Com o crescimento populacional e a demanda energética crescente, a sociedade contemporânea têm enfrentado novos desafios para se manter. A aplicação da robótica em diversas áreas está cada vez mais comum, contribuindo para suprir estes novos desafios. Contudo, ainda existem casos em que o uso da robótica convencional é proibitivo, como em ambientes com campos elétricos e/ou magnéticos intensos, encontrado, por exemplo, nos sistemas de distribuição de energia elétrica e em máquinas de ressonância magnética. Isto porque os componentes condutores e ferromagnéticos utilizados podem oferecer perigos, causando queimaduras, curtos-circuitos e até lançamento de componentes. Em vista destas dificuldades, este trabalho propõe a construção de um manipulador robótico capaz de atuar nestas condições de campos elétricos e magnéticos elevados. Na construção de tal dispositivo, entretanto, é necessário o estudo da estrutura mecânica, dos atuadores, dos sensores e do controlador. No caso da estrutura mecânica e dos sensores, existem alternativas não condutoras disponíveis. O controlador geralmente é um microcomputador ou um dispositivo eletrônico, portanto condutor. Uma alternativa é manter o controlador distante e isolado do ambiente de risco. Mas para que esta hipótese seja testada, é necessário um atuador não condutor e não ferromagnético. Por isso, este trabalho propõe a construção de um atuador livre de materiais ferromagnéticos e condutores baseado no músculo artificial pneumático de McKibben. Músculos artificiais pneumáticos são disponíveis comercialmente, entretanto possuem materiais metálicos. Além disso, o controle preciso destes atuadores é dificultado pela sua alta não linearidade. Para verificar a viabilidade da aplicação de músculos artificiais em um manipulador não condutor, foram realizados testes com protótipos de músculos artificiais construídos com materiais compatíveis. O projeto e o dimensionamento do músculo artificial é abordado. Finalmente, é realizado o controle PID do músculo para avaliar sua controlabilidade e viabilidade de aplicação para tarefas de precisão em posicionamento. / With the population growth and the evergrowing energy dependency, the contemporary society have been facing new challenges to maintain yourself. The use of robotics in various fields is each time more common, contributing to surpass these new challenges. However, there are still cases where applying conventional robotics is prohibitive, such as in high electric and magnetic field environments, found, for example, in electric energy distribution systems and in magnetic resonance imaging machines. That\'s because conductive and ferromagnetic components can cause serious problems, like burns, short-cuts and even be throwed at high velocities. Knowing these difficulties, this work proposes the construction of a robotic manipulator capable of acting in these high electric and magnetic field environments. To build such manipulator, however, it\'s necessary to study the mechanic structure, the actuators, the sensors and the controller. In the case of the mechanic structure and sensors, there exists non-conductive and non-magnetic alternatives available. The controller is, in general, a microcomputer or an electric device, therefore, conductive. One alternative is to keep the controller far away from the risk environment. But to test this hypothesis, it\'s necessary to have a non-conductive and non-ferromagnetic actuator. Because of that, this work proposes the construction of an actuator free of conductive and magnetic materials, based on the McKibben pneumatic artificial muscle. Pneumatic artificial muscles are available commercially, but they have metallic components. Besides, the accurate control of these actuators is difficult for their high non-linearities. To verify the viability of applying artificial muscles on a non-conductive manipulator, tests were conducted with artificial muscle prototypes built with compatible materials. The design and dimensioning of the artificial muscle are covered. Finally, the PID controller is implemented to evaluate the muscle\'s controllability and its viability for tasks that need position accuracy.

