The aim of my dissertation work was to create an application for pocket PC with operating system Windows Mobile and touch screen, an application that would enable to position the current location of the pocket PC based on the GPS data, on distance measurement between two and more points of which the location is obtained from GPS, and on measurement of territory surface defined by certain number of points obtained from the GPS. The application also enables to display the characteristics of the received GPS signal, information about the number of visible satellites and also information about maximum deviation from positioning. In order to increase the accuracy of the positioning, an averaging function has been implemented. As additional function, a possibility of route location has been created. It measures the passed distance and records some other route characteristics. The application has been successfully tested on pocket PC E-ten M600+ and GPS receiver Navilock but it has been designed with general-purpose and should be compatible with all devices working with operating system Windows Mobile and touch screen. The text section of my dissertation work describes the positioning principle on the basis of satellites with known position, deals with the accuracy of these systems and describes few possibilities how to increase their accuracy. It also discusses the NMEA 0183 Protocol that is used by the majority of GPS modules for communication. The text section also describes several mathematic and cartographic calculations needed for realization of the application. In the end of the text section there is a detailed description of the created application.

Diplomová práce se zabývá vývojem dálkoměrného modulu určeného pro rozšíření senzorické výbavy fotbalového robotu kategorie MiroSot. Tento modul na vstupu přijímá data ze senzorické jednotky vyvinuté na Ústavu automatizace a měřicí techniky a z těchto dat extrahuje polohu míčku. Je srovnáno využití neuronové sítě a zjednodušené Houghovy transformace pro získání polohy těžiště míčku. V práci je popsána pomocná implementace funkcionality v prostředích MATLAB a C#.NET i hlavní implementace pro signálový mikrokontrolér Freescale MC56F8013. Výsledný modul splňuje nároky zadání a je plně funkční.

Owing to the steep dose fall-off curves of high precision and accuracy radiation therapy (RT) modalities such as stereotactic body RT (SBRT), treatment plans with extraordinarily small margins to organs at risk (OARs), such as the spinal cord, has been made possible. With this development, patient movements during treatment, i.e. intrafraction motion (IFM), must be monitored more closely. This master thesis was aimed at developing an A-mode ultrasound prototype to detect the motions of the cervical spine as part of an IFM management (IFMM) system. Current IFMM systems have several drawbacks, including invasiveness and indirect measurements. The existing prototype was tested in order to identify areas of improvement. The prototype developed was equipped with a preconditioning circuit that retains the frequency information of the signal. Furthermore, software was developed based on wavelet filtering and enveloping using the Hilbert transform. Multiple logic algorithms were added in order to handle lost signals, competing echoes, echoes from soft tissues etc. The newly-developed prototype was found to have higher accuracy and precision than the pre-existing prototype. It was also more robust when measuring distance to the spine. A difficulty in segmenting the echo for bone arises for low quality signals. Therefore a compromise exists between setup time, including probe adjustment, and signal quality. Future work includes the manufacturing of a new neck rest to enable robust probe adjustment and fixation.

