Analog to digital converters (ADCs) are the fundamental building blocks in communication systems. The need to design ADCs, which are area and/or power efficient, has been common. Various ADC architectures, constrained by resolution capabilities, can be used for this purpose. The cyclic algorithmic architecture of ADC with moderate number of bits comes out to be probably best choice for the minimum area implementation. In this thesis a cyclic ADC is designed using CMOS 65 nm technology. The ADC high-level model is thoroughly explored and its functional blocks are modelled to attain the best possible performance. In particular, the nonlinearities which affect the cyclic/algorithmic converter are discussed. This ADC has been designed for built-in-self-testing (BiST) on a chip. It is only functional during the testing phase, so power dissipation is not a constraint while designing it. As it is supposed to be integrated as an extra circuitry on a chip, its area really matters. The ADC is designed as 10-bit fully differential switch-capacitor (SC) circuit using 65nm CMOS process with 1.2V power supply. A two stage Operational Transconductance Amplifier (OTA) is used in this design to provide sufficient voltage gain. The first stage is a telescopic OTA whereas the second is a common source amplifier. The bottom plate sampling is used to minimize the charge injection effect which is present in the switches.

Detta examensarbete handlar om att ta fram ett koncept på alternativa borstar och en bottenplåt i alternativt material för Weda W50. Anledningen till detta är att dagens borstar kräver ständig och noggrann rengöring för att inte haverera samt att bottenplåten orsakar elektrolytisk korrosion på resterande komponenter. För att kunna uppnå godtagbara resultat har metoder som idégenerering, materialsökning, modellering samt prototypframtagning använts. I genomförandefasen har tester utförts för att få en demonstration på hur de slutgiltiga komponenterna kommer att fungera i praktiken. Efter en avslutad genomförandefas blev resultatet fasta borstar med omdesignade länkarmar samt en bottenplåt i ABS-plast, vilket presenterats med både 3D-modellering och i fysisk komponent. Därmed har målen och syftet med detta examensarbete uppfyllts. / The purpose of this thesis is to examine and generate alternative concepts for the pool brushes and bottom plates used in the W50 underwater cleaning robot. The reason is that the current rotating brushes used on the W50 require thorough and consistent servicing to function as advertised, the other cause is that the bottom plate is produced in stainless steel which causes electrolytic corrosion on the surfaces of other components that are made in aluminum. Brainstorming, material research, 3D-modeling and prototyping were used to achieve tangible results. Several tests were conducted during the execution phase to give a live demonstration of how the final product is meant to perform. The results of the execution phase became fixed brushes for the W50, redesigned control arms and a bottom plate in ABS plastic. The results of this thesis work were demonstrated with the help of both 3D-modeling and physical models. Finally, the goals and purposes of this thesis were achieved.