關於二維之變數，Arnold and Press (1989) 首先提出檢驗兩個條件分配是否滿足相容性的理論。本研究嘗試對n維之變數，探討n個條件分配滿足相容性的檢驗方式；並提出在三維聯合分配下，給定三個條件分配為常態(normal) 時，檢驗此三個條件分配滿足相容性的充分必要條件；最後，並推導出此三個條件分配滿足相容性時，其所對應的聯合機率密度函數之公式。若此三個條件分配其所對應的聯合機率密度函數進一步假設為常態時，檢驗其相容性的充分必要條件可更加以簡化。 / Arnold and Press (1989) first provide the theory about the compatibility of two conditional distributions in two dimensions. In this research, we extend the two dimensional cases to the high dimensional cases. In particular, we find the necessary and sufficient conditions of the compatibility of three conditional normal distributions in three dimensions. Furthermore, we also provide a formula to find the joint probability density function when three dimensional conditional normal distributions are compatible. Finally, simple sufficient and necessary conditions are also given when the joint distribution is further assumed to be normal.

The Photonic Crystal (PC) is a potential candidate for a compact optical integrated circuit on a solid state platform. The fabrication process of a PC is compatible with CMOS technology; thus, it could be potentially employed in hybrid optical and electrical integrated circuits. One of the main obstacles in the implementation of an integrated optical circuit is the polarization dependence of wave propagation. Our goal is to overcome this obstacle by implementing PC based polarization controlling devices. One of the crucial elements of polarization controlling devices is the polarization rotator. The polarization rotator is utilized to manipulate and rotate the polarization of light. In this thesis, we have proposed, designed and implemented an ultra-compact passive PC based polarization rotator. Passive polarization rotator structures are mostly composed of geometrically asymmetric structures. The polarization rotator structure consists of a single defect line PC slab waveguide. The geometrical asymmetry has been introduced on top of the defect line as an asymmetric loaded layer. The top loaded layer is asymmetric with respect to the z-axis propagation direction. To synchronize the power conversion and avoid power conversion reversal, the top loaded layer is alternated around the z-axis periodically. The structure is called periodic asymmetric loaded PC slab waveguide. Due to the compactness of the proposed structure, a rigorous numerical method, 3D-FDTD can be employed to analyze and simulate the final designed structure. For the quick preliminary design, an analytical method that provides good approximate values of the structural parameters is preferred. Coupled-mode theory is a robust and well-known method for such analyses of perturbed waveguide structures. Thus, a coupled-mode theory based on semi-vectorial modes was developed for propagation modeling on square hole PC structures. In essence, we wish to develop a simple yet closed form method to carry out the initial design of the device of interest. In the next step, we refined the design by using rigorous but numerically expensive 3D-FDTD simulations. We believe this approach leads to optimization of the device parameters easily, if desired. To extend the design to a more general shape PC based polarization rotator, a design methodology based on hybrid modes of asymmetric loaded PC slab waveguide was introduced. The hybrid modes of the structure were calculated utilizing the 3D-FDTD method combined with the Spatial Fourier Transform (SFT). The propagation constants and profile of the slow and fast modes of an asymmetric loaded PC slab waveguide were extracted from the 3D-FDTD simulation results. The half-beat length, which is the length of each loaded layer, and total number of the loaded layers are calculated using the aforementioned data. This method provides the exact values of the polarization rotator structure’s parameter. The square hole PC based polarization rotator was designed employing both coupled-mode theory and normal modal analysis for THz frequency applications. Both design methods led to the same results. The design was verified by the 3D-FDTD simulation of the polarization rotator structure. For a square hole PC polarization rotator, a polarization conversion efficiency higher than 90% over the propagation distance of 12 λ was achieved within the frequency band of 586.4-604.5 GHz corresponding to the normalized frequency of 0.258-0.267. The design was extended to a circular hole PC based polarization rotator. A polarization conversion efficiency higher than 75% was achieved within the frequency band of 600-604.5 GHz. The circular hole PC polarization rotator is more compact than the square-hole PC structure. On the other hand, the circular hole PC polarization rotator is narrow band in comparison with the square hole PC polarization rotator. In a circular hole PC slab structure, the Bloch modes (fast and slow modes) couple energy to the TM-like PC slab modes. In both square and circular hole PC slab structures with finite number of rows, and the TM-like PC slab modes are extended to the lower edge of the bandgap. In bandgap calculation using PWEM, it is assumed that the PC structure is extended to infinity, however in practice the number of rows is limited, which is the source of discrepancy between the bandgap calculation using PWEM and 3D-FDTD. In an asymmetric loaded circular hole PC slab waveguide, the leaky TM-like PC slab modes are extended deep inside the bandgap and overlapped with both the slow and fast Bloch modes; whereas, in an asymmetric loaded square hole PC slab waveguide, the leaky TM-like PC slab modes are below the frequency band of slow and fast modes. Therefore, TM-like PC slab modes have significantly more adverse effect on the performance of the circular-hole based polarization rotator leading to a narrow band structure. SOI based PC membrane technology for THz application was developed. The device layer is made of highly resistive silicon to maintain low loss propagation for THz wave. The PC slab waveguide and polarization rotators were fabricated employing this technology. Finally, an a-SiON PC slab waveguide structures were also fabricated at low temperature for optical applications. This technology has the potential to be implemented on any substrate or CMOS chips.

The Photonic Crystal (PC) is a potential candidate for a compact optical integrated circuit on a solid state platform. The fabrication process of a PC is compatible with CMOS technology; thus, it could be potentially employed in hybrid optical and electrical integrated circuits. One of the main obstacles in the implementation of an integrated optical circuit is the polarization dependence of wave propagation. Our goal is to overcome this obstacle by implementing PC based polarization controlling devices. One of the crucial elements of polarization controlling devices is the polarization rotator. The polarization rotator is utilized to manipulate and rotate the polarization of light. In this thesis, we have proposed, designed and implemented an ultra-compact passive PC based polarization rotator. Passive polarization rotator structures are mostly composed of geometrically asymmetric structures. The polarization rotator structure consists of a single defect line PC slab waveguide. The geometrical asymmetry has been introduced on top of the defect line as an asymmetric loaded layer. The top loaded layer is asymmetric with respect to the z-axis propagation direction. To synchronize the power conversion and avoid power conversion reversal, the top loaded layer is alternated around the z-axis periodically. The structure is called periodic asymmetric loaded PC slab waveguide. Due to the compactness of the proposed structure, a rigorous numerical method, 3D-FDTD can be employed to analyze and simulate the final designed structure. For the quick preliminary design, an analytical method that provides good approximate values of the structural parameters is preferred. Coupled-mode theory is a robust and well-known method for such analyses of perturbed waveguide structures. Thus, a coupled-mode theory based on semi-vectorial modes was developed for propagation modeling on square hole PC structures. In essence, we wish to develop a simple yet closed form method to carry out the initial design of the device of interest. In the next step, we refined the design by using rigorous but numerically expensive 3D-FDTD simulations. We believe this approach leads to optimization of the device parameters easily, if desired. To extend the design to a more general shape PC based polarization rotator, a design methodology based on hybrid modes of asymmetric loaded PC slab waveguide was introduced. The hybrid modes of the structure were calculated utilizing the 3D-FDTD method combined with the Spatial Fourier Transform (SFT). The propagation constants and profile of the slow and fast modes of an asymmetric loaded PC slab waveguide were extracted from the 3D-FDTD simulation results. The half-beat length, which is the length of each loaded layer, and total number of the loaded layers are calculated using the aforementioned data. This method provides the exact values of the polarization rotator structure’s parameter. The square hole PC based polarization rotator was designed employing both coupled-mode theory and normal modal analysis for THz frequency applications. Both design methods led to the same results. The design was verified by the 3D-FDTD simulation of the polarization rotator structure. For a square hole PC polarization rotator, a polarization conversion efficiency higher than 90% over the propagation distance of 12 λ was achieved within the frequency band of 586.4-604.5 GHz corresponding to the normalized frequency of 0.258-0.267. The design was extended to a circular hole PC based polarization rotator. A polarization conversion efficiency higher than 75% was achieved within the frequency band of 600-604.5 GHz. The circular hole PC polarization rotator is more compact than the square-hole PC structure. On the other hand, the circular hole PC polarization rotator is narrow band in comparison with the square hole PC polarization rotator. In a circular hole PC slab structure, the Bloch modes (fast and slow modes) couple energy to the TM-like PC slab modes. In both square and circular hole PC slab structures with finite number of rows, and the TM-like PC slab modes are extended to the lower edge of the bandgap. In bandgap calculation using PWEM, it is assumed that the PC structure is extended to infinity, however in practice the number of rows is limited, which is the source of discrepancy between the bandgap calculation using PWEM and 3D-FDTD. In an asymmetric loaded circular hole PC slab waveguide, the leaky TM-like PC slab modes are extended deep inside the bandgap and overlapped with both the slow and fast Bloch modes; whereas, in an asymmetric loaded square hole PC slab waveguide, the leaky TM-like PC slab modes are below the frequency band of slow and fast modes. Therefore, TM-like PC slab modes have significantly more adverse effect on the performance of the circular-hole based polarization rotator leading to a narrow band structure. SOI based PC membrane technology for THz application was developed. The device layer is made of highly resistive silicon to maintain low loss propagation for THz wave. The PC slab waveguide and polarization rotators were fabricated employing this technology. Finally, an a-SiON PC slab waveguide structures were also fabricated at low temperature for optical applications. This technology has the potential to be implemented on any substrate or CMOS chips.

A fully integrated optical chem/bio sensor complete with integrated source, chemically sensitive waveguide, detector arrays, and associated signal processing electronics on a Si-CMOS chip is a challenging, but highly desirable goal. An evanescent-wave multimode interferometric sensing element is a sensitive method for sensing, which is easily integrated on Si-CMOS. This work is concerned with the design, analysis, and demonstration of a planar multimode interferometric chem/bio sensor that is compatible with the fabrication constraints of Si-CMOS. A 4000-micron-long interferometric that can be adapted for different agents by a particular sensing layer has been fabricated on silicon using silicon dioxide and silicon oxynitride. Hexaflouro-isopropanol substituted polynorbornene is the sensing layer. This sensor has also been fabricated on a Si-CMOS circuit with embedded photodetectors. A sensor on silicon was demonstrated with a minimum detectable index change of 2.0x10-6 using an accurate gas delivery system and a custom hermetic waveguide test chamber. A modal pattern analysis strategy has also been developed to extract the optimal SNR from the measured modal patterns. An understanding of the noise processes and spatial bandwidth effects has enabled an experimentally-based prediction of the index sensitivity of a fully integrated multimode chem/bio sensor on Si-CMOS at 9.2 x10-7. Theoretically, the sensitivity enhancement of high over low index sensing layers and transverse-magnetic over transverse electric modes is described. Also, the sensitivity enhancement of higher-order-transverse modes has been quantified. The wide-angle beam propagation method has been used to simulate the sensor. This simulation showed the relation between the modal pattern repetition period and sensor sensitivity. Further, the modal coupling properties of the multimode y-junction have been described. A second multimode y-junction has been designed to change the modal excitation under the SL, and thus the sensitivity. The chemo-optic response of the `substituted polynorbornene' polymer., hexaflouro-isopropanol substituted polynorbornene to methanol, water, iso-propanol, and benzene has been measured. Also, its thermo-optic response has been measured. Athermal interferometric chem/bio sensors have then been suggested.