En réponse aux problèmes croissants liés aux transports routiers - accidents, pollutions,congestions - les véhicules à faibles émissions, équipés de systèmes de transports intelligents (ITS)sont progressivement développés. Si la finalité de cette démarche est le véhicule entièrementautonome, on peut néanmoins s'attendre à voir d'abord sur nos routes des véhicules automatisés surdes phases de conduite spécifiques. C'est le cas du convoi automatisé, qui permet à plusieursvéhicules de rouler en convois de manière automatique et donc d'augmenter la capacité des voies decirculation tout en réduisant la consommation de carburant. La fiabilité de cet ITS repose surplusieurs briques technologiques, et en particulier sur la mesure de distance et la transmission dedonnées véhicule-véhicule (V2V).De nombreux systèmes permettent de réaliser ces deux fonctions vitales comme, par exemple, lesradars ou lidars pour la mesure de distance et la technologie IEEE 802.11p pour la communicationvéhiculaire. Si ces différents dispositifs présentent de très bonnes performances, ils sont néanmoinsparticulièrement sensibles aux interférences, qui ne cessent de se multiplier à mesure que le nombrede véhicules équipés augmente et que le trafic est dense. Pour pallier les dégradations deperformances induites par de telles situations, des technologies complémentaires pourraient donc êtreutiles. Le récent développement des diodes électroluminescentes (LED) blanches, en particulier pourl'éclairage automobile, a permis l'émergence des communications optiques visibles sans fil (VLC).Les phares à LED sont alors utilisés pour transmettre des données entre véhicules et avec lesinfrastructures. Malgré la puissance limitée de ces éclairages, plusieurs études ont montré qu'unetransmission de qualité est possible sur quelques dizaines de mètres, faisant de la VLC uncomplément particulièrement intéressant à l'IEEE 802.11p, en particulier pour les convoisautomatisés. Par analogie, on peut alors se demander si les phares ne pourraient pas être aussi utiliséspour mesurer la distance V2V.Le but de cette thèse est donc de proposer et évaluer un système dédié aux situations de convoisautomatisés qui, à partir des phares avant et arrière des véhicules, transmet des données et mesuresimultanément la distance V2V. Dans un premier temps, une étude détaillée de l'état de l'art de laVLC pour la communication V2V est effectuée afin de déterminer l'architecture de base de notresystème. La fonction de mesure de distance est ensuite ajoutée, après une revue des différentestechniques usuelles. Une fois l'architecture générale du système établie, elle est dans un premiertemps validée par des simulations avec le logiciel Simulink. En particulier, les différents paramètressont étudiés afin de déterminer leur impact sur la résolution de mesure de distance et les performancesen transmission de données, puis afin de les optimiser. Si ces simulations fournissent des indicateursimportants pour la compréhension du système, elles ne peuvent cependant remplacer les tests d'unprototype réel. L'implémentation de ce prototype est alors détaillée ainsi que les tests réalisés dansdifférentes configurations. Ces différents tests démontrent l'intérêt des solutions proposées pour lamesure de distance et la communication V2V en convois automatisés. / In response to the growing issues induced by road traffic - accidents, pollution, congestion- low-carbon vehicles equipped with intelligent transportation systems (ITS) are being developed.Although the final goal is full autonomy, the vehicles of the near future will most probably be selfdrivingin certain phases only, as in platooning. Platooning allows several vehicles to moveautomatically in platoons and thus to increase road capacity while reducing fuel consumption. Thereliability of this ITS is based on several core technologies and in particular on vehicle-to-vehicle(V2V) distance measurement and data transmission.These two vital functions can be implemented with several kinds of systems as, for instance, radars orlidars for range-finding and IEEE 802.11p-based devices for vehicular communication. Althoughthese systems provide good performances, they are very sensitive to interferences, which may be agrowing issue as the number of vehicles equipped will increase, especially in dense traffic scenario.In order to mitigate the performance degradation occurring in such situations, complementarysolutions may be useful. The recent developments of white light-emitting diodes (LED), especiallyfor the automotive lighting, has allowed the emergence of visible light communication (VLC). WithVLC, the vehicle headlamps and taillights are used to transmit data to other vehicles orinfrastructures. Despite the limited optical power available, several studies have shown thatcommunication over tens of meters are possible with a low bit error rate (BER). VLC could thus bean interesting complement to IEEE 802.11p, especially in platooning applications. By analogy, onecould wonder if the automotive lighting can also be used for V2V range-finding.The goal of this thesis is thus to propose and evaluate a system dedicated to platooning configurationsthat can perform simultaneously the V2V distance measurement and data transmission functionsusing the headlamps and taillights of the vehicles. The first step of this study is thus a detailed stateof-the art on VLC for V2V communication that will lead to a first basic architecture of our system.Then, the range-finding function is added, after a careful review of the classical techniques. Once thegeneral architecture of the system is drawn, it is validated through simulations in the Simulinkenvironment. The different degrees of freedom in the system design are especially studied, in orderfirst to evaluate their impact on the measurement resolution and the communication performances,and then to be optimized. Although these simulations provide crucial keys to understand the system,they cannot replace real prototype testing. The implementation of the prototype is thus fullydescribed, along with the results of the different experiments carried out. It is finally demonstratedthat the proposed solution has a clear interest for V2V range-finding and communication inplatooning applications.

