Simulation on the output from the PVDF Sensor --- p.23
Chapter 6. --- Experimental Analysis of PVDF Sensor --- p.26
Chapter 6.1 --- Force-Deflection Diagram --- p.26
Chapter 6.2 --- Frequency Response of the PVDF Sensor --- p.27
Chapter 7. --- 1-D PVDF-Based Sensing System --- p.30
Chapter 7.1 --- Original Design of the Sensing System --- p.30
Chapter 7.1.1 --- Plastic pipe and adapter --- p.31
Chapter 7.1.2 --- PVDF Sensor --- p.32
Chapter 7.1.3 --- Probe-tip holder --- p.32
Chapter 7.2 --- Current Design of the Sensing System --- p.32
Chapter 7.3 --- Analysis of the Sensing System --- p.34
Chapter 7.3.1 --- Frequency Response of the Sensing System --- p.34
Chapter 7.3.2 --- Sensitivity of the Sensing System --- p.41
Chapter 8. --- Experiments on 1-D PVDF Sensing System --- p.49
Chapter 8.1 --- Experimental Setup of the 1-D Sensing System --- p.49
Chapter 8.1.1 --- Programmable Micromanipulator --- p.50
Chapter 8.1.2 --- Charge Amplifier --- p.51
Chapter 8.2 --- Calibration of the 1-D Sensing System --- p.53
Chapter 8.2.1 --- Noise Signal from the system --- p.53
Chapter 8.2.2 --- Signal from vibration --- p.55
Chapter 8.3 --- Experimental Results on touching a substrate --- p.60
Chapter 8.3.1 --- Description --- p.60
Chapter 8.3.2 --- Results from touching a substrate --- p.62
Chapter 8.3.3 --- Analysis of the deflection after touched a substrate --- p.67
Chapter 8.4 --- Experimental Results on touching a micro mirror --- p.68
Chapter 8.4.1 --- Description --- p.68
Chapter 8.4.2 --- Results --- p.70
Chapter 8.5 --- Experimental Results on lifting a mass platform --- p.74
Chapter 8.5.1 --- Description --- p.74
Chapter 8.5.2 --- Results --- p.76
Chapter 9. --- Modification of 1-D Sensing System --- p.79
Chapter 9.1 --- Design of the system --- p.79
Chapter 9.2 --- Experimental Setup of the system --- p.80
Chapter 9.3 --- Experimental Results on lifting a mass platform --- p.81
Chapter 10. --- 2-D PVDF-Based Sensing System --- p.90
Chapter 10.1 --- Design of the Sensing System --- p.90
Chapter 10.2 --- Experimental Setup --- p.91
Chapter 10.3 --- Calibration of the 2-D Sensing System --- p.92
Chapter 10.3.1 --- Noise Signal from the system --- p.92
Chapter 10.4 --- Experiments Results on touching a substrate --- p.94
Chapter 11. --- Experimental Analysis --- p.97
Chapter 11.1 --- Data Acquisition --- p.97
Chapter 11.2 --- Spectrum Analysis of the Experimental Data --- p.101
Chapter 12. --- Conclusion --- p.103
Chapter 13. --- Future Work --- p.105
Chapter 13.1 --- Control of the Sensing System --- p.105
Chapter 13.2 --- Tele-operation System on force feedback sensing system --- p.107
Chapter A. --- Appendix --- p.109
Chapter A. 1 --- Procedures in using probe station --- p.109
Bibliography --- p.110
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CHIA, NAI-CHIEH, and 賈乃杰. "Human Gesture Based Multiple Physical Agent Motion Control Using Body Sensing Technology." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/7649b5.
Full textAbstract:
碩士逢甲大學
資訊電機工程碩士在職學位學程
107
This paper proposes a system that simplifies the authoring of robot movements for users, capturing the user's gestures and movements in a somatosensory manner. And then the system converts them into robot movement commands using vectors and kinematics, and enhances the capturing of multiple human body movements through multiple Kinect devices. Identifying and capturing gestures and processes, and adding some of multi-agent interaction parameters, such as time space, to allow multiple users to use the body as a controller to control the actions of multiple agents simultaneously. Finally, by enhancing RDSL into Multi-Robot-control Domain Specific Language (MRDSL), the action authoring mechanism can be used in other robot application systems as a complete robot development environment.
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Sease, Bradley. "Vision-Based Sensing and Optimal Control for Low-Cost and Small Satellite Platforms." Master's thesis, 2013. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/6175.
