Šiame magistro darbe tiriama robotų tarpusavio orientavimo sistema, kai kryptis nustatoma pagal magnetinio lauko poveikį robotui. Teorinėje dalyje apžvelgti robotų padėties erdvėje ir tarpusavio padėties nustatymo būdai. Išnagrinėtas magnetinio lauko pokyčių taikymas robotų tarpusavio padėčiai nustatyti, pateikti magnetinio lauko jutiklio paklaidų mažinimo metodai, formulės. Tiriamojoje dalyje sudaryta sistemos funkcinė schema. Ištirtos magnetometrų savybės ir parinktas tinkamiausias. Sudaryta sistemos principinė elektrinė schema. Pasirinktos trys magnetinių lauko generatorių – elektromagnetų formos ir atlikti jų magnetinių laukų tyrimai, naudojant specializuotą programą „Maxwell“. Rezultatai pateikti vaizdiniu formatu su magnetinio lauko pasiskirstymu. Atliktas sistemos eksperimentinis tyrimas, pateiktas robotų tarpusavio krypties nustatymo algoritmas, formulės ir metodika. Eksperimentų metu gauti rezultatai pateikti grafiškai. Atlikus sistemos eksperimentinį tyrimą, pateiktos baigiamojo darbo išvados ir pasiūlymai. Darbą sudaro 5 dalys: įvadas, literatūros apžvalga, teorinė ir tiriamoji dalys, išvados ir pasiūlymai, literatūros sąrašas. Darbo apimtis – 72 p. teksto be priedų, 41 pav., 2 lent., 26 bibliografiniai šaltiniai. Atskirai pridedami darbo priedai. / This Master thesis is a research of the robot inter– orientation system, when the direction is determined by the magnetic field effect on the robot. Theoretical part is an analysis of robot navigation and robot inter – orientation. Examined the application of the magnetic field change for robots inter – position determination, also magnetic sensor errors reduction methods are presented as well as the equations. The research part contains of functional and principle electrical scheme designing. Properties of the magnetometers are tested to select the most appropriate. Three different designs were chosen of magnetic field generator (electromagnet) to perform magnetic field studies using specialized software “Maxwell”. Results are presented in graphical form, showing distribution of magnetic fields. Experimental system study is performed also the robot between direction finding algorithm, equations and methods are presented. The experimental results are presented graphically. The conclusions and recommendations are given at the end of this work. Structure: introduction, analyze of literature, theoretical and practical parts, conclusions and suggestions, references. The thesis consists of 72 p. text without appendixes, 41 pictures, 2 tables, 26 bibliographical entries. Appendixes included.

In recent years, the interest for miniaturization of spaceborne instruments and subsystems has increased steadily, as this enables development of small and lightweight satellite classes as well as more versatile payloads on traditional spacecraft. In essence, this thesis work is an investigation of the applicability of magnetoresistive technology to a magnetometer intended for space. Two types of magnetoresistive sensors, promising with respect to performance competiveness also after considerable miniaturization, were developed and evaluated, namely magnetic tunnel junctions and planar Hall effect bridge sensors. In the case of the magnetic tunnel junctions, much effort was put on the micromanufacturing process. Two schemes were developed and evaluated for sensor contouring: one employing focused ion beam processes for rapid prototyping, and the other combining sputtering and x-ray photoelectron spectroscopy for precise etch depth monitoring during ion etching. For the former, the resulting implantation damages were investigated with chemical analysis and correlated to the sensor properties. In the latter, the depth of the etching was monitored live with a resolution sufficient to stop the etching in the 1 nm thick tunneling barrier. The effect and extent of redeposition were investigated by transmission electron microscopy and micromagnetic analysis. With the knowledge so gained, the tunneling magnetoresistance of the manufactured junctions could be improved significantly and their inherent noise could be reduced. As a step in space flight qualification, the magnetic tunnel junctions were subjected to both g and particle radiation, leaving them unaffected by the first, but rendering them a reduced tunneling magnetoresistance ratio and an increased coercivity by the latter. In the case of the planar Hall effect bridge sensors, their inherent noise was thoroughly investigated, revealing both electric and magnetic 1/f noise at low frequencies along with thermal noise at higher frequencies. In addition, an analytical model of the magnetic properties of the planar Hall effect bridges was developed, and a design process, based on the model, was established to optimize the bridges for a particular application. In conclusion, both types of sensors show great promises for use in space. Of the two, the planar Hall effect bridge sensors had a better detection limit at low frequencies, whereas the magnetic tunnel junctions were more precise at higher frequencies. However, both sensors had a bandwidth greatly exceeding that of traditional spaceborne magnetometers. A magnetometer employing the magnetic tunnel junctions from this work is currently included as payload onboard the Vietnamese satellite F-1 scheduled for launch this year. A magnetometer using magnetoresistive sensors – planar Hall effect sensors, magnetic tunnel junctions, or both – enables a mass reduction of more than two orders of magnitudes compared with traditional systems.