Die vorliegende Arbeit hat die Entwicklung und Validierung eines Analysealgorithmus zur objektiven Auswertung der Materialverteilung entlang der Zarge an gezogenen Karton-formziehteilen zum Ziel. Die dafür verwendeten Messdaten werden durch Oberflächenab-tastung mit konfokaler Sensorik erzeugt. Unter Anwendung des Analysealgorithmus wer-den die Einflüsse der Prozessparameter auf die Materialverteilung ermittelt. Abschließend wird aus den gewonnenen Daten ein Ansatz zur Berechnung der Werkzeuggeometrie ent-wickelt. Zur Bestimmung der Materialverteilung wird die Zarge beidseitig abgetastet. Aus der Diffe-renz der Radien von Außen- und Innenkontur wird der Dickenverlauf entlang der Zarge bestimmt, die die Materialverteilung beschreibt. Die Messung mit konfokalen Sensoren wird mit mikroskopischen Aufnahmen von Mikrotomschnitten und röntgentomographi-schen Aufnahmen geprüft. Der Mittelwert und die Standardabweichung des Dickenverlaufs charakterisieren die Mate-rialverteilung. Der Analysealgorithmus ermittelt aus den durch Sensoren aufgenommenen Daten die charakteristischen Werte. In der Auswertung zeigt sich, dass eine Höhere Zieh-stempeltemperatur als Ziehbüchsentemperatur sowie eine hohe Temperatursumme die mittlere Dicke verringern. Eine hohe Faltenhalterkraft und eine hohe Stempeltemperatur bewirken eine gleichmäßigere Materialverteilung. Der ermittelte Zusammenhang von der Beeinflussung des Mittelwertes der Dicke mit den Temperaturunterschieden von Stempel und Büchse wird durch ein Modell der thermischen Ausdehnung von Stempel und Büchse belegt. / The present thesis comprises the development and validation of an algorithm for the objec-tive evaluation of data on material distribution alongside the architrave of drawn cardboard shells. The necessary data are obtained through detection of the surface with confocal sensors. The influences of the process parameters on material distribution are investigated with algorithm. Resulting from this data, the basis for the calculation of the tools geometry is developed. The determination of material distribution is accomplished by double-sided optical scanning of the architraves inner and outer surface. The trend of cardboard thickness alongside the architrave is calculated by the subtracion of the inside radius from the outside radius of the cardboard shell. The cardboard thickness describes material distribution. The measures with confocal sensors are approved of examined microtome cuts under microscope and x-ray analyses. Material distribution is characterised by average of the thickness and standard deviation of thickness. The analysis algorithm calculates with sensor data the characteristic values. A higher temprature of the drawing die as the temprature of the drawing box and the sum of temperatures lead to a decrease of the average thickness. The combination of a high die temperature and a high force applied by the blankholder result in a more even material distribution. The identified correlation of average thickness and temperature gradients between the drawing die and the box is discribed by thermal expansion of die and box.