The main objective of our research is to design practical low-density parity-check (LDPC) codes which provide a wide range of code rates in a rate-compatible fashion. To this end, we first propose a rate-compatible puncturing algorithm for LDPC codes at short block lengths (up to several thousand symbols). The proposed algorithm is based on the claim that a punctured LDPC code with a smaller level of recoverability has better performance. The proposed algorithm is verified by comparing performance of intentionally punctured LDPC codes (using the proposed algorithm) with randomly punctured LDPC codes. The intentionally punctured LDPC codes show better bit error rate (BER) performances at practically short block lengths. Even though the proposed puncturing algorithm shows excellent performance, several problems are still remained for our research objective. First, how to design an LDPC code of which structure is well suited for the puncturing algorithm. Second, how to provide a wide range of rates since there is a puncturing limitation with the proposed puncturing algorithm. To attack these problems, we propose a new class of LDPC codes, called efficiently-encodable rate-compatible (E2RC) codes, in which the proposed puncturing algorithm concept is imbedded. The E2RC codes have several strong points. First, the codes can be efficiently encoded. We present low-complexity encoder implementation with shift-register circuits. In addition, we show that a simple erasure decoder can also be used for the linear-time encoding of these codes. Thus, we can share a message-passing decoder for both encoding and decoding in transceiver systems that require an encoder/decoder pair. Second, we show that the non-systematic parts of the parity-check matrix are cycle-free, which ensures good code characteristics. Finally, the E2RC codes having a systematic rate-compatible puncturing structure show better puncturing performance than any other LDPC codes in all ranges of code rates. The throughput performance of incremental redundancy (IR) hybrid automatic repeat request (HARQ) systems highly depends on the performance of high-rate codes. Since the E2RC codes show excellent puncturing performance in all ranges of code rates, especially at high puncturing rate, we verify that E2RC codes outperform in throughput than other LDPC codes in IR-HARQ systems.

This thesis examines the ineliminable status of pluralism in contemporary sciences, especially in biology. Pluralism in science is endorsed to avoid loss of knowledge, unproductive debates and explanatory inflexibility while the plurality indicates the disunited nature of knowledge in some areas. The pluralist stance approach, as an epistemological stance, argues that it is possible to reduce modest forms of pluralism to sophisticated forms of monism. However, the pluralist stance is vulnerable to the monist challenge that today&rsquo / s science is incomplete and brings a sort of epistemological disorder to scientific territory. This thesis tries to answer the following question: is it more beneficial if a modest form of pluralism is adopted for a better scientific practice? Integrative pluralism as a type of modest pluralism can be as pragmatic as the pluralist stance, without seeking theoretical unification but advocating explanatory resolution for a better scientific conduct.

Polynomial functions over finite fields are a major tool in computer science and electrical engineering and have a long history. Some of its aspects, like interpolation and permutation polynomials are described in this thesis. A complete characterization of subfield compatible polynomials (f in E[x] such that f(K) is a subset of L, where K,L are subfields of E) was recently given by J. Hull. In his work, he introduced the Frobenius permutation which played an important role. In this thesis, we fully describe the cycle structure of the Frobenius permutation. We generalize it to a permutation called a monomial permutation and describe its cycle factorization. We also derive some important congruences from number theory as corollaries to our work.

