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Abstract not available. / Thesis / Master of Arts (MA)

Note: p. 196 missing

Marion Zimmer Bradley's novel The Mists of Avalon is different from the usual episodic versions of the Arthurian legend in that it has the structural unity that the label "novel" implies. The narrative is set in fifth-century Britain, a time of religious conflict between Christianity and the native religions of Britain, especially the Mother Goddess cult. Bradley pulls elements from the Arthurian legend and fits them into this context of religious struggle for influence. She draws interesting family relationships which are closely tied to Avalon, the center of Goddess worship. The author also places the major events during Arthur's reign into the religious setting. The Grail's appearance at Camelot and the subsequent events led to the end of the religious struggle, for Christianity emerged victorious.

Latest trend in multi core architectures is to integrate heterogeneouscores on a single chip in order to achieve task and threadlevel parallelism, high performance and energy efficiency. Someexamples of heterogeneous multi cores processors include (Tegraby NVIDIA,Cell by IBM and Fusion by AMD). The goal of this thesis work is to design a heterogeneous (2x2)network on chip which can run different tasks in parallel on allthe four cores in the network. Development steps of heterogeneousnetwork on chip include integration of Leon3 -a soft core processorby AeroFlex Gaisler which conforms with IEEE 1754 (SPARCV8) architecture- at one of the nodes of a homogeneous networkon chip incorporating four NiosII/s cores -soft core processor byAltera.This integration involves replacing a NiosII/s processor fromone of the four nodes of the homogeneous network by Leon3 processor.To translate the signals between the resource to networkinterface of the node and the Leon3 processor an AMBA bus1 toAvalon bus2 signal translation wrapper was designed. All processorsin the network on chip communicate by message passing interface.To exploit the potential of heterogeneous network on chipthree applications including sparse LU factorization, nqueens andFibonacci numbers calculation were run on it. These applicationwere run on Leon3 SPARC which generated a number of tasks thatcan run in parallel on all cores of the network simultaneously. Thisparallel execution of nqueens and fibonacci numbers calculationhas resulted in speed up as compared to the serial execution ofthese applications on Leon3 SPARC only. Because of the limitedsize of the on chip memory available for the Leon3 processor, itwas not possible to run sparse LU factorization for bigger matrixsizes and this constraint has resulted in no speed up in case ofsparse LU factorization.

Several configurations of Unmanned Aerial Vehicles (UAVs) were proposed to support different applications. One of them is the tailsitter, a fixed-wing aircraft that takes off and lands on its own tail, with the high endurance advantage from fixed-wing aircraft and, as helicopters and multicopters, not requiring a runway during takeoff and landing. However, a tailsitter has a complex operation with multiple flight stages, each one with its own particularities and requirements, which emphasises the necessity of a reliable autopilot for its use as a UAV. The literature already introduces tailsitter UAVs with complex mechanisms or with multiple counter-rotating propellers, but not one with only one propeller and without auxiliary structures to assist in the takeoff and landing. This thesis presents a tailsitter UAV, named AVALON (Autonomous VerticAL takeOff and laNding), and its autopilot, composed of 3 main units: Sensor Unit, Navigation Unit and Control Unit. In order to choose the most appropriate techniques for the autopilot, different solutions are evaluated. For Sensor Unit, Extended Kalman Filter and Unscented Kalman Filter estimate spatial information from multiple sensors data. Lookahead, Pure Pursuit and Line-of-Sight, Nonlinear Guidance Law and Vector Field path-following algorithms are extended to incorporate altitude information for Navigation Unit. In addition, a structure based on classical methods with decoupled Proportional-Integral-Derivative controllers is compared to a new control structure based on dynamic inversion. Together, all these techniques show the efficacy of AVALONs autopilot. Therefore, AVALON results in a small electric tailsitter UAV with a simple design, with only one propeller and without auxiliary structures to assist in the takeoff and landing, capable of executing all flight stages. / Diversas configurações de Veículos Aéreos Não Tripulados (VANTs) foram propostas para serem utilizadas em diferentes aplicações. Uma delas é o tailsitter, uma aeronave de asa fixa capaz de decolar e pousar sobre a própria cauda. Esse tipo de aeronave apresenta a vantagem de aeronaves de asa fixa de voar sobre grandes áreas com pouco tempo e bateria e, como helicópteros e multicópteros, não necessita de pista para decolar e pousar. Porém, um tailsitter possui uma operação complexa, com múltiplos estágios de voo, cada um com suas peculiaridades e requisitos, o que enfatiza a necessidade de um piloto automático confiável para seu uso como um VANT. A literatura já introduz VANTs tailsitters com mecanismos complexos ou múltiplos motores contra-rotativos, mas não com apenas um motor e sem estruturas para auxiliar no pouso e na decolagem. Essa tese apresenta um VANT tailsitter, chamado AVALON (Autonomous VerticAL takeOff and laNding), e seu piloto automático, composto por 3 unidades principais: Unidade Sensorial, Unidade de Navegação e Unidade de Controle. Diferentes soluções são avaliadas para a escolha das técnicas mais apropriadas para o piloto automático. Para a Unidade Sensorial, Extended Kalman Filter e Unscented Kalman Filter estimam a informação espacial de múltiplos dados de diversos sensores. Os algoritmos de seguimento de trajetória Lookahead, Pure Pursuit and Line-of-Sight, Nonlinear Guidance Law e Vector Field são estendidos para considerar a informação da altitude para a Unidade de Navegação. Além do mais, uma estrutura baseada em métodos clássicos com controladores Proporcional- Integral-Derivativo desacoplados é comparada a uma nova estrutura de controle baseada em dinâmica inversa. Juntas, todas essas técnicas demonstram a eficácia do piloto automático do AVALON. Portanto, AVALON resulta em um VANT tailsitter pequeno e elétrico, com um design simples, apenas um motor e sem estruturas para auxiliar o pouso e a decolagem, capaz de executar todos os estágios de voo.

