This thesis focuses on the analysis theory, circuit design, simulations, and chip measurements of the transfer stage in the continuously error-trimming comparator-based switched-capacitor charge transfer stage in the cyclic redundant-sign-digit (RSD) algorithm. Capacitor mismatching remains an insurmountable factor for switched-capacitor circuit designers. To correct errors which result from the capacitor mismatching, a continuous error-trimming circuit is generalized from a typical CBSC circuit. The analysis theory of the error-trimming operation describes the effects of the error-trimming circuit in the CBSC circuit, as well as the guidelines for trimming. The error-trimming operation is able to tune the gain and virtual condition of the charge transfer stage for canceling the gain and offset errors. The circuit is designed, with the 0.35£gm 2-poly 4-metal TSMC process, in fully integral circuits. The circuit is simulated by a matlab simulator and an online Cadence Spectre simulator, to confirm how the operation works. Finally, chip measurements are recorded for verification and simulation comparisons.

This thesis studies the effects of morphological factors of hexapod robots on their locomotion stability. In particular, an offset model for such robots is proposed. The stability margin as well as the error margin are used to indicate the stability of the hexapod robot, as it walks with different gaits in arbitrary directions. Two hexapod gaits are compared, which are the symmetric gait and the metachronal gait. The former is an artificial gait and the latter, on the contrary, is a natural gait which can be observed in many multiped animals. As we investigate advantages and disadvantages of the two gaits, we find that the stability of a hexapod robot can be enhanced by increasing the offset value. This is particularly true for a robot moving in the X and oblique directions with a symmetrical gait. However, altering the offset is less useful for metachronal gaits. In general, a hexapod robot moves most stably in the Y direction with a symmetrical gait, whereas it is most stable in the X direction with a metachronal gait.

No description available.

<p>This thesis has two aims. The first one is the investigation and analysis of the errors occurring in the measurements with pulsed time-of-flight (TOF) terrestrial laser scanners (TLS). A good understanding of the error sources and the relationships between them is necessary to secure the data accuracy. We subdivide these errors into four groups: instrumental, object-related, environmental and methodological. Based on our studies and the results obtained by other researchers, we have compiled an error model for TLS, which is used to estimate the single-point coordinate accuracy of a point in the point cloud, transformed to the specified coordinate system.</p><p>The second aim is to investigate systematic instrumental errors and performance of three pulsed TOF laser scanners – Callidus 1.1, Leica HDS 3000 and Leica HDS 2500 – and to develop calibration procedures that can be applied by the users to determine and correct the systematic errors in these instruments. The investigations have been performed at the indoor 3D calibration field established at KTH and outdoors. The systematic instrumental errors, or calibration parameters, have been estimated in a self-calibration according to the parametric least-squares adjustment in MATLAB®. The initial assumption was that the scanner instrumental errors are similar to those in a total station. The results have shown that the total station error model is applicable for TLS as a first approximation, but additional errors, specific to the scanner design, may appear. For example, we revealed a significant vertical scale error in the scanner Callidus 1.1, caused by the faults of the angular position sensor. The coordinate precision and accuracy of the scanners, estimated during the self-calibration, is at the level of several millimetres for Callidus 1.1 and Leica HDS 3000, and at the submillimetre level for Leica HDS 2500.</p><p>In other investigations, we revealed a range drift of up to 3 mm during the first few hours of scanning, presumably due to the changes in the temperature inside the scanners. The angular precision depends on the scanner design (“panoramic” or “camera-like”), and the angular accuracy depends on the significant calibration parameters in the scanner. Investigations of the influence of surface reflectance on the range measurements have shown that the indoor illumination and surface wetness have no tangible influence on the results. The type of the material does not affect, in general, the ranging precision for Callidus 1.1, but it affects the ranging precision and accuracy of the scanners Leica HDS 3000 and Leica HDS 2500. The reason may be different wavelength and, possibly, different design of the electronics in the laser rangefinders. Materials with high reflectance and those painted with bright “warning” colours may introduce significant offsets into the measured ranges (5 – 15 cm), when scanned from close ranges at normal incidence with the scanner Leica HDS 3000. “Mixed pixels” at the object edge may introduce a range error of several centimetres, on the average, depending on the type of the material. This phenomenon leads also to the distortions of the object size, which may be reduced by the removal of the “mixed pixels” based on their intensity. The laser beam intensity recorded by the scanner tends to decrease with an increased incidence angle, although not as assumed by the popular Lambertian reflectance model. Investigations of the scanner Leica HDS 2500 outdoors have revealed no significant influence of the “normal” atmospheric conditions on the range measurements at the ranges of up to 50 m.</p><p>Finally, we have developed and tested two simple procedures for the calibration of the vertical scale (and vertical index) error and zero error in laser scanners. We have also proposed an approach for the evaluation of the coordinate precision and accuracy in TLS based on the experiences from airborne laser scanning (ALS).</p>

