A number of parameters have been identified as characteristic of the walking pattern in patients with INPH. Most of these have been identified through qualitative surveys and manually conducted test batteries. In order to obtain quantitative, standardized and objective measures, which enable studies based on larger patient populations and comparable results, there is a need for a user-friendly system that can measure specific key parameters over time in a reliable manner in everyday clinical work. Step height, width and the variability in the gait cycle are such parameters which are interesting research areas for this group of patient. Problems with balance and gait are very common in other patient groups as well, particularly in neurological diseases such as Parkinson's disease, multiple sclerosis and stroke. This is the reason that the development of this gait analyzer is performed. Giving access to a simple and objective method for estimating gait and balance ability in clinical routine investigations would increase the ability to provide the right kind of treatment, confirm treatment results, and conducting larger research studies. Therefore, this equipment can contribute to the assessment of diseases which contain impaired gait. As a first test of the usability and for the validation of accuracy and repeatability of the equipment a group of healthy volunteers was used. Results from tests on healthy subjects show god repeatability between measurements, for step width at normal gait the difference was -0,2 ±0,34 cm (mean, ±SD) and step height 0,69 ±3,34 cm. The stride time variability in the healthy group where very small 0,00048 ±0,00028 s2 with a difference between test of 0,000019 ±0,00038 s2. Three pilot patients have been tested where we have clearly seen indications of increased stride time variability and reduced step height.

This master’s thesis discourses the problematics of eddy current sensors of transformer type dedicated for measuring non-contact distances of unferomagnetic and feromagnetic objects. This thesis contains the design, realization and finding of the optimal values for the sensor usage. The sensor properties are measured and certified by empirical calculations and simulations in the Comsol Multiphysics programme.

Submitted by Erika Demachki (erikademachki@gmail.com) on 2017-04-06T18:00:39Z No. of bitstreams: 2 Dissertação - Danilo Sulino Silveira Pinto - 2017.pdf: 5661209 bytes, checksum: a3765119d82a3ef7a763dfcd402dd0ca (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2017-04-07T11:11:08Z (GMT) No. of bitstreams: 2 Dissertação - Danilo Sulino Silveira Pinto - 2017.pdf: 5661209 bytes, checksum: a3765119d82a3ef7a763dfcd402dd0ca (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Made available in DSpace on 2017-04-07T11:11:08Z (GMT). No. of bitstreams: 2 Dissertação - Danilo Sulino Silveira Pinto - 2017.pdf: 5661209 bytes, checksum: a3765119d82a3ef7a763dfcd402dd0ca (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2017-03-13 / Fundação de Amparo à Pesquisa do Estado de Goiás - FAPEG / During one of the most critical water crises in Brazil, in 2015, a Folha de São Paulo Journal report showed that 37 % of all water treated in Brazil does not reach the final consumer, being the failures in pipes the main cause. This master’s work addresses this problem of waste and failure in piping, for both water and sewage. In this way the characteristics of these types of pipes as well as the most common types of faults are presented. Existing inspection piping methods are also presented. And in an attempt to help reduce this pipeline waste, a pipe failure detection method was developed to achieve a low cost solution so that it can be widely used. The developed solution involved the development of a position control method using a reinforcement learning method, Q-Learning, which allows the robot to run through the pipe without tumbling, using only a gyroscope. It was also developed, using infrared distance sensors and an accelerometer, a method of detecting failures in which it was possible to detect faults with only 2 mm of thickness, in all the times in which the robot passed through it. The developed method is able to overcome the instability and imprecision of the infrared sensor, allowing, during the tests, the detection of all the faults in which the robot crossed, having only 1 false failure accusation in 25 m of course at a speed 60 % greater than the maximum speed of a video inspection. The results were satisfactory, but more work on increasing the inspected surface area and redundancy of fault detection is still required. / Durante uma das mais graves crises hídricas no Brasil, em 2015, uma reportagem da Folha de São Paulo mostrou que 37% de toda a água tratada no Brasil não chega até o consumidor final, sendo as falhas nas tubulações a principal causa. Este trabalho de mestrado aborda esse problema de desperdício e falhas em tubulações, tanto de água como de esgoto. Dessa forma são apresentadas as características desses tipos de tubulações bem como os tipos mais comuns de falhas. Os métodos de inspeção de tubulações existentes também estão apresentados. E na tentativa de auxiliar na redução do desperdício em tubulações foi desenvolvido um método de detecção de falhas de tubulações, objetivando alcançar uma solução de baixo custo para que ela possa ser amplamente utilizada. A solução criada envolveu o desenvolvimento de um método de controle de posição utilizando um método de aprendizagem por reforço, o Q-Learning, que permite o robô percorrer a tubulação sem tombar, apenas utilizando um giroscópio. Foi desenvolvido, utilizando sensores de distância infravermelho e um acelerômetro, um método de detecção de falhas em que se conseguiu detectar falhas com apenas 2 mm de espessura, em todas as vezes em que o robô passou por ela. O método desenvolvido é capaz de superar a instabilidade e imprecisão do sensor infravermelho, permitindo, durante os testes, a detecção de todas as falhas em que o robô atravessou, tendo apenas 1 acusação de falsa falha a cada 25 m de percurso a uma velocidade mais de 60% maior que a velocidade máxima de uma vídeo inspeção. Os resultados foram satisfatórios, porém mais trabalho no aumento da área da superfície inspecionada e na redundância da detecção de falhas ainda se faz necessário.