Dans cette thèse, nous avons mis en oeuvre un système de mesure de distance absolue (Absolute Distance Measurement, ADM) de haute précision utilisant l'interférométrie à balayage de fréquence (Frequency Sweeping Interferometry, FSI). La technique FSI exige que la plage de réglage de fréquence du laser balayé soit mesurée avec une précision élevée, ce qui est difficile en raison de l'absence d'un moyen simple de mesurer la haute fréquence d'un laser en temps réel. Dans cette thèse, un peigne de fréquence a été utilisé comme règle de fréquence lumière pour mesurer la plage de réglage de la fréquence du laser à balayage. Un peigne de fréquence formé par un laser femtoseconde est constitué de millions de lignes de peigne régulièrement espacées, ce qui permet de le considérer comme une règle de fréquence de la lumière. La calibration de fréquence a été réalisée en filtrant le signal hétérodyne entre le laser à balayage et les lignes de peigne en utilisant un filtre passe-bande étroit. Cette approche nous permet de détecter le signal d'étalonnage lorsque la fréquence du laser à balayage est proche d'une ligne en peigne. Etant donné que l’intervalle de fréquence entre les lignes de peigne peut être mesuré avec précision ou activement verrouillé en phase par rapport à un oscillateur radiofréquence (RF) stable, la plage d ’ accord du laser à balayage peut être mesurée avec une grande précision. En particulier, chacun des deux pics d’étalonnage peut être utilisé dans le calcul de la distance, ce que nous appelons des «sous-mesures» en un seul balayage. Combinée au grand nombre de lignes de peigne, la moyenne des sous-mesures améliore considérablement la précision des mesures sans balayage multiple. Dans la thèse, la condition de détection et les caractéristiques du signal hétérodyne entre le laser à balayage et la ligne de peigne sont présentées. Une conception de filtre pour filtrer le signal hétérodyne est réalisée. Un travail de modélisation concernant l'effet du bruit de phase des lasers sur la distorsion d'enveloppe du pic d'étalonnage a été présenté. Des travaux expérimentaux basés sur les concepts de mesure ont été réalisés. Il montre que l'utilisation du schéma de mesure proposé peut considérablement améliorer la précision de la mesure de distance. Dans l’une des mesures, une précision de 30 nm pour une distance d’environ 0,8 m, correspondant à une incertitude relative de 37 ppm (part-perbillion) a été obtenue. Le résultat a été obtenu sur la base d'une méthode de traitement du signal de comptage de franges. La grande précision a été obtenue grâce au grand nombre de sous-mesures et à la stabilité des lignes de peigne régulièrement espacées. Nous avons constaté que la mesure de vibration de la cible peut également être effectuée en prenant avantage des lignes de peigne denses. Une sensibilité élevée, limitée à 1,7 nm efficace en bruit, de la mesure des vibrations a été atteinte. Ce résultat nous permet de surveiller la vibration de la cible, ce qui est un problème important de la technique FSI. / In this thesis, we implemented a high-precision absolute distance measurement (ADM) system using frequency sweeping interferometry (FSI). The FSI technique requires the frequency tuning range of the swept laser to be measured with high accuracy and precision, which is challenging due to the lack of an easy way to measure the high frequency of a laser in real time. In this thesis, a frequency comb has been used as the light frequency ruler for measuring the frequency tuning range of the sweeping laser. A frequency comb formed by a femtosecond laser consists millions of evenly spaced comb lines so that can be regarded as a light frequency ruler. The frequency calibration was realized by filtering the heterodyne signal between the sweeping laser and the comb lines using a narrow bandpass filter. This approach allows us to detect the calibration signal when the frequency of the sweeping laser is in the vicinity of a comb line. As the frequency interval between the comb lines space can be precisely measured or actively phase-locked against a stable radio-frequency (RF) oscillator, the tuning range of the sweeping laser could be measured with high accuracy. Especially, each two calibration peaks can be used in the calculation of distance, which we call sub-measurements in a single sweeping. Combined with the large number of the comb lines, averaging of the sub-measurements improves greatly the measurement precision without multiple sweeping. In the thesis, the condition of detecting and the characteristics of the heterodyne signal between the sweeping laser and the comb line are presented. A filter design for filtering the heterodyne signal is performed. A modeling work concerning the effect of the phase noise of lasers on the envelope distortion of the calibration peak has been presented. Experimental works based on the measurement concepts have been carried out. It shows that using the proposed measurement scheme can greatly improve the distance measurement precision. In one of the measurements, a precision of 30 nm for a distance around 0.8 m, corresponding to 37 ppb (part-per-billion) relative uncertainty has been achieved. The result was obtained based on a fringe counting signal processing method. The high precision was obtained thanks to the large number of sub-measurements and the stability of the evenly spaced comb lines. We have found that vibration measurement of the target can be also performed taking the advantage of the dense comb lines. A high sensitivity, limited by 1.7 nm noise RMS, of vibration measurement has been achieved. This result allows us to monitor the vibration of the target, which is an important issue of FSI technique.

A new approach to the absolute measurement of two-dimensional optical path differences is presented in this thesis. The method, which incorporates a white light interferometer and a hyperspectral imaging system, is referred to as Hyperspectral Interferometry. A prototype of the Hyperspectral Interferometry (HSI) system has been designed, constructed and tested for two types of measurement: for surface profilometry and for depth-resolved displacement measurement, both of which have been implemented so as to achieve single shot data acquisition. The prototype has been shown to be capable of performing a single-shot 3-D shape measurement of an optically-flat step-height sample, with less than 5% difference from the result obtained by a standard optical (microscope) based method. The HSI prototype has been demonstrated to be able to perform single-shot measurement with an unambiguous 352 (m depth range and a rms measurement error of around 80 nm. The prototype has also been tested to perform measurements on optically rough surfaces. The rms error of these measurements was found to increase to around 4× that of the smooth surface. For the depth-resolved displacement field measurements, an experimental setup was designed and constructed in which a weakly-scattering sample underwent simple compression with a PZT actuator. Depth-resolved displacement fields were reconstructed from pairs of hyperspectral interferograms. However, the experimental results did not show the expected result of linear phase variation with depth. Analysis of several possible causes has been carried out with the most plausible reasons being excessive scattering particle density inside the sample and the possibility of insignificant deformation of the sample due to insufficient physical contact between the transducer and the sample.

