Yes / The efficiency and acquisition of a clean (diagnosable) ECG signal dependent upon the proper selection of electronic components and the techniques used for noise elimination. Given that the human body and the lead cables act as antennas, hence picking up noises from the surroundings, thus a major part in the design of an ECG device is to apply various techniques for noise reduction at the early stage of the transmission and processing of the signal. This paper, therefore, covers the design and development of a Single Chanel 3-Lead Electrocardiograph and a Software-based processing environment. Main design characteristics include reduction of common mode voltages, good protection for the patient, use of the ECG device for both monitoring and automatic extraction (measurements) of the ECG components by the software. The hardware consisted of a lead selection stage for the user to select the bipolar lead for recording, a pre-amplification stage for amplifying the differential potentials while rejecting common mode voltages, an electrical isolation stage from three filtering stages with different bandwidths for noise attenuation, a power line interference reduction stage and a final amplification stage. A program in LabVIEW was developed to further improve the quality of the ECG signal, extract all its features and automatically calculate the main ECG output waveforms. The program had two main sections: The filtering section for removing power line interference, wideband noises and baseline wandering, and the analysis section for automatically extracting and measuring all the features of the ECG in real time. A Front Panel Environment was, therefore, developed for the user interface. The present system produced ECG tracings without the influence of noise/artefacts and provided accurate detection and measurement of all the components of the ECG signal.

Traditionally, teleoperation has been an expensive and lengthy process. This thesis shows that by incorporating off-the-shelf technology into a modular design, teleoperation can be developed rapidly and inexpensively. Within six months and a hardware cost of $20k, a group of Virginia Tech students and faculty converted a Case CX-160 excavator to teleoperated control. With full wireless functionality of the excavator's six degrees-of-freedom, ignition, and remote cameras at 3000 ft., the teleoperated design meets or exceeds customer demands. For over a year, the teleoperated excavator has demonstrated effectiveness, robustness, and durability in multiple unexploded ordnance (UXO) site remediation projects. / Master of Science

Automation of hydraulic earth moving and construction equipment is of prime economic and social importance in today's marketplace. A human operator can be replaced or augmented with a robotic system when the job is too dull, dirty or dangerous. There are a myriad of applications in both Government and Industry that could benefit from augmenting or replacing an operator of hydraulic equipment with an intelligent robotic system. A specific important situation is the removal of unexploded ordnance (UXO). The removal of UXO is a troubling environmental problem that plagues people around the world. This document addresses the danger that UXO pose to military groups in applications such as active range clearance and disposal of unexploded or dud munitions. Disposing of these munitions is a difficult problem, which first begins by determining their location. The process can be aided through the use of teleoperated hydraulic equipment, which allows the operator to be located at a safe distance from these munitions. In the past, converting a large piece of hydraulic construction equipment for teleoperated use has been an expensive task. An important result of this research is demonstrating that through readily available commercial products and existing design methodologies, such robotic tasks can be accomplished at relatively low cost and in a timely, reliable fashion. / Master of Science

The Joint Architecture for Unmanned Systems (JAUS) is an emerging SAE standard for messaging between and within unmanned systems, enhancing interoperability, code reusability, and modularity. To date, most JAUS implementations have been produced by developers in the JAUS Working Group, who have an intimate understanding of the intent of the specification. As a result, the standards documents produced by the Working Group sometimes omit key implementation assumptions the developers had in mind. The work described in this thesis is intended to provide objective feedback from the viewpoint of a developer who began implementing JAUS independent of the standards committee and is now embedded in the Experimentation Task Group. This paper presents the lessons learned through this journey, from development of the first-ever JAUS software development toolkit for the LabVIEW programming language, through participation in Experimentation Task Group interoperability exercises 2.75 and 3.0, and to the establishment of the first internet-based testing environment for JAUS. The results of this experience are presented as a collection of recommendations to the standards committee, organized in a series of diverse implementation case studies. / Master of Science

