Yes / In this paper, a balanced antenna for mobile handset applications with enhanced bandwidth performance, that covers four bands (GSM1800, GSM1900, UMTS and 2.4-GHz WLAN), is investigated. The antenna is a slot planar dipole with folded structure and a dual-arm on each monopole. A wide bandwidth planar balun is employed to feed the wideband balanced antenna from an unbalanced source. A prototype of the proposed antenna is fabricated and tested. The performance of the antenna is veri¯ed and characterized in terms of return loss, radiation patterns and power gain. The calculated and measured results show good agreement and also con¯rm good wideband characteristics for the proposed antenna with multiband operation.

As drones become more widespread throughout modern industry, the demand for drone automation increases. Drones are used for many applications, but their effectiveness relies heavily on their battery life. By designing, implementing, and evaluating an automatic drone landing and battery exchange system, drone missions can be more streamlined and efficient by eliminating the need for manual battery exchange. Previous projects within this topic rely on high-precision landing combined with a manipulator with low degrees of freedom for battery removal. This project offers a solution that allows less strict landing requirements to better fit drones of different sizes and shapes for a wide variety of applications. This autonomous drone landing and battery exchange system uses a robotic arm with 6 degrees of freedom for battery removal and on-board image processing to locate and land on a large, rotatable landing pad.

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ARMs processorserie Cortex-A9 har stöd för SIMD-instruktioner med hjälp av NEON MPE. Detta innebär att processorn kan använda sig av vektor-instruktioner som kan utföra operationer på ett flertal element med varje instruktion. Målet med bruk av NEON MPE är att öka prestandan, men då man försöker optimera en speciell IIR-filtertyp som kallas för "biquads" kan man stöta på problem. Problemen med NEON-optimering av "biquads" beror på att endast fem operationer krävs för varje iteration och att behandling av IIR-filter kräver att man behandlar en sampel i taget eftersom varje behandlat sampels värde beror på tidigare behandlade samplar. Rapporten ger en kort beskrivning och genomgång av hur IIR-filter och NEON-optimering fungerar.För att analysera NEON-optimering av biquad-filter skapas fyra olika implementationer av en audioeffekt. De fyra implementationerna jämför prestandan hos flyttalsaritmetik, fixpunkts-aritmetik och NEON-optimering samt en version som implementerar både fixpunktsaritmetik och NEON-optimering. Problemen med optimering av biquad-filter med hjälp av NEON-instruktioner löses genom parallell behandling av ljudkanalerna. Eftersom kanalerna är självständiga kan man fördubbla prestanda genom att utföra varje operation på såväl höger- som vänsterkanal. Vidare prestandaförbättring ges även då effektiviteten hos minnesoperationer förbättras och med hjälp av fixpunkts-behandling.Resultaten visar att fixpunktsversionen som använder sig av NEON-instruktioner är snabbast, men flyttalsversionen med NEON-instruktioner är bara marginellt långsammare och dessutom enklare att implementera. Användandet av NEON-instruktioner förbättrar prestandan med mellan 1,7-2,8 gånger i de fall som testas. / The ARM Cortex-A9 CPU has a SIMD extension called NEON MPE. It allows for vector instructions that can perform operations on multiple elements in a single instruction. Whilst this usually improves performance, certain IIR filters called biquads pose problems as only five operations are necessary per sample and every iteration is dependent on the result of the previous result. A brief overview is given for IIR filters, the NEON extension and fixed-point processing.In order to analyse optimisation of biquad filters, an audio effect with four different implementations is produced, comparing results with/without fixed-point processing and with/without NEON optimisation. The problems introduced by the use of biquad filters are solved by running multiple channels in parallel. As the audio channels are independent, two samples can be calculated in parallel, which approximately doubles peformance. Further performance improvement is provided by improved memory operation efficiency and the use of fixed-point processing.The results show that the fixed-point NEON implementation is the fastest, however the floating-point NEON implementation is marginally slower but simpler to write. The use of NEON MPE improves performance by between 1.7 to 2.8 times in this case.