Le repérage (localisation topologique) des capteurs dans un réseau sans fil ouvre la porte à de nombreuses applications. Les techniques actuelles basées sur la puissance du signal reçu restent peu fiable compte-tenu de la stabilité des mesures dans le circuit. Des techniques plus précises inspirées des radars ont été proposées mais cela nécessite un type de radio adaptée qui s'avère trop couteuse, autant en termes d'implémentation qu'en termes de consommation électrique. Cependant, une des difficultés majeure de l'adaptation de ces techniques de localisation aux réseaux de capteurs sans fil reste leur inadéquation avec leur faible coût de réalisation et la faible consommation électrique requise pour ces dispositifs autonomes. En particulier, les étages radio et de génération d'horloge des modems ZigBee introduisent une grande incertitude sur la fiabilité des mesures. Les algorithmes digitaux très complexes demandent à être tout particulièrement étudiés et améliorés afin de ne pas dépasser un budget de consommation extrêmement réduit tout en tentant d'atteindre une complexité d'implémentation aussi faible que possible.Les travaux de cette thèse se concentrent sur 2 principaux objectifs: l'élaboration d'un circuit digital étant capable de calculer de temps d'arrivée en temps réel, et l'élaboration de prototypes permettant le positionnement d'un noeud. La principale contrainte, est l'utilisation d'un seul canal ZigBee de la norme 802.15.4. Ce travail a permi d'appréhender les problèmes liés à la mesure de distance et envisager l'adaptation de ces techniques aux contraintes spécifiques des réseaux de capteurs sans fil et du type de radio utilisée. / Tracking sensors in a wireless network leads to many applications. However, current techniques based on the received signal strength are unreliable given the stability of measurements. More accurate techniques inspired from radars have been proposed but they require an expensive radio. However, one of the most difficult aspects regarding the localization in a wireless sensor network remains their inadequacy with their low-cost and low-power characteristics. For example, clock generation of ZigBee modems introduce strong uncertainties regarding the reliability of measurements. Demanding digital algorithms must be carefully studied and improved in order not to exceed requirements defined by industrials. In other words, the purpose is to design an implementation as cheap as possible while keeping a minimum accuracy. The work of this thesis focuses on two main objectives: the development of a digital circuit capable of calculating time of arrivals, and the development of prototypes for a future positioning feature. The main constraint is the use of a single channel from the ZigBee 802.15.4 standard. This work enabled to understand issues regarding the distance measurements and adapt them given wireless sensor network constraints.

The diploma thesis deals with the detection of falls and impacts, based on data obtained from inertial sensors, and by measuring the distance using a laser. The aim of this thesis is to extend the functionality of locators from Sewio. The thesis describes the procedure for designing algorithms for detection of falls and impacts. Then there is a procedure for development of hardware and software solution, for laser distance measurement by locator, together with presentation of achieved measurement results realized by locator after implementation of proposed solution. The work also emphasizes the minimization of energy consumption of individual solutions. In conclusion, there is a discussion of achieved results with evaluation of efficiency and usability of proposed solutions.

The master's thesis deals with problems which is associated with rough detection of distance between wireless modules based on ZigBee technology. In the first logical part it theoretically describes this technology and their characteristics. This section gives basic informations needed to understand the operation of wireless communications and also acquaint him with some of the terms from this sphere. Next thing is description of the medium access together with a detailed description of functions that are crucial for deter-mining the signal strength. The second part is devoted to describe the 1321XDSK-BDM development kit. Another section is devoted to the design of the user's interface for displaying measured data. It consists of a theoretical design, which describes the initial vision of the device accompanied by solution of communication between wireless module and the proposed device. Follows the design of the involvement in Eagle software and explanation of the various components. In the last two chapters of the whole logical structure is described construction of the device and simple user's guide. The following chapter talks about the selection of suited application, necessary changes and own implementation of source code. There is even a description of important features and components of the application. The penultimate chapter contains a distance measurement in terrain using wireless modules and designed device. Here are tested different influences on the final distance measurement accuracy. In conclusion there is a debate over the results achieved. Particular, this section includes an assessment of precision measuring methods and evaluates aplicability of this method in practice.