Thesis (doctoral)--Universität Bremen, 2005. / Includes bibliographical references (p. 113-125).

[pt] Amperímetros convencionais devem ser inseridos em série com o elemento no qual se deseja medir a corrente, constituindo uma forma de medição invasiva. Amperímetros alicate, baseados em bobinas, realizam medições de forma não invasiva, mas são limitados a correntes alternadas. Para medição de correntes contínuas, amperímetros baseados no efeito Hall são utilizados, mas possuem baixo nível de tensões de saída e pouca estabilidade em relação à temperatura. O objetivo desta dissertação foi desenvolver um protótipo de amperímetro baseado em magnetômetros de magnetorresistência gigante (GMR) capaz de medir correntes contínuas, de forma não invasiva e com alta resolução em relação aos amperímetros alicate. A metodologia dividiu-se em: (i) utilização de dois magnetômetros GMR para medir o campo magnético gerado pela corrente elétrica em um condutor; (ii) projeto e implementação de um solenoide para polarizar os sensores na faixa de operação linear; (iii) aprimoramento e desenvolvimento de circuitos eletrônicos dedicados à excitação e leitura dos GMRs; (iv) implementação de algoritmos para solução do problema inverso, isto é, a partir da saída do circuito, em mV, estimar a corrente que passa pelo condutor e a distância entre este e o amperímetro. Foram realizados 60 testes, com correntes variando de -3 A a 3 A, com passos de 0,1 A. O protótipo foi capaz de estimar a corrente elétrica com incerteza expandida, do tipo A, de 0,091 A e 0,07 cm para a distância. Os resultados comprovam a viabilidade da realização de medições de corrente, por aproximação, utilizando sensores GMR. / [en] Conventional ammeters should be inserted in series with the element in which the current is to be measured, thus constituting an invasive measurement form. Clamp ammeters, based on coils, are able to measure non-invasively but are limited to alternating currents. For measurement of direct currents, Hall-based ammeters are used, but have low output voltages and little temperature stability. Thus, the objective of this dissertation was to develop a prototype based on giant magnetoresistance (GMR) magnetometers capable of measuring direct currents, non-invasively and with high resolution in relation to clamp ammeters. The methodology was divided into: (i) the use of two GMR magnetometers to measure the magnetic field generated by the electric current in a conductor; (ii) design and implementation of a solenoid to polarize the sensors in the linear operating range; (iii) improvement and development of electronic circuits dedicated to the excitation and reading the GMRs; (iv) implementation of algorithms to solve the inverse problem, that is, from the outputs of the circuit, in mV, estimate the current passing through the conductor and the distance between it and the ammeter. Sixty tests were performed, with currents varying from -3 A to 3 A, with steps of 0.1 A. The prototype was able to estimate the electrical current with type A expanded uncertainty of 0.091 A and 0.07 cm for the distance. The results demonstrate the feasibility of conducting current measurements by approximation using GMR sensors.