This paper looks at all aspects of developing a robotic arm and hand that consists of five fingers which is able to imitate human movements. The imitation ability, accuracy and factors affecting both points are studied. A project like this requires the interplay of various electrical components to achieve the desired results.The prototype constructed measured the controller’s movements of the fingers with the help of flex sensors. The movements in the elbow and wrist however were measured with the help of potentiometers. The flex sensors and potentiometers were connected to an Arduino Mega which then sent the values with the help of a transmitter. The robotic arm consists of an Arduino Uno, seven servomotors and a receiver that reads the messages sent from the transmitter. All values were converted into degrees that rotated the motor axles accordingly. The prototype produced positive results, showing that it was able to copy all movements done by the controller. Tests were conducted to study the accuracy and imitationability. The conclusion was that the factors affecting imitation and accuracy were mostly connected to the weight of the robot and the design of the hand. / Denna uppsats behandlar olika aspekter i utvecklingen av en robotarm vars gripdon är en hand med fem fingrar, med syfte att kunna imitera mänskliga rörelser. Imitationsförmågan, noggrannheten samt vilka faktorer som påverkar dessa studeras. För att uppnå ett önskvärt resultat har det krävts styrning och samverkan mellan olika elektroniska komponenter. I prototypen som presenteras mättes fingrarnas rörelsemed hjälp av flexsensorer samt rörelsen i armbåge och handleden med hjälp av vridpotentiometrar. Flexsensorerna och potentiometrarna var anslutna till en Arduino Mega vars värden skickades med hjälp av en sändare. Elektronikkomponenterna som användes i robotarmen var en ArduinoUno, sju servomotorer och en mottagare, vars funktion var att läsa av meddelanden som skickades från sändaren. Alla värden omvandlades till grader och motoraxlarna roterade i enlighet med dessa. Prototypen uppnådde ett önskvärt betteende då roboten hade förmågan att imitera alla rörelser som utfördes av styrenheten. Noggrannheten och imitationsförmågan undersöktes med olika tester. De mest betydelsefulla faktorer som påverkade imitationen och noggrannheten av prototypen var kopplade till vikten av roboten och designen av handen, enligt slutsatserna som har dragits.

Movement problems related to Parkinson’s disease (PD) have been shown to have a profound effect on functional independence and reported quality of life. Within the constellation of movement signs of PD (tremor, muscle rigidity, bradykinesia/hypokinesia, and postural instability), impaired arm swing is often the earliest-recognized symptom. It is also a strong independent predictor of greater fall risk and morbidity/mortality risk. Early treatment for movement problems such as impaired arm swing is associated with the greatest improvement in these impairments. However, movement problems often coincide with impaired processing of sensory information, leaving many people with PD with inadequate awareness of their posture and limb position. Thus, PD-related gait deficits are difficult for people to correct by themselves. External cueing techniques (such as visual cues in the environment or auditory cues for pacing and rhythm) have shown promise in improving parameters such as gait speed, s / Kinesiology

The primary purpose of this study was to test the predictions of the Dual-mode theory using arm ergometry as the exercise modality. It was hypothesized that changes in affect during exercise would be greater in high (105% GET) and low (80% GET) intensity exercise conditions than in a control condition, while differences in affect would be observed between exercise conditions. In addition, it was predicted that during recovery, there would be no differences in affect between the exercise conditions. Study participants were 24 physically active men. A within-subjects design was used. Affect was measured using the Activation-Deactivation Adjective Check List (Thayer, 1986) and the State Anxiety Inventory (Spielberger et al., 1970). Cognitive (i.e., self-efficacy, enjoyment) and physiological (i.e., heart rate, pain, perceived exertion) mediators of the exercise-affect relationship were also examined. Results showed that during exercise, changes in affect were greater in the exercise conditions than the control condition, and affective valence in the exercise conditions declined relative to the control condition. In partial support of the Dual-mode theory, self-efficacy mediated the relationship between below GET exercise and affect, whereas pain mediated the relationship between above GET exercise and affect. During recovery, arousal was higher in the exercise conditions compared to control, affective valence was less positive compared to control, and state anxiety did not differ across conditions. Finally, there were no significant differences between the two exercise conditions on any of the affect measures. These findings highlight the importance of exercise intensity to the affective benefits of exercise. / Thesis / Master of Arts (MA)