Algorithmic mechanism design deals with efficiently-computable algorithmic constructions in the presence of strategic players who hold the inputs to the problem and may misreport their input if doing so benefits them. Algorithmic mechanism design finds applications in a variety of internet settings such as resource allocation, facility location and e-commerce, such as sponsored search auctions. There is an extensive amount of work in algorithmic mechanism design on packing problems such as single-item auctions, multi-unit auctions and combinatorial auctions. But, surprisingly, covering problems, also called procurement auctions, have almost been completely unexplored, especially in the multidimensional setting. In this thesis, we systematically investigate multidimensional covering mechanism- design problems, wherein there are m items that need to be covered and n players who provide covering objects, with each player i having a private cost for the covering objects he provides. A feasible solution to the covering problem is a collection of covering objects (obtained from the various players) that together cover all items. Two widely considered objectives in mechanism design are: (i) cost-minimization (CM) which aims to minimize the total cost incurred by the players and the mechanism designer; and (ii) payment minimization (PayM), which aims to minimize the payment to players. Covering mechanism design problems turn out to behave quite differently from packing mechanism design problems. In particular, various techniques utilized successfully for packing problems do not perform well for covering mechanism design problems, and this necessitates new approaches and solution concepts. In this thesis we devise various techniques for handling covering mechanism design problems, which yield a variety of results for both the CM and PayM objectives. In our investigation of the CM objective, we focus on two representative covering problems: uncapacitated facility location (UFL) and vertex cover. For multi-dimensional UFL, we give a black-box method to transform any Lagrangian-multiplier-preserving ??-approximation algorithm for UFL into a truthful-in-expectation, ??-approximation mechanism. This yields the first result for multi-dimensional UFL, namely a truthful-in-expectation 2-approximation mechanism. For multi-dimensional VCP (Multi-VCP), we develop a decomposition method that reduces the mechanism-design problem into the simpler task of constructing threshold mechanisms, which are a restricted class of truthful mechanisms, for simpler (in terms of graph structure or problem dimension) instances of Multi-VCP. By suitably designing the decomposition and the threshold mechanisms it uses as building blocks, we obtain truthful mechanisms with approximation ratios (n is the number of nodes): (1) O(r2 log n) for r-dimensional VCP; and (2) O(r log n) for r-dimensional VCP on any proper minor-closed family of graphs (which improves to O(log n) if no two neighbors of a node belong to the same player). These are the first truthful mechanisms for Multi-VCP with non-trivial approximation guarantees. For the PayM objective, we work in the oft-used Bayesian setting, where players??? types are drawn from an underlying distribution and may be correlated, and the goal is to minimize the expected total payment made by the mechanism. We consider the problem of designing incentive compatible, ex-post individually rational (IR) mechanisms for covering problems in the above model. The standard notion of incentive compatibility (IC) in such settings is Bayesian incentive compatibility (BIC), but this notion is over-reliant on having precise knowledge of the underlying distribution, which makes it a rather non- robust notion. We formulate a notion of IC that we call robust Bayesian IC (robust BIC) that is substantially more robust than BIC, and develop black-box reductions from robust BIC-mechanism design to algorithm design. This black-box reduction applies to single- dimensional settings even when we only have an LP-relative approximation algorithm for the algorithmic problem. We obtain near-optimal mechanisms for various covering settings including single- and multi-item procurement auctions, various single-dimensional covering problems, and multidimensional facility location problems. Finally, we study the notion of frugality, which considers the PayM objective but in a worst-case setting, where one does not have prior information about the players??? types. We show that some of our mechanisms developed for the CM objective are also good with respect to certain oft-used frugality benchmarks proposed in the literature. We also introduce an alternate benchmark for frugality, which more directly reflects the goal that the mechanism???s payment be close to the best possible payment, and obtain some preliminary results with respect to this benchmark.

根據Arnold and Press (1989) 提出檢驗兩個條件分配是否滿足相容條件的理論內容，本研究推論出，當給定二個條件機率密度函數的形式為常態（normal）時，如何判斷這兩個條件常態分配是否相容的充要條件，並進而推論出這兩個條件常態分配對應的聯合機率密度函數亦為常態分配的條件。我們更進一步透過電腦模擬方法，提供兩個不同聯合常態分配下所分別得到的兩組不同條件分配樣本，據以推得當對應的母數相差到何種程度時，可判定這兩組樣本其原始母體不同。 / Arnold and Press (1989) provide the theory about the compatibility of two conditional densities. In this research, we use their results to find the sufficient conditions of the compatibility of two conditional densities, which have the normal form. New sufficient conditions are also given if we further assume that corresponding joint density is normal. In addition, we use computer to generate two different samples from two different conditional normal distributions, which are from two different joint normal distributions. With the repeated samples, we provide the ranges of one population parameter when the other population parameters are fixed so that the samples are almost always incompatible.