Denna rapport beskriver ett examensarbete för högskoleingenjörsexamen i elektroteknik vid Växjö Universitet. Syftet är att konstruera ett styrsystem till en robotbil, ett program som hindrar bilen från att krocka med omgivningen. Roboten ska även kunna styras från en dator via ett grafiskt gränssnitt implementerat i Labview. Nödvändig hårdvara för styrning och kommunikation har konstruerats. Det har behövts tre olika programmeringsspråk för att nå de krav som har ställts på uppgiften, C, Perl och Labview. Microprocessorn i robotbilen har programmerats i C och gör bilen helt autonom, endast beroende av signaler från avståndssensorer. Avlusningsprogrammet skrevs i Perl och styrningen från datorn har implementerats i Labview. Avlusningsprogrammet togs fram på grund av att det blev svårt att hålla koll på allt som skedde med värden och beräkningar i den automatiska styrningen av robotbilen. / This thesis describes a project for the bachelor degree in electrical engineering at Växjö University. The purpose with this project is to construct a guidance system for a robot car, a program that prevents the car from colliding with objects when moving without external control. The robot could also be controlled from the computer through a virtual instrument implemented in Labview. The necessary hardware for steering and communicating has been constructed. The software is implemented using three different programming languages, C, Perl and Labview.

<p>Denna rapport beskriver ett examensarbete för högskoleingenjörsexamen i elektroteknik vid Växjö Universitet. Syftet är att konstruera ett styrsystem till en robotbil, ett program som hindrar bilen från att krocka med omgivningen. Roboten ska även kunna styras från en dator via ett grafiskt gränssnitt implementerat i Labview. Nödvändig hårdvara för styrning och kommunikation har konstruerats.</p><p>Det har behövts tre olika programmeringsspråk för att nå de krav som har ställts på uppgiften, C, Perl och Labview. Microprocessorn i robotbilen har programmerats i C och gör bilen helt autonom, endast beroende av signaler från avståndssensorer. Avlusningsprogrammet skrevs i Perl och styrningen från datorn har implementerats i Labview. Avlusningsprogrammet togs fram på grund av att det blev svårt att hålla koll på allt som skedde med värden och beräkningar i den automatiska styrningen av robotbilen.</p> / <p>This thesis describes a project for the bachelor degree in electrical engineering at Växjö University. The purpose with this project is to construct a guidance system for a robot car, a program that prevents the car from colliding with objects when moving without external control. The robot could also be controlled from the computer through a virtual instrument implemented in Labview. The necessary hardware for steering and communicating has been constructed. The software is implemented using three different programming languages, C, Perl and Labview.</p>

Made available in DSpace on 2016-12-12T17:38:34Z (GMT). No. of bitstreams: 1 Matheus Alexandre Bevilaqua.pdf: 3412491 bytes, checksum: 4886770099c1ba6e43a5060a8dd7e00d (MD5) Previous issue date: 2015-02-04 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This work presents a new implementation for the vector control of synchronous permanent magnets motors based on Labview FPGA. A set of differential equations that describes the dynamic behavior of the electric and mechanical parts of the motor are presented and used to numerical simulations. These models are converted to transfer functions and block diagrams to allow the design of current and speed controllers. A design procedure for the current and speed controller is presented. This design procedure allows the designer to set the controller gains based on the system s desired bandwidth and damping ratio. Criteria to choose the bandwidth and damping ratio are established to obtain the maximum dynamic response of the motor. The designed controllers are verified by an integrated simulation of power electronics and control algorithm. This integrated simulation allows a number of analyses to be performed on the electric drive parameters. A verification of load inertia effect on the speed controllers is made. A power inverter modulation technique that maximizes the DC bus utilization is shown. Simulation and experimental results are provided to validate the technique. An experimental setup is developed in order to implement the motor controllers and allow the reproduction of this work. By using this setup, experimental results are given to demonstrate the implementation of the current controllers, PWM modulator and speed controller developed. The conclusions of this work and the next steps recommended to explore this new technology are given at the end of this document. / Este trabalho apresenta uma nova implementação do controle vetorial aplicado a motores síncronos de imãs permanentes utilizando o Labview FPGA. São desenvolvidos modelos matemáticos, baseados em equações diferenciais que descrevem as dinâmicas elétrica e mecânica do motor e permitem a simulação numérica do comportamento dinâmico do mesmo. Estes modelos são escritos também na forma de funções de transferência e diagrama de blocos, para permitirem o projeto dos controladores de corrente e velocidade. Um procedimento de projeto para os controladores de corrente e de velocidade do motor é apresentado. Este procedimento permite ao projetista determinar a banda passante e amortecimento desejados ao sistema. Critérios práticos são então estabelecidos para determinar a banda passante e amortecimento de forma a obter a máxima resposta dinâmica possível do motor. Os controladores projetados são verificados por meio de simulações numéricas integradas à eletrônica de potência necessária ao acionamento do motor. Estas simulações permitem a realização de diversas análