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Self-balancing scooter : How to construct a Self-balancing scooterRosencrantz, Frans January 2016 (has links)
This rapport deals with the construction of a self-balancing scooter. A self-balancing scooter is a two-wheel vehicle where the velocity is controlled by the tilt of the driver. When the driver leans forward and backward, the vehicle is running forward and backwards. The main task was to determine if the Arduino microcontroller could be used for the control system. An iron frame, control circuit and a tilt able handlebar were constructed. Two recycled permobil DC-motor were mounted onto the iron frame. An accelerometer and a gyrometer were obtaining the tilt of the handlebar and the scooter. The system was using locked Anti-phase drive and a PI-regulator to control the motors. The self-balancing scooter prototype worked well and was able to balance without any external help. The driver was able to control the speed by tilting forward or backward and was able to choose the direction by the tilt of the handlebar. The balance was affected negative by the backlashes from the gear and too weak H-bridges. If the project were made again, two three-phase hub motors with higher ratings would replace the DC-motors. Gears could be excluded and the backlashes are removed.
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COOLING RATE CONTROLLED RELAXATION AND THE ASSOCIATED CHEMICAL AND STRUCTURAL RESPONSES IN SINGLE CRYSTAL HETEROSTRUCTURES WITH VOLATILE CATIONSFarghadany, Elahe, Dr 23 May 2022 (has links)
No description available.
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Kationen-Ordnung in ferri/ferromagnetischen perowskitischen Dünnfilmen / Cation ordering in ferri/ferromagnetic perovskite thin filmsHühn, Sebastian 27 May 2015 (has links)
Ein großes Hindernis für die Anwendbarkeit von oxidischen Perowskiten in elektrotechnischen oder spintronischen Applikationen, ist die Größe der spezifischen Temperaturen, bei der die physikalischen Phänomene, wie Ferromagnetismus oder Hochtemperatur-Supraleitung, beobachtet werden können. Die physikalischen Eigenschaften der Perowskite zeigen eine Abhängigkeit von der Ordnung der verschiedenartigen Metallionen in mehrkomponentigen Systemen. Die Abhängigkeit ergibt sich durch den Einfluss der Metallionen auf die Elektronenkonfiguration und elastischen Verspannung innerhalb des Materials. Man spricht in diesem Zusammenhang auch von der Kontrolle der Füllung und der Bandbreite der elektronischen Bänder im Material durch die Wahl der Metallionen. Die Zielsetzung dieser Arbeit ist die Präparation und Charakterisierung von künstlich A-Platz geordneten schmal- und breitbandigen Manganat Dünnfilmen als auch von natürlich B-Platz geordneten ferro-/ferrimagnetischen doppelperowskitischen Dünnfilmen. Für die Präparation der dünnen Schichten wurde die unkonventionelle Metallorganischen Aerosol Deposition (MAD) verwendet. Es konnte gezeigt werden, dass diverse künstlich oder natürlich Kationengeordnete Perowskite mit der MAD Technologie präpariert werden können. Die lagenweise A-Platz Ordnung in Manganaten führt, über die Modulation der Gitterverspannung und der Elektronenbesetzung im eg-Band der Manganionen, zu modifizierten elektronischen und magnetischen Eigenschaften. In schmalbandigen CMR Manganaten wurde die PS und somit der CMR über die Ordnung beeinflusst, während in breitbandigen CMR Manganaten ein Weg aufgezeigt werden konnte, der zu Übergangstemperaturen TC > 370K führen kann. In geordneten, ferromagnetischen Doppelperowskiten wurde der Einfluss und die Anwesenheit von Antiphasen-Grenzen dargelegt. Über die Einführung einer aktiven Valenz-Kontrolle, konnte die Präparation von halbmetallischen, ferrimagnetischen Doppelperowskiten mit der MAD Technologie ermöglicht werden.