Full textAbstract:
Current trends in spacecraft are leading to smaller, more inexpensive options whenever possible. This shift has been primarily pursued for the opportunity to open a new frontier for technologies with a small financial obligation. Limited power, processing, pointing, and communication capabilities are all common issues which must be considered when miniaturizing systems and implementing low-cost components. This thesis addresses some of these concerns by applying two methods, in attitude estimation and control. Additionally, these methods are not restricted to only small, inexpensive satellites, but offer a benefit to large-scale spacecraft as well.
First, star cameras are examined for the tendency to generate streaked star images during maneuvers. This issue also comes into play when pointing capabilities and camera hardware quality are low, as is often the case in small, budget-constrained spacecraft. When pointing capabilities are low, small residual velocities can cause movement of the stars in the focal plane during an exposure, causing them to streak across the image. Additionally, if the camera quality is low, longer exposures may be required to gather sufficient light from a star, further contributing to streaking. Rather than improving the pointing or hardware directly, an algorithm is presented to retrieve and utilize the endpoints of streaked stars to provide feedback where traditional methods do not. This allows precise attitude and angular rate estimates to be derived from an image which, with traditional methods, would return large attitude and rate error. Simulation results are presented which demonstrate endpoint error of approximately half a pixel and rate estimates within 2% of the true angular velocity. Three methods are also considered to remove overlapping star streaks and resident space objects from images to improve performance of both attitude and rate estimates. Results from a large-scale Monte Carlo simulation are presented in order to characterize the performance of the method.
Additionally, a rapid optimal attitude guidance method is experimentally validated in a ground-based, pico-scale satellite test bed. Fast slewing performance is demonstrated for an incremental step maneuver with low average power consumption. Though the focus of this thesis is primarily on increasing the capabilities of small, inexpensive spacecraft, the methods discussed have the potential to increase the capabilities of current and future large-scale missions as well.M.S.A.E.
Masters
Mechanical and Aerospace Engineering
Engineering and Computer Science
Aerospace Engineering; Space System Design and Engineering Track
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Keller, Eric. "Real-time sensing of fatigue crack damage for information-based decision and control." 2001. http://etda.libraries.psu.edu/theses/available/etd-0404101-102735/.
Full text
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Sun, Yeh-Liang, and 孫也喨. "Adaptive Power Control Mechanisms based on Auxiliary Channels in Carrier-sensing Wireless Environments." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/3n8vu2.
Full text
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Huang, Yu-Chao, and 黃昱超. "Building a Web Based Sensing and Control System with Arduino MCUs and Linux Server." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/30490125344964960167.
Full textAbstract:
碩士朝陽科技大學
資訊工程系
103
A web management sensing and control system built on Arduino MCUs and Linux server was successfully developed. The server monitors all peripheral devices through RS-485 interface which was based on Modbus protocol. The terminal devices used in this study were Arduino module, series-to-parallel module, temperature and humidity sensing module, air pressure sensing module, RFID reader, voice module and industrial standard PID controller. High security Linux system with web and database server was used in this study. The server collects and analyzes all data from peripheral devices and provides a well-use interface.
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Giebeler, Christopher. "Implementation and evaluation of an amplitude-based self-sensing torque control for induction machines." 2002. http://catalog.hathitrust.org/api/volumes/oclc/50250003.html.
Full textAbstract:
Thesis (M.S.)--University of Wisconsin--Madison, 2002.Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 225-231).
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Chen, Zheng-Long, and 陳政隆. "Unmanned Vehicles Remote-Control Based on Android Mobile Device for Video Surveillance and Environment Sensing." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/2racy9.
Full textAbstract:
碩士國立彰化師範大學
電機工程學系
105
In this thesis, the unmanned vehicle is controlled by using the Android mobile device. It combines the functions of video surveillance and environment sensing. This study uses the LinkIt Smart 7688 Duo development board as the unmanned vehicle control core, and uses App Inventor 2 to design an Android system App. The smart phones and tablet computer are used as a remote vehicle controller to replace the traditional joystick. The system of this study has the advantages of convenience, low cost and multi-function. In wireless communication, control signals and data transmission using Bluetooth technology, video streaming using Wi-Fi technology. In vehicle remote control, in addition to including the basic touch mode, but also to achieve voice mode and acceleration sensing mode. In video surveillance, via a web browser and App the real-time images can be observed. In environmental sensing, this study detects carbon monoxide as an example, and when the concentration of carbon monoxide is too high, the user can know the warning message through the mobile device.