Pas de résumé disponible / No abstract available.

Dans cette thèse, nous présentons la conception et les performances de capteurs magnétiques basés sur les technologies AMR et GMR en vue d'une utilisation dans la navigation. Afin d'obtenir une sensibilité et une linéarité optimales à champ nul, le design des capteurs utilise des barberpoles et un pont de wheatstone pour l'un et prend avantage des différentes anisotropies et couplages pour l'autre. Les capteurs sont fabriqués par pulvérisations cathodiques et photolithographies et leurs performances en terme de sensibilité, de linéarité et de bruit sont testées et comparées. La conception de gradiomètres nécessaires à la navigation magnéto-inertielle repose sur l'utilisation de magnétorésistances placées aux extrémités du capteur reliées par un pont de WheatStone dont la sortie est proportionnelle au gradient du champ magnétique. Des concentrateurs de Flux destinés à amplifier le champ afin d'améliorer la sensibilité sont conçus et testés sur les capteurs. Un concentrateur de flux destiné à amplifier un champ ayant la forme du gradient est proposé comme amélioration des gradiomètres. Des solutions innovantes pour le swithching d'anisotropie et la compensation d'offset utilisant l'effet Hall de spin et le couplage spin-transfer sont étudiées. Dans cette optique, un dispositif de mesure du couplage spin-transfer appelé spin-torque-bridge est conçu et utilisé pour étudier l'effet Hall de spin et le spin transfer dans différentes multi-couches. / In this work, we present the conception and the performances of AMR and GMR-based sensors for navigation applications In order to obtain the best sensitivity and linearity at zero field, the design include barberpoles and a Wheatstone bridge for the first and takes advantage of the different anisotropies and coupling for the other. The sensor are fabricated by magnetron sputtering and photolithography and their performances in terms of sensitivity, linearity and noise are compared. The concept of gradiometers used for magneto-inertial navigation is based on the utilisation of magnetoresistances placed at each extremity of the sensor connected by a wheatstone bridge whose output is proportional to the gradient of the magnetic field. Flux concentrators designed to amplify the incoming field in order to improve the sensitivity are fabricated and tested on the sensors. A flux concentrator designed to amplify a magnetic gradient is proposed as an improvement of the gradiometers. Innovant solutions for low consumption anisotropy switching and offset compensation are being experimented using spin Hall effect and spin transfer torque with adjacent Pt and AuW layers. In that regard a spin torque measurement device: the spin-torque-bridge, is designed and used to study the spin hall effect and the spin transfer couplings in different multi layers.

M. Tech (Department of Chemistry, Faculty of Applied and Computer Sciences) Vaal University of Technology. / Quantum dots (QDs) have already proven features that can be considered to improve their properties for biological applications. Metal selenide nanoparticles possess semiconducting behaviors that can vary with structural and optical properties evolving from their synthesis. An aqueous medium through a simple, non-toxic and environmentally friendly colloidal route for the preparation of water-soluble CdSe, Cu2Se, FeSe semiconductor nanoparticles has been developed. Different capping molecules with multi-functional moieties (-COOH, -NH2 and -OH) namely, L-cysteine, L-glutamic acid and L-phenylalanine, have been employed in the preparation of cadmium selenide, copper selenide and iron selenide semiconductor nanoparticles as capping molecules. The synthesized metal selenide nanoparticles were characterized by Fourier Transform Infrared (FTIR), UV-Vis spectroscopy, Photoluminescence spectroscopy (PL), X-ray Diffraction (XRD), Vibrating Sample Magnetometer (VSM) and Transmission Electron Microscopy (TEM). The FTIR spectroscopy confirmed the binding moiety through the surface of the nanoparticles which is pH dependent. The XRD patterns confirmed a cubic phase of CdSe and Cu2Se while FeSe revealed a hexagonal phase for the synthesized nanoparticles. The optical absorption as a function of wavelength for the prepared nanoparticles at different temperature is investigated. The morphology of the nanoparticles dominated through this method was spherical in shape. Amino acids capped metal selenide nanoparticles were successfully synthesized by aqueous medium through a simple colloidal route. The absorption spectra of all samples prepared were blue shifted as compared to their bulk counterparts which signify quantum confinement effect. The optical absorption measurements show some dependency of the temperature values used in the synthesis of nanoparticles. The effect of temperature and pH on the growth and morphology of nanoparticles was investigated. X-ray diffraction patterns confirms the structure, single cubic and hexagonal phase for the synthesized nanoparticles. TEM studies of metal selenide nanoparticle show that particle size increases with the increase in reaction temperature. The vibrating sample magnetometer (VSM) shows almost linear without any hysteresis loop for copper selenide, which indicated the absence of magnetism and exhibits paramagnetic nature than diamagnetic properties while iron selenide revealed twofold ferromagnetic behavior in low fields and paramagnetic behavior in up fields.