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On the synchronization of two metronomes and their related dynamicsCarranza López, José Camilo [UNESP] 05 June 2017 (has links)
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Previous issue date: 2017-06-05 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Nesta tese são investigadas, teórica e experimentalmente, a sincronização em fase e a sincronização em anti-fase de dois metrônomos oscilando sobre uma base móvel, a partir de um modelo aqui proposto. Uma descrição do funcionamento do mecanismo de escapamento dos metrônomos é feita, junto a um estudo da relação entre este e o oscilador de van der Pol. Também uma aproximação experimental do valor do amortecimento do metrônomo é fornecida. A frequência instantânea das respostas, numérica e experimental, do sistema é usada na analise. A diferença de outros trabalhos prévios, os dados experimentais têm sido adquiridos usando vídeos dos experimentos e extraídos com ajuda do software Tracker. Para investigar a relação entre as condições iniciais do sistema e seu estado final de sincronização, foram usados mapas bidimensionais chamados ‘basins of attraction’. A relação entre o modelo proposto e um modelo prévio também é mostrada. Encontrou-se que os parâmetros relevantes em relação a ambos os tipos de sincronização são a razão entre a massa do metrônomo e a massa da base, e o amortecimento do sistema. Tem-se encontrado, tanto experimental quanto teoricamente, que a frequência de oscilação dos metrônomos aumenta quando o sistema sincroniza-se em fase, e se mantém a mesma de um metrônomo isolado quando o sistema sincroniza-se em anti-fase. A partir de simulações numéricas encontrou-se que, em geral, incrementos no amortecimento do sistema levam ao sistema se sincronizar mais em fase do que em anti-fase. Adicionalmente se encontrou que, para dado valor de amortecimento, diminuir a massa da base leva a uma situação em que a sincronização em anti-fase é mais comum do que a sincronização em fase. / This thesis concerns a theoretical and experimental investigation into the synchronization of two coupled metronomes. A simplified model is proposed to study in-phase and anti-phase synchronization of two metronomes oscillating on a mobile base. A description of the escapement mechanism driving metronomes is given and its relationship with the van der Pol oscillator is discussed. Also an experimental value for the damping in the metronome is determined. The instantaneous frequency of the responses from both numerical and experimental data is used in the analysis. Unlike previous studies, measurements are made using videos and the time domain responses of the metronomes extracted by means of tracker software. Basins of attraction are used to investigate the relationship between initial conditions, parameters and both final synchronization states. The relationship between the model and a previous pendulum model is also shown. The key parameters concerning both kind of synchronization have been found to be the mass ratio between the metronome mass and the base mass, and the damping in the system. It has been shown, both theoretically and experimentally, that the frequency of oscillation of the metronomes increases when the system reaches in-phase synchronization, and is the same as an isolated metronome when the system synchronizes in anti-phase. From numerical simulations, it has been found that, in general, increasing damping leads the system to synchronize more in-phase than in anti-phase. It has also been found that, for a given damping value, decreasing the mass of the base results in the situation where anti-phase synchronization is more common than in-phase synchronization.
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Etude expérimentale de neurones de Morris-Lecar : réalisation, couplage et interprétation / Experimental study of Morris-Lecar neuron : design, coupling and interpretationBehdad, Rachid 23 November 2015 (has links)
Nous présentons dans ce manuscrit un neurone électronique expérimental basé sur le modèle complet de Morris-Lecar sans simplifications, afin d’obtenir une cellule de base pour étudier l’association collective de neurones couplés. La conception du circuit est donnée en détail selon les différents courants ioniques du modèle. Les résultats expérimentaux sont comparés aux prédictions théoriques, conduisant à un bon accord, ce qui valide donc notre circuit. Nous présentons les différents domaines de bifurcation selon les paramètres de contrôle, la capacité membranaire et le courant d’excitation. Nous avons mis en évidence le comportement du neurone pour chaque zone de paramétrage. Un couplage de ces neurones est introduit en utilisant des simulations Pspice (Multisim) où les neurones ont été conçus pour être les mêmes qu’expérimentalement. Premièrement, nous avons simulé une chaîne fermée de 26 neurones faiblement couplés le long de laquelle les ondes se propagent avec des phases en opposition 2 à 2. Pour cette première étude, on travaille dans une zone présentant uniquement un cycle limite stable. Deuxièmement, une dizaine de neurones sont couplés, avec un choix de paramètres correspondant à une deuxième zone où il y a deux attracteurs, un cycle limite stable et un point fixe stable, tandis qu’entre eux se trouve un cycle instable. Selon le nombre de neurones qui oscillent initialement et les conditions aux bords, nos études montrent que le système évolue vers un état où seuls 1, 2 ou 3 neurones restent à l’état oscillatoire, tandis que les autres sont retournés à un état de repos, ce qui met en évidence un phénomène de clusterisation. Il est à noter que certaines parties de notre circuit de base peuvent ainsi être utilisées dans d’autres modèles de neurones, car ces parties correspondent à la production des divers courants ioniques qu’on retrouve dans d’autres modèles. / We present in this manuscript an experimental electronic neuron based on complete Morris-Lecar model without simplifications, able to become an experimental unit tool to study collective association of robust coupled neurons. The circuit design is given in details according to the ionic currents of this model. The experimental results are compared with the theoretical prediction, leading to a good agreement between them, which therefore validates the circuit. We present the different areas according to the bifurcation control parameters, the membrane capacitance and the excitation current. We have highlighted the behavior of the neuron for each parameters zone. A coupling of such neurons is introduced by using Pspice simulations (Multisim) where neurons have been designed to be the same as the experimental one. First, we simulate a chain of up to 26 neurons weakly coupled along which anti-phase wave patterns propagate with phases in opposition 2 to 2. Second, about ten neurons are coupled, and we succeed to generate clusters based on the boundary conditions of theneurons and their initial conditions. For this study, we work in the region close to the fold bifurcation of limit cycles, where two limit cycles exist, one being stable and another one unstable. Our studies show that the system evolves to a state where only 1, 2 or 3 neurons remain in the oscillatory state, while others returned to a state of rest, which highlights a phenomenon of clustering. The use of some parts of the circuit is also possible for other neuron models, namely for those based on ionic currents.