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(9976460), Xu Zhang. "Model-based co-design of sensing and control systems for turbo-charged, EGR-utilizing spark-ignited engines." Thesis, 2021.
Find full textAbstract:
Stoichiometric air-fuel ratio (AFR) and air/EGR flow control are essential control problems in today’s advanced spark-ignited (SI) engines to enable effective application of the three-way-catalyst (TWC) and generation of required torque. External exhaust gas recirculation (EGR) can be used in SI engines to help mitigate knock, reduce enrichment and improve efficiency[1 ]. However, the introduction of the EGR system increases the complexity of stoichiometric engine-out lambda and torque management, particularly for high BMEP commercial vehicle applications. This thesis develops advanced frameworks for sensing and control architecture designs to enable robust air handling system management, stoichiometric cylinder air-fuel ratio (AFR) control and three-way-catalyst emission control.
The first work in this thesis derives a physically-based, control-oriented model for turbocharged SI engines utilizing cooled EGR and flexible VVA systems. The model includes the impacts of modulation to any combination of 11 actuators, including the throttle valve, bypass valve, fuel injection rate, waste-gate, high-pressure (HP) EGR, low-pressure (LP) EGR, number of firing cylinders, intake and exhaust valve opening and closing timings. A new cylinder-out gas composition estimation method, based on the inputs’ information of cylinder charge flow, injected fuel amount, residual gas mass and intake gas compositions, is proposed in this model. This method can be implemented in the control-oriented model as a critical input for estimating the exhaust manifold gas compositions. A new flow-based turbine-out pressure modeling strategy is also proposed in this thesis as a necessary input to estimate the LP EGR flow rate. Incorporated with these two sub-models, the control-oriented model is capable to capture the dynamics of pressure, temperature and gas compositions in manifolds and the cylinder. Thirteen physical parameters, including intake, boost and exhaust manifolds’ pressures, temperatures, unburnt and burnt mass fractions as well as the turbocharger speed, are defined as state variables. The outputs such as flow rates and AFR are modeled as functions of selected states and inputs. The control-oriented model is validated with a high fidelity SI engine GT-Power model for different operating conditions. The novelty in this physical modeling work includes the development and incorporation of the cylinder-out gas composition estimation method and the turbine-out pressure model in the control-oriented model.
The second part of the work outlines a novel sensor selection and observer design algorithm for linear time-invariant systems with both process and measurement noise based on H2 optimization to optimize the tradeoff between the observer error and the number of required sensors. The optimization problem is relaxed to a sequence of convex optimization problems that minimize the cost function consisting of the H2 norm of the observer error and the weighted l1 norm of the observer gain. An LMI formulation allows for efficient solution via semi-definite programing. The approach is applied here, for the first time, to a turbo-charged spark-ignited (SI) engine using exhaust gas recirculation to determine the optimal sensor sets for real-time intake manifold burnt gas mass fraction estimation. Simulation with the candidate estimator embedded in a high fidelity engine GT-Power model demonstrates that the optimal sensor sets selected using this algorithm have the best H2 estimation performance. Sensor redundancy is also analyzed based on the algorithm results. This algorithm is applicable for any type of modern internal combustion engines to reduce system design time and experimental efforts typically required for selecting optimal sensor sets.
The third study develops a model-based sensor selection and controller design framework for robust control of air-fuel-ratio (AFR), air flow and EGR flow for turbocharged stoichiometric engines using low pressure EGR, waste-gate turbo-charging, intake throttling and variable valve timing. Model uncertainties, disturbances, transport delays, sensor and actuator characteristics are considered in this framework. Based on the required control performance and candidate sensor sets, the framework synthesizes an H1 feedback controller and evaluates the viability of the candidate sensor set through analysis of the structured
singular value μ of the closed-loop system in the frequency domain. The framework can also be used to understand if relaxing the controller performance requirements enables the use of a simpler (less costly) sensor set. The sensor selection and controller co-design approach is applied here, for the first time, to turbo-charged engines using exhaust gas circulation. High fidelity GT-Power simulations are used to validate the approach. The novelty of the work in this part can be summarized as follows: (1) A novel control strategy is proposed for the stoichiometric SI engines using low pressure EGR to simultaneously satisfy both the AFR and air/EGR-path control performance requirements; (2) A parametrical method to simultaneously select the sensors and design the controller is first proposed for the internal combustion engines.