Diplomová práce je zaměřená na rozšířenou realitu a její realizaci pro mobilní platformu Android. V teoretické části je kladen důraz na obeznámení se s principy rozšířené reality, možnostmi její realizace pro mobilní platformu Android, která je také podrobněji představena. V praktické části se dále zaměřuje na návrh a realizaci knihovny a aplikace využívající tuhle knihovnu pro tvorbu rozšířené reality na platformě Android pomocí GPS a polohových senzorů. Aplikace slouží jako navigace a zobrazuje cestu ke konkrétnímu cíly, jak v podobě rozšířené reality, tak i na klasické dvourozměrné mapě. Práce podrobně popisuje navrhované řešení knihovny a aplikace a jejich implementaci. Nakonec popisuje testování, zhodnocuje dosažené výsledky a diskutuje nedostatky výsledného řešení a možnosti jeho vylepšení, respektive rozšíření.

In this thesis, the relationship between several high-latitude phenomena and the ionospheric conductance in both hemispheres is studied theoretically and experimentally. </p>Theoretically, the high-latitude electrodynamics is studied by considering currents in the magnetosphere-ionosphere system resulting from the ionospheric sheet current redistribution between the conjugate ionospheres. It is shown that strong flow between the conjugate ionospheres, the interhemispheric currents (IHC), can be set up if the conductance distribution is asymmetric in the conjugate ionospheric regions. Such conditions are typical for solstices owing to the differences in the solar illumination. Analytical and numerical modeling shows that IHCs can appear in the regions of strong conductance gradient, more specifically around the solar terminator line, and that the intensity of the IHCs can be comparable to the intensity of the well known Region 1/Region 2 currents. The effect of IHC excitation on observable magnetic perturbations on the ground is investigated. It is shown that in the vicinity of the solar terminator line, the pattern of magnetic perturbation can be such that an apparent equivalent current vortex can be detected. In addition, strong conductance gradients are shown to affect significantly the quality of the ionospheric plasma flow estimates from the ground-based magnetometer data. </p>Experimentally, the effect of the nightside ionospheric conductance on occurrence of substorms, global storm sudden commencement and radar auroras is investigated. To characterize substorm occurrence, new parameters, the derivatives of the classical AE and AO indices, are introduced. It is shown that the seasonal and diurnal variations of these parameters are controlled by the total nightside ionospheric conductance in the conjugate regions. The substorm onsets preferentially occur at low levels of the total conductance, which is consistent with the idea of the substorm triggering through the magnetosphere-ionosphere feedback instability. It is hypothesized that the total conductance affects the global storm onsets as well. To check this idea, the 33-year sudden storm commencement (SSC) data are considered. The semiannual, annual, semidiurnal, and diurnal variations in the SSC occurrence rate are found to be significant and these components exhibit a strong relationship with the total conductance of the high-latitude ionospheres. Finally, the SuperDARN midnight echo occurrence is shown to correlate, for some radars, with the total conductance minima and presumably with electric field maxima, which is consistent with general expectation that the F-region irregularities occur preferentially during times of enhanced electric fields. The gradients of the high-latitude conductance can also lead to significant errors in the plasma convection estimates from the ground-based magnetometers, and to investigate this effect a statistical assessment of the difference between the true plasma convection (SuperDARN) and the magnetometer-inferred equivalent convection direction is performed. The largest differences are found for the transition region between the dark and sunlit ionospheres and in the midnight sector where strong conductance gradients are expected due to particle precipitation. Consideration of regular conductance gradients due to solar illumination improves the agreement between the radar and magnetometer data. Finally, an attempt is made to demonstrate the effects of conductance upon the properties of traveling convection vortices (TCVs). Joint SuperDARN and magnetometer data reveal that there is resemblance between the magnetometer and radar inferred TCV images on a scale of thousands of kilometers. However, on a smaller scale of hundreds of kilometers, significant differences are observed.