<p>This report has been compiled to document the thesis work carried out by Anton Andersson for Coresonic AB. The task was to develop an accelerator that could generate complex numbers suitable for fast fourier transforms (FFT) and tuning the phase of complex signals (NCO). Of many ways to achieve this, the CORDIC algorithm was chosen. It is very well suited since the basic implementation allows rotation of 2D-vectors using only shift and add operations. Error bounds and proof of convergence are derived carefully The accelerator was implemented in VHDL in such a way that all critical parameters were easy to change. Performance measures were extracted by simulating realistic test cases and then compare the output with reference data precomputed with high precision. Hardware costs were estimated by synthesizing a set of different configurations. Utilizing graphs of performance versus cost makes it possible to choose an optimal configuration. Maximum errors were extracted from simulations and seemed rather large for some configurations. The maximum error distribution was then plotted in histograms revealing that the typical error is often much smaller than the largest one. Even after trouble-shooting, the errors still seem to be somewhat larger than what other implementations of CORDIC achieve. However, precision was concluded to be sufficient for targeted applications.</p> / <p>Den här rapporten dokumenterar det examensarbete som utförts av AntonAndersson för Coresonic AB. Uppgiften bestod i att utveckla enaccelerator som kan generera komplexa tal som är lämpliga att använda försnabba fouriertransformer (FFT) och till fasvridning av komplexasignaler (NCO). Det finns en mängd sätt att göra detta men valet föllpå en algoritm kallad CORDIC. Den är mycket lämplig då den kan rotera2D-vektorer godtycklig vinkel med enkla operationer som bitskift ochaddition. Felgränser och konvergens härleds noggrannt. Acceleratorn implementerades i språket VHDL med målet att kritiskaparametrar enkelt skall kunna förändras. Därefter simuleradesmodellen i realistiska testfall och resulteten jämfördes medreferensdata som förberäknats med mycket hög precision. Dessutomsyntetiserades en mängd olika konfigurationer så att prestanda enkeltkan viktas mot kostnad.Ur de koefficienter som erhölls genom simuleringar beräknades detstörsta erhållna felet för en mängd olika konfigurationer. Felenverkade till en början onormalt stora vilket krävde vidareundersökning. Samtliga fel från en konfiguration ritades ihistogramform, vilket visade att det typiska felet oftast varbetydligt mindre än det största. Även efter felsökning verkar acceleratorngenerera tal med något större fel än andra implementationer avCORDIC. Precisionen anses dock vara tillräcklig för avsedda applikationer.</p>

The paper presents a posteriori error estimators for the stationary Stokes problem. We consider anisotropic finite element discretizations (i.e. elements with very large aspect ratio) where conventional, isotropic error estimators fail. Our analysis covers two- and three-dimensional domains, conforming and nonconforming discretizations as well as different elements. This large variety of settings requires different approaches and results in different estimators. Furthermore many examples of finite element pairs that are covered by the analysis are presented. Lower and upper error bounds form the main result with minimal assumptions on the elements. The lower error bound is uniform with respect to the mesh anisotropy with the exception of nonconforming 3D discretizations made of pentahedra or hexahedra. The upper error bound depends on a proper alignment of the anisotropy of the mesh which is a common feature of anisotropic error estimation. In the special case of isotropic meshes, the results simplify, and upper and lower error bounds hold unconditionally. Some of the corresponding results seem to be novel (in particular for 3D domains), and cover element pairs of practical importance. The numerical experiments confirm the theoretical predictions and show the usefulness of the anisotropic error estimators.

Thesis (M.S.)--West Virginia University, 2001. / Title from document title page. Document formatted into pages; contains vi, 68 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 67-68).

Thesis (M. Phil.)--University of Hong Kong, 2001. / Includes bibliographical references (leaves 89-94).

Thesis (Ph. D.)--University of Texas at Austin, 2001. / Vita. Includes bibliographical references. Available also from UMI/Dissertation Abstracts International.

Thesis (M.S. in Electrical Engineering)--Naval Postgraduate School, March 2004. / Thesis advisor(s): Murali Tummala, Roberto Cristi. Includes bibliographical references (p. 133-134). Also available online.