In the fourth part of the work, a novel two-loop estimation and control strategy is proposed to reduce the emission of the three-way-catalyst (TWC). In the outer loop, an FOS estimator consisting of a TWC model and an extended Kalman-filter is used to estimate the current TWC fractional oxygen state (FOS) and a robust controller is used to control the TWC FOS by manipulating the desired engine λ. The outer loop estimator and controller are combined with an existing inner loop controller. The inner loop controller controls the engine λ based on the desired λ value and the control inaccuracies are considered and compensated by the outer loop robust controller. This control strategy achieves good emission reduction performance and has advantages over the constant λ control strategy and the conventional two-loop switch-type control strategy.
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Lin, Yang-Hsuan, and 林暘烜. "A Rate-aware Power Control Algorithm Based on Implicit Feedback in Multi-rate Carrier-sensing Wireless Environments." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/cf3v3z.
Full textAbstract:
碩士國立交通大學
電信工程研究所
104
In IEEE 802.11, when a device attempts to transmit information on the wireless channel, it first detects the channel condition based on CSMA/CA in order to avoid collisions. RTS/CTS mechanisms have been introduced to solve the collision issues. However, whether the receiver successfully receives a packet depends on SINR requirement at the receiver. By using physical carrier sense, some transmitting attempts around the receiver can be reduced, but corresponding hidden and exposed terminal problems occur. In order to reduce collisions at the receiver, we have to take transmitting rate, the distance between transmission pair and interference into consideration. In RTS/CTS mechanisms, by combining physical carrier sense with virtual carrier sense, it is possible that more severe exposed terminal problem will take place. Therefore, in order to reduce the interference level and collision at receiver, we have to consider the environment at the receiver. In this thesis, we propose a Rate-aware Power Control (RPC) algorithm with busy tone support to reduce interference and collisions in carrier-sensing wireless networks. By utilizing busy tone, the receiver informs the neighboring nodes of its SINR requirement, and then the transmitting nodes determine a suitable transmitting power and rate. In this way, other receiving nodes will be able to tolerate this interference within the SINR requirement. The goal of RPC is to maximize the network throughput and reduce the interference at receiver. We use network simulator ns-2 to evaluate the performance of RPC and compare with related mechanisms. Simulation results demonstrate that our RPC protocol improves the system throughput significantly.
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Lin, Shih-Gang, and 林士剛. "A polling-based dynamic bandwidth allocation access control mechanism for a physiological signal sensing system using ZigBee." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/69845904827475199058.
Full textAbstract:
碩士國立雲林科技大學
資訊工程研究所
99
It is well known that the TDMA-based mechanism shows good performance in case of numerous device in WPAN but it still has a problem, which will decrease the performance because of too much control frame occupied. It leads to decreasing the throughput and effective bandwidth. In this paper, we propose polling-based dynamic bandwidth allocation (PDBA) access control mechanism to address above problems basically raised form GST mechanism and MPCP mechanism. From the simulations, the PDBA scheme has increased throughput and decrease delay than CSMA/CA scheme as it solve the contention among the devices. And also increased throughput and effective bandwidth than Channel Access Control Scheme by using PDBA scheme to decrease the amount of the control frames and the idle time.
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Chen, Kuan-Hung, and 陳冠宏. "Development of a Force-sensing Grip and Control System for Robot Walking Helper Based on Elderly’s Demand." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/c4e59d.
Full textAbstract:
碩士國立交通大學
電控工程研究所
107
In recent years, elderly caring becomes imperative in our society along with the increasing of the aging population. One serious problem for the elder is the walking disability. Consequently, many pieces of research have been devoted to robot walking helper. In this thesis, we observe the trend of the walking helper market. According to the commercial types of grips, we design a force-sensing grip that fits the need of the elderly. We then apply the Lasso model to recognize user’s intention by inferring the relationship between user’s intention and the measured force. While user’s intention derived, it can be sent to the walking helper to assist the user. Experiments are conducted to evaluate the performance of the proposal.
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Liu, Hsing-Fu, and 劉星甫. "THE STUDY OF SURFACE PLASMON RESONANCE OPTICAL FIBER- 400 ?慆 SENSORS BASED ON TiO2 COATING FOR SENSITIVITY IMPROVEMENT AND WAVELENGTH CONTROL IN SENSING." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/96671229685193272392.