Currents and sea level fluctuations in the Avalon Channel, driven over a broad range of time scales by buoyancy forces, atmospheric pressure, and wind stress, are described and compared with dynamical theory. / Seasonal fluctuations in adjusted coastal sea level at St. John's are shown to be consistent with steric height and bottom pressure variations 3 km offshore in a depth of 180 m. / Low frequency fluctuations (periods of 7-50 d) in observed Avalon Channel currents and water properties suggest the presence of a baroclinically-unstable, buoyancy-driven coastal current. A kinematic analysis of the current fluctuations reveals an eddy structure resembling that predicted for baroclinically-unstable waves on a longshore current with the density stratification and vertical shear observed in the fall. / Cross-spectral analysis of St. John's sea level and meteorological records, and Avalon Channel steric height estimates, shows that sea level responds isostatically to atmospheric pressure forcing at periods longer than 2 days, and to seasonal changes in steric height. Adjusted sea level responds 180 degrees out-of-phase to forcing by longshore wind stress at periods longer than 2 days. Longshore current responds in-phase to longshore wind stress forcing, with surface intensification of the response close to shore. / Frequency response functions are derived from the shallow water equations of motion for the response of sea level and current to atmospheric pressure and wind stress forcing in homogeneous and two-layer, uniform-depth coastal ocean models, and in a homogeneous, step-shelf model. Linear bottom friction is assumed in the homogeneous ocean models. The phases of the observed sea level and current responses to wind stress suggest that the response is due to the existence of continental shelf waves originating at the northern edge of the Grand Banks, about 150 km away from the study site. The near-shore surface intensification of the current and sea level responses are consistent with the predictions of the two-layer uniform-depth model.

Several configurations of Unmanned Aerial Vehicles (UAVs) were proposed to support different applications. One of them is the tailsitter, a fixed-wing aircraft that takes off and lands on its own tail, with the high endurance advantage from fixed-wing aircraft and, as helicopters and multicopters, not requiring a runway during takeoff and landing. However, a tailsitter has a complex operation with multiple flight stages, each one with its own particularities and requirements, which emphasises the necessity of a reliable autopilot for its use as a UAV. The literature already introduces tailsitter UAVs with complex mechanisms or with multiple counter-rotating propellers, but not one with only one propeller and without auxiliary structures to assist in the takeoff and landing. This thesis presents a tailsitter UAV, named AVALON (Autonomous VerticAL takeOff and laNding), and its autopilot, composed of 3 main units: Sensor Unit, Navigation Unit and Control Unit. In order to choose the most appropriate techniques for the autopilot, different solutions are evaluated. For Sensor Unit, Extended Kalman Filter and Unscented Kalman Filter estimate spatial information from multiple sensors data. Lookahead, Pure Pursuit and Line-of-Sight, Nonlinear Guidance Law and Vector Field path-following algorithms are extended to incorporate altitude information for Navigation Unit. In addition, a structure based on classical methods with decoupled Proportional-Integral-Derivative controllers is compared to a new control structure based on dynamic inversion. Together, all these techniques show the efficacy of AVALONs autopilot. Therefore, AVALON results in a small electric tailsitter UAV with a simple design, with only one propeller and without auxiliary structures to assist in the takeoff and landing, capable of executing all flight stages. / Diversas configurações de Veículos Aéreos Não Tripulados (VANTs) foram propostas para serem utilizadas em diferentes aplicações. Uma delas é o tailsitter, uma aeronave de asa fixa capaz de decolar e pousar sobre a própria cauda. Esse tipo de aeronave apresenta a vantagem de aeronaves de asa fixa de voar sobre grandes áreas com pouco tempo e bateria e, como helicópteros e multicópteros, não necessita de pista para decolar e pousar. Porém, um tailsitter possui uma operação complexa, com múltiplos estágios de voo, cada um com suas peculiaridades e requisitos, o que enfatiza a necessidade de um piloto automático confiável para seu uso como um VANT. A literatura já introduz VANTs tailsitters com mecanismos complexos ou múltiplos motores contra-rotativos, mas não com apenas um motor e sem estruturas para auxiliar no pouso e na decolagem. Essa tese apresenta um VANT tailsitter, chamado AVALON (Autonomous VerticAL takeOff and laNding), e seu piloto automático, composto por 3 unidades principais: Unidade Sensorial, Unidade de Navegação e Unidade de Controle. Diferentes soluções são avaliadas para a escolha das técnicas mais apropriadas para o piloto automático. Para a Unidade Sensorial, Extended Kalman Filter e Unscented Kalman Filter estimam a informação espacial de múltiplos dados de diversos sensores. Os algoritmos de seguimento de trajetória Lookahead, Pure Pursuit and Line-of-Sight, Nonlinear Guidance Law e Vector Field são estendidos para considerar a informação da altitude para a Unidade de Navegação. Além do mais, uma estrutura baseada em métodos clássicos com controladores Proporcional- Integral-Derivativo desacoplados é comparada a uma nova estrutura de controle baseada em dinâmica inversa. Juntas, todas essas técnicas demonstram a eficácia do piloto automático do AVALON. Portanto, AVALON resulta em um VANT tailsitter pequeno e elétrico, com um design simples, apenas um motor e sem estruturas para auxiliar o pouso e a decolagem, capaz de executar todos os estágios de voo.

No description available.