In this thesis, the relationship between several high-latitude phenomena and the ionospheric conductance in both hemispheres is studied theoretically and experimentally. </p>Theoretically, the high-latitude electrodynamics is studied by considering currents in the magnetosphere-ionosphere system resulting from the ionospheric sheet current redistribution between the conjugate ionospheres. It is shown that strong flow between the conjugate ionospheres, the interhemispheric currents (IHC), can be set up if the conductance distribution is asymmetric in the conjugate ionospheric regions. Such conditions are typical for solstices owing to the differences in the solar illumination. Analytical and numerical modeling shows that IHCs can appear in the regions of strong conductance gradient, more specifically around the solar terminator line, and that the intensity of the IHCs can be comparable to the intensity of the well known Region 1/Region 2 currents. The effect of IHC excitation on observable magnetic perturbations on the ground is investigated. It is shown that in the vicinity of the solar terminator line, the pattern of magnetic perturbation can be such that an apparent equivalent current vortex can be detected. In addition, strong conductance gradients are shown to affect significantly the quality of the ionospheric plasma flow estimates from the ground-based magnetometer data. </p>Experimentally, the effect of the nightside ionospheric conductance on occurrence of substorms, global storm sudden commencement and radar auroras is investigated. To characterize substorm occurrence, new parameters, the derivatives of the classical AE and AO indices, are introduced. It is shown that the seasonal and diurnal variations of these parameters are controlled by the total nightside ionospheric conductance in the conjugate regions. The substorm onsets preferentially occur at low levels of the total conductance, which is consistent with the idea of the substorm triggering through the magnetosphere-ionosphere feedback instability. It is hypothesized that the total conductance affects the global storm onsets as well. To check this idea, the 33-year sudden storm commencement (SSC) data are considered. The semiannual, annual, semidiurnal, and diurnal variations in the SSC occurrence rate are found to be significant and these components exhibit a strong relationship with the total conductance of the high-latitude ionospheres. Finally, the SuperDARN midnight echo occurrence is shown to correlate, for some radars, with the total conductance minima and presumably with electric field maxima, which is consistent with general expectation that the F-region irregularities occur preferentially during times of enhanced electric fields. The gradients of the high-latitude conductance can also lead to significant errors in the plasma convection estimates from the ground-based magnetometers, and to investigate this effect a statistical assessment of the difference between the true plasma convection (SuperDARN) and the magnetometer-inferred equivalent convection direction is performed. The largest differences are found for the transition region between the dark and sunlit ionospheres and in the midnight sector where strong conductance gradients are expected due to particle precipitation. Consideration of regular conductance gradients due to solar illumination improves the agreement between the radar and magnetometer data. Finally, an attempt is made to demonstrate the effects of conductance upon the properties of traveling convection vortices (TCVs). Joint SuperDARN and magnetometer data reveal that there is resemblance between the magnetometer and radar inferred TCV images on a scale of thousands of kilometers. However, on a smaller scale of hundreds of kilometers, significant differences are observed.