Full textAbstract:
碩士大同大學
光電工程研究所
98
Surface Plasmon Resonance（SPR）technique has been widely used in the chemical and biological properties and molecular interaction detection. Conventional SPR sensors have the advantages of high sensitivity, real-time dynamic measurement capability, and in the biological sensing without the use of labels. Besides, fiber itself has small size, low cost, and high compatibility with the requirement of SPR sensing and applications. In this paper, the SPR fiber sensors we proposed enable us to combine the advantages of optical fiber and multilayer SPR sensing structure to develop a new type of SPR fiber sensor, for detecting the small refractive index change of the medium or monitoring the thickness during the nano thin film deposition. The multi-mode fiber we proposed in this paper with the core diameter of 400 ?慆 is prepared as a sensor platform, for the SPR measurement after the multi-layer TiO2/Au films were coated on the side-polished surface. We adjust the thickness of TiO2 film that coated on the Au thin film surface to shift the guided light SPR absorption from the ordinary region of the wavelength of 600-700 nm to the region of 1300-1550 nm that normally uses for the optical fiber communication. The SPR fiber sensors possessing SiO2/Au multi-layer structure can easily be integrated with existing optical fiber communication network as a smart fiber sensing system. Besides, the multi-layer structure we proposed can also enhance the SPR sensing sensitivity as well as increase the dynamic range of the SPR dip wavelength measurement. The experiment results show that the optimal sensitivity of the refractive index detection for the DI water and NaCl solution exhibits the ability as low as 3.47 ?~10-6 a.u., with the thickness of the TiO2 layer of 40 nm coated on the Au film surface.
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Lan, Xiaodong. "Learning and monitoring of spatio-temporal fields with sensing robots." Thesis, 2015. https://hdl.handle.net/2144/13640.
Full textAbstract:
This thesis proposes new algorithms for a group of sensing robots to learn a para-
metric model for a dynamic spatio-temporal field, then based on the learned model
trajectories are planned for sensing robots to best estimate the field. In this thesis
we call these two parts learning and monitoring, respectively.
For the learning, we first introduce a parametric model for the spatio-temporal
field. We then propose a family of motion strategies that can be used by a group
of mobile sensing robots to collect point measurements about the field. Our motion
strategies are designed to collect enough information from enough locations at enough different times for the robots to learn the dynamics of the field. In conjunction with
these motion strategies, we propose a new learning algorithm based on subspace
identification to learn the parameters of the dynamical model. We prove that as the
number of data collected by the robots goes to infinity, the parameters learned by
our algorithm will converge to the true parameters.
For the monitoring, based on the model learned from the learning part, three
new informative trajectory planning algorithms are proposed for the robots to collect the most informative measurements for estimating the field. Kalman filter is used
to calculate the estimate, and to compute the error covariance of the estimate. The
goal is to find trajectories for sensing robots that minimize a cost metric on the
error covariance matrix. We propose three algorithms to deal with this problem.
First, we propose a new randomized path planning algorithm called Rapidly-exploring
Random Cycles (RRC) and its variant RRC* to find periodic trajectories for the
sensing robots that try to minimize the largest eigenvalue of the error covariance
matrix over an infinite horizon. The algorithm is proven to find the minimum infinite
horizon cost cycle in a graph, which grows by successively adding random points.
Secondly, we apply kinodynamic RRT* to plan continuous trajectories to estimate
the field. We formulate the evolution of the estimation error covariance matrix as a
differential constraint and propose extended state space and task space sampling to
fit this problem into classical RRT* setup. Thirdly, Pontryagin’s Minimum Principle
is used to find a set of necessary conditions that must be satisfied by the optimal
trajectory to estimate the field.
We then consider a real physical spatio-temporal field, the surface water temper-
ature in the Caribbean Sea. We first apply the learning algorithm to learn a linear
dynamical model for the temperature. Then based on the learned model, RRC and
RRC* are used to plan trajectories to estimate the temperature. The estimation
performance of RRC and RRC* trajectories significantly outperform the trajectories
planned by random search, greedy and receding horizon algorithms.
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Birkett, Allison. "Nature, health and stress: a research-based approach to stress within our sensorial world." 2014. http://hdl.handle.net/1993/30083.