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Benchmarking surface signals when growing GaP on Si in CVD ambientsDöscher, Henning 26 November 2010 (has links)
Diese Arbeit untersucht das Aufwachsen von dünnen GaP-Schichten auf Si(100)-Oberflächen mittels metallorganischer Gasphasenabscheidung (MOVPE) und die damit verbundene Entstehung von Antiphasendomänen (APDs). Die Vermessung der Si(100)-Substratoberfläche, der III-V/Si(100)-Grenzfläche und der abgeschiedenen GaP-Filme mit oberflächenempfindlichen Messverfahren dient der Etablierung APD-freier III-V-Heteroepitaxie auf Si(100). Die Präparation reiner Si(100)-Oberflächen frei von Sauerstoff in der MOVPE-Umgebung konnte durch Röntgenphotoelektronenspektroskopie (XPS) belegt werden. Vorwiegend doppelgestufte Substrate wurden sowohl auf 0.1°, 2° als auch 6° fehlorientierten Substraten erzielt. Im Widerspruch zu etablierten Ergebnissen im Ultrahochvakuum richteten sich die Dimere auf 0.1° und 2° Proben senkrecht zu den Doppelstufenkanten aus, vermutlich durch den Einfluss des Wasserstoffs in der MOVPE. Infrarotspektroskopie (FTIR) belegte eine Monohydridterminierung infolge der Präparation, während in-situ Reflexions-Anisotropie-Spectroskopie (RAS) zeigte, dass diese bei höheren Prozesstemperaturen nicht vorliegt. Für die GaP-Heteroepitaxie auf diesen Substraten wurde ein optisches in-situ Messverfahren für die quantitative Bestimmung des APD-Gehaltes entwickelt, welches auf dem eingehenden Verständnis der Rekonstruktionen von GaP(100), der assozierten RAS-Signaturen und dem mit Rastertunnelmikroskopie (STM) und Beugung niedrigenergetischer Elektronen (LEED) etablierten mikroskopischen Verständnis der Oberflächen beruht. Die APD-Quantifizierung mittels RAS wurde durch empirische Korrektur von Interferenzeffekten und optische Modellrechnungen, die auch Rückschlüsse auf die Grenzflächenanisotropie erlauben, deutlich verbessert. Der Abgleich mit unterschiedlichsten Mikroskopiemethoden, basierend auf niedrigenergetischen Elektronen (LEEM), Elektronentransmission (TEM) und Rasterkraftverfahren (AFM) bestätigt die erzielten Ergebnisse. / The present work investigates the growth of thin, pseudomorphic GaP films by metalorganic vapor phase epitaxy (MOVPE) on Si(100) surfaces by a variety of surface-sensitive methods and pays with specific attention to the substrate induced anti-phase disorder in this lattice matched model system for III-V/Si(100) heteroepitaxy. Thorough X-ray photoelectron spectroscopy investigations verified the preparation of clean Si(100) surfaces free of oxygen in the MOVPE ambient. Predominantly double-layer stepped Si(100) surfaces were obtained for 0.1°, 2°, and 6° misoriented substrates. In contrast to results established in ultra-high vacuum (UHV), double-layer steps with dimers oriented perpendicular to their edges were observed, which was attributed to the presence of hydrogen as a process gas in the MOVPE environment. A monohydride termination of Si(100) was determined after substrate preparation by Fourier-transform infrared spectroscopy (FTIR), while reflectance anisotropy spectroscopy (RAS) showed the absence of hydrogen termination at higher temperatures. Optical in situ spectroscopy was established as a method for the quantitative evaluation of anti-phase disorder in GaP heteroepitaxy based on a detailed understanding of the GaP(100) surface reconstructions, of the development of the corresponding RAS signatures, and of the associated surface structure studied by scanning tunneling microscopy (STM) and low-energy electron diffraction (LEED). The in situ RAS quantification was greatly improved by empirical correction of thin film interference and optical model calculations, which also enable extraction of the GaP/Si(100) interface anisotropy. The characterization was supported by benchmarking to atomic force microscopy (AFM) and transmission electron microscopy (TEM) results as well as to low energy electron microscopy (LEEM), which was used for surface sensitive visualization of anti-phase domains on a mesoscopic length scale.
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