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abstract: There has been exciting progress in the area of Unmanned Aerial Vehicles (UAV) in the last decade, especially for quadrotors due to their nature of easy manipulation and simple structure. A lot of research has been done on achieving autonomous and robust control for quadrotors. Recently researchers have been utilizing linear temporal logic as mission specification language for robot motion planning due to its expressiveness and scalability. Several algorithms have been proposed to achieve autonomous temporal logic planning. Also, several frameworks are designed to compose those discrete planners and continuous controllers to make sure the actual trajectory also satisfies the mission specification. However, most of these works use first-order kinematic models which are not accurate when quadrotors fly at high speed and cannot fully utilize the potential of quadrotors. This thesis work describes a new design for a hierarchical hybrid controller that is based on a dynamic model and seeks to achieve better performance in terms of speed and accuracy compared with some previous works. Furthermore, the proposed hierarchical controller is making progress towards guaranteed satisfaction of mission specification expressed in Linear Temporal Logic for dynamic systems. An event-driven receding horizon planner is also utilized that aims at distributed and decentralized planning for large-scale navigation scenarios. The benefits of this approach will be demonstrated using simulations results. / Dissertation/Thesis / Masters Thesis Computer Science 2016

Este trabalho apresenta um método alternativo para sintonia de múltiplos controladores ressonantes aplicados aos sistemas ininterruptos de energia. A proposta do método é fornecer um conjunto de equações algébricas de simples aplicação que possibilite aos projetistas destes sistemas determinar os parâmetros dos controladores ressonantes com múltiplos modos. As equações apresentadas para determinação dos parâmetros do controlador foram obtidas diretamente com base nos parâmetros e nas características funcionais do inversor. Também nestas equações estão presentes constantes as quais garantem que todo o inversor cujo controlador for sintonizado pelo método atenda as especificações estabelecidas pela norma 60240-3. As constantes são determinadas através da formulação do problema por desigualdades matriciais lineares (LMI - Linear Matrix Inequalities) que levam em conta o equacionamento dinâmico do inversor e dos múltiplos controladores ressonantes. A solução do problema satisfaz simultaneamente a minimização do esforço de controle, onde foi empregada a formulação de custo garantido, juntamente com a localização dos polos de malha-fechada para toda a variação admissível de carga, formulada através do procedimento de D-Estabilidade. / This master thesis shows an alternative method for tuning multiple resonant controllers applied to uninterrupted power supply. The method is intended to provide a set of simple algebraic equations that enable designers of those systems to determine the parameters of the resonant controllers through multiple modes. The equations presented for determining the controller’s parameters were obtained directly based on the parameters and functional characteristics of the inverter. Additionally, constants that ensure that every inverter whose controller is attuned by the method meets the 60240-3 specifications norms can be found in these equations. The constants are determined based on the formulation of the problem through linear matrix inequalities (LMI) that take in consideration the dynamic of the inverter and of the multiple resonant controllers. The solution of the problem ensures both the needs for minimization of control efforts at guaranteed cost, along with the location of close-loop poles for every permissible load variation, formulated through the D-Stability procedure.

Este trabalho apresenta um método alternativo para sintonia de múltiplos controladores ressonantes aplicados aos sistemas ininterruptos de energia. A proposta do método é fornecer um conjunto de equações algébricas de simples aplicação que possibilite aos projetistas destes sistemas determinar os parâmetros dos controladores ressonantes com múltiplos modos. As equações apresentadas para determinação dos parâmetros do controlador foram obtidas diretamente com base nos parâmetros e nas características funcionais do inversor. Também nestas equações estão presentes constantes as quais garantem que todo o inversor cujo controlador for sintonizado pelo método atenda as especificações estabelecidas pela norma 60240-3. As constantes são determinadas através da formulação do problema por desigualdades matriciais lineares (LMI - Linear Matrix Inequalities) que levam em conta o equacionamento dinâmico do inversor e dos múltiplos controladores ressonantes. A solução do problema satisfaz simultaneamente a minimização do esforço de controle, onde foi empregada a formulação de custo garantido, juntamente com a localização dos polos de malha-fechada para toda a variação admissível de carga, formulada através do procedimento de D-Estabilidade. / This master thesis shows an alternative method for tuning multiple resonant controllers applied to uninterrupted power supply. The method is intended to provide a set of simple algebraic equations that enable designers of those systems to determine the parameters of the resonant controllers through multiple modes. The equations presented for determining the controller’s parameters were obtained directly based on the parameters and functional characteristics of the inverter. Additionally, constants that ensure that every inverter whose controller is attuned by the method meets the 60240-3 specifications norms can be found in these equations. The constants are determined based on the formulation of the problem through linear matrix inequalities (LMI) that take in consideration the dynamic of the inverter and of the multiple resonant controllers. The solution of the problem ensures both the needs for minimization of control efforts at guaranteed cost, along with the location of close-loop poles for every permissible load variation, formulated through the D-Stability procedure.