I det här projektet har ett mätsystem utvecklats för dimensionsmätning av brädor. Mätsystemet består av ett programmerbart styrsystem (PLC), ett människa-maskin-gränssnitt (HMI), en pulsgivare för breddmätning samt två avståndssensorer för tjockleksmätning. Målet med projektet var att jämföra och välja sensorer som lämpar sig för tjockleksmätning, ta fram konstruktionsunderlag för ett styrskåp samt elscheman för inkoppling av sensorer och pulsgivare, utveckla ett PLC-program som samlar in och bearbetar data från mätningen samt skickar resultat till ett överordnat system, utveckla ett HMI för att visa resultat och göra inställningar samt testa mätsystemet för att verifiera dess mätnoggrannhet. En litteraturstudie utfördes för att öka kunskapen om olika typer av pulsgivare och avståndssensorer. Litteraturstudien visade att det finns två huvudtyper av pulsgivare. Dessa är inkrementell eller absolut, där den inkrementella pulsgivaren genererar en fyrkantsvåg av pulser medan den absoluta genererar ett pulsvärde som motsvarar en absolut position. Lasersensorer som använder sig av time-of-flight (TOF) eller trianguleringsmetoden visade sig ha hög precision och snabb svarstid. TOF-metoden går ut på att mäta tiden det tar för ljuset att studsa mot ett objekt och tillbaka till en mottagare i sensorn medan trianguleringsmetoden går ut på att använda kända avstånd och reflektionsvinklar för att bestämma ett okänt avstånd. Konstruktionsunderlag gjordes i programmet ELPROCAD och tidigare kunskaper låg till grund för hur programmet skulle användas och hur ritningarna skulle konstrueras. En litteraturstudie utfördes för att samla information om olika sensorer och i jämförelsen jämfördes sensorernas pris och prestanda. Ett styrsystem från Siemens valdes och PLC-programmet utvecklades i Simatic Step 7. Det HMI som valdes var Beijer X2 Pro 4” från Beijer Electronics. Mätsystemet klarade med en konfidensgrad på 95 % av att mäta brädor med en noggrannhet på ± 0.3 mm för tjocklek och ± 0.6 mm för bredd. Projektets mål uppfylldes men det finns förbättringsmöjligheter. Det framtida arbete som finns är att utveckla ett filter som filtrerar bort änglavingar samt göra styrning för att med tryckluft blåsa ren sensorerna från smuts med jämna mellanrum. / In this project a measurement system for dimension measurements on boards have been developed. The measurement system consists of a programmable logic controller (PLC), a human-machine-interface (HMI), an encoder for measuring width and two laser distance sensors for measuring thickness. The goal of the project is to compare between different distance sensors suitable for measuring the thickness of a board, to create electrical drawings for the system, to develop a PLC-program which collects and analyzes the measurement data and sends the results to a higher level system, to develop a HMI which will be used for monitoring and to change parameters and settings and test the measurement system at an sawmill in order to determine its accuracy. A literature study was made in order to increase the knowledge of different kinds of encoders and distance sensor. The study showed that there are mainly two kind of encoders, the absolute and the incremental. The incremental encoder generates a square wave signal while the absolute encoder generates a signal that represents the angular position of the encoder. The study also showed that an optical laser sensors based on the time of flight (TOF) or the triangulation principle proved to have high precision and fast response time. The TOF-principle is based on measuring the time it takes for a pulse of laser to travel to an object and reflect back to a receiver. By knowing the time difference between the transmitter and receiver and the speed of light makes it possible to calculate the distance to the object. The triangulation principle is based on using known distances and reflection angles to calculate unknown distances. Electrical drawings was made in ELPROCAD and previous knowledge provided the basis for how the program was used and how the drawings were constructed. A literature study was made to gather information about different types of distance sensors, which was later used to compare price and performance. A PLC-system from Siemens was chosen and the PLC-program was developed in Simatic Step 7. The HMI that was chosen in the project was Beijer X2 Pro 4” from Beijer Electronics. The measurement system was able to measure the thickness with an uncertainty of ± 0.3 mm and the width with an uncertainty of ± 0.6 mm with a confidence level of 95 %. The goal of the project was fulfilled but there is some work left for the future. That is making a filter for removing thin edges on the board and develop a pressurized air system that can clean the sensors from dust in a defined time interval.