Full textAbstract:
This practicum focuses on developing a deeper knowledge about stress and our external environments. It is directed towards the profession of Landscape Architecture, and healthcare facilities including professionals. It outlines critical information about stress: how stress affects people’s physical, emotional, mental health and well-being, and how landscape architects are able to mitigate different types of stress through the design and use of our exterior environments, offering respite and healing in times of great need. Stress reveals and manifests itself in numerous ways. It has become a major problem within our society, much bigger than people care to acknowledge or believe. Landscape Architects have the ability to help people reflect upon the stress that they are under by creating spaces that inevitably sooth their ‘selves’. Through the profession and subsequent work of Landscape Architects the awareness of stress can be addressed, helping bring respite and relieve tension and stress, whether large or small, which is extremely critical in today’s society. Through the use of gardens and exterior spaces designed with stress-relief in mind, we will be able to decrease hospital stays, drug use and the overall amount of money used by medical institutions and governments, while decreasing the progression and succession of illness and diseases related to and accentuated or propagated by, or due to stress.
Through this document I will discuss ideas and theories that influence and/or are pertinent to Landscape Architecture and stress, as well as natural elements that should be taken into consideration when starting to design or when planning a design that will be situated within medical institutions and healthcare facilities, but not limited to, and including any other exterior environment (such as a backyard). It will also outline design elements which emphasize appropriate ways to design these spaces and places responsibly and sensitively. By understanding how people respond to stress, Landscape Architects may be able to design appropriate, beautiful spaces.
Initially this practicum was directed towards designing beautiful, meaningful gardens for the sick and/or dying, as well as for the families, visitors, and employees within healthcare settings. It has evolved, to include how our brains and bodies are physiologically affected by spaces and places that we encounter, and how these spaces either reduce or increase stress responses within us, therefore, increasing or decreasing our ability to heal, be healthy, and feel well. Stress is a major condition that is often “down-played”, ignored, or not understood within society. It is in fact a very serious condition / illness that has the ability to dictate the outcome of our physical and mental performances, and especially our health and well-being. Landscape Architects have the ability and responsibility to contribute positively to people’s bodily reactions to spaces: exterior and interior.
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Winfield, Tammy L. "Assessing landscape complexity using remotely sensed and field based measurements : does landscape complexity drive leafroller parasitism rates on Oregon caneberry farms?" Thesis, 2013. http://hdl.handle.net/1957/38004.
Full textAbstract:
Landscape heterogeneity is thought to differ among farm management types (i.e. organic and conventional), and this difference is hypothesized to result in variations in pest control by natural enemies. However, it is unclear if these variations in pest control are driven by landscape structure or by farm management practices themselves. Remotely sensed datasets were used to describe the landscape structure surrounding a group of organic and conventional caneberry farms in Oregon and Washington that have different leafroller parasitism rates attributed to farm management type. A finer scale survey was done at one of the farms using the remotely sensed data as well as field surveys. Landscape metrics of diversity, richness and percent non-crop were used to describe the landscapes surrounding the farm fields at scales ranging from 0.05 km to 5.00 km for the large scale study, and 0.05 km to 0.20 km for the fine scale study. In the fine scale study, data on parasitoid species assemblages, diversity, and parasitism rate were collected and analyzed against the calculated landscape metrics spatially and seasonally. The purpose of this study was to quantify effects of farm management type on habitat structure, effect of habitat structure on leafroller parasitism rate, and to access correlations between landscape metrics calculated at the landscape and field scale. Overall, the farms were embedded in a landscape that was broadly similar, with very few differences in landscape structure occurring between organic and conventional farms. Organic farms had higher vegetation height class diversity at the largest scale compared to conventional farms, while conventional farms had significantly higher percent non-crop area compared to organic farms. There was no significant effect of any of the calculated landscape metrics on parasitism rates. In the field scale study, no correlations were found between habitat metrics and parasitism rates, or between field based metrics and those calculated at the landscape scale. The results of this study suggest that conventional and organic caneberry farms in the Willamette Valley are broadly similar in the habitat conditions they provide parasitoids. This suggests that management changes to pesticide use alone could increase levels of leafroller biological control on conventional farms to levels that are comparable to those seen on organic farms. Our comparisons of the landscape scale and field scale landscape metrics showed no connection, this suggests that direct comparisons cannot be made with these particular metrics at these very different scales. Rather than comparing these types of data, it may be more useful to combine them in order to increase the resolution and predictive power of remotely sensed data for describing landscapes at broad scales.Graduation date: 2013