[pt] O trabalho trata do projeto de um controlador de disco magnético com capacidade de microprogramação, vários parâmetros de controle, tais como comprimento da palavra, capacidade de setor, número de setores e controle da formatação, poderão ser ajustados por meio de programação adequada. O controlador usa ainda rotinas em Firm-Ware residentes em memórias fixas para realizar o controle de status, a verificação de erros, o protocolo de interface e, também, a implantação de diferentes comandos de leitura e escritura. A implementação do controlador é baseada em um microprocessador que utiliza elementos bipolares de alta densidade. Sendo aqui descritas as diversas opções que resultaram na configuração adotada, tendo em vista as características da aplicação. / [en] This work describes the design of a magnetic disk controler with microprogramming feature. Some parameters, such as word length, sector capacity, number of sectors, and formatation control, can all be adjsuted throught suitable programming. Further, the controller reccurs to some Firm-Ware routunes stored on read only memory, with the sake of execute the status control, error check, interface protocol, and also the generation of a few reading and writing comands. Its implementation is based on a microprocessador wihich uses high density bipolar devices, being here described several options which result from the choosed configuration, aiming the application characteristics.

Usability is one of the most important quality attributes in the new generation of software applications and computational devices. On the other hand, Model- View-Controller is a well known software architectural pattern and is widely used in its original form or its variations. The relationship between usability and the usage of Model-View-Controller, however, is still unknown. This thesis tries to contribute to this research question by providing the outcomes of a case study where a prototype has been developed in two different versions: one using Model-View-Controller and another using a widely known Object-Oriented guideline, the GRASP patterns. Those prototypes have been developed based on a non-functional prototype with a good level of usability. With the prototypes in hands, they were compared based on their design and based on the usability heuristics proposed by Nielsen. From this study, we discovered that the usage of MVC brings more advantages and disadvantages to the usability of the system than the ones that were found on the literature review. In general, the relationship between MVC and usability is beneficial, easing the implementation of usability features like validation of input data, evolutionary consistency, multiple views, inform the result of actions and skip steps in a process.

Since the mindstorm kit is widely used by students and beginners, demand of a commercial-free integrated embedded working environment turns up. With its help the limitation on working place and complexity of programming can be reduced.  The aim of this project is to use a combination of commercial-free softwares as an embedded working environment. The environment can deal with the mindstorm kit applications directly. In order to show the successful generation of the commercial-freesoftware's project an inverted pendulum is set up. Open source firmware of NXT-G is used to provide basic interface for invoking the functions in NXT master brick. Accelerometer is working as the sensor. The main dynamic controller falls on the PD controller to keep inverted pendulum in vertical and static state. As a result the inverted pendulum programmed in this working environment can keep balance for a couple of seconds.

The thesis deals with the analysis of commonly available textbooks for the development of the Spring framework. Identifies weaknesses of these textbooks and uses them to de-sign their own way of writing textbooks. Individual stages of development are demon-strated on a sample application that is initially designed with respect to real requirements for web application and interconnection of different technologies. During the incremental development of the application, the implementation methods are described together with the solution of the problems that have occurred.

In this project, a novel human friendly mobile robot navigation controller is investigated. By applying this controller, the mobile robot is able to work in a complicated environment with several humans and other obstacles avoiding them before a collision happens. This robot will have a preference in avoiding humans over other obstacles keeping human safety as its first consideration. To achieve this goal, three problems have to be solved. The first one is the robot should be able to “see” the environment and distinguish the human and the obstacles. The functions of human sensor and sonar sensor are presented. A new sensor fusion method for combining the information collected by these two sorts of sensors based on Dempster-Shafer evidence theory is also proposed. By using the sensor fusion method, the robot will have a better view of human. The second problem is the robot has to know how to avoid collision. A new navigation algorithm, based on an improved velocity potential field method, is then described. The way of calculating the distances of avoidance based on different kinds of obstacles is presented as well. The last problem is how to make the mobile robot put human as its first priority when avoiding collision. A summary of the methods which are used to protect human is mentioned. According to the simulation and the experimental results, the new mobile robot navigation controller successfully led the robot avoid collisions in complicated situations and always put human safety as its first consideration.

This thesis deals with usage of MVC (Model View Controller) technology in web development on ASP.NET platform from Microsoft. Mainly it deals with latest version of framework ASP.NET MVC 3. First part describes MVC architecture and the second describes usage of MVC in certain parts of web application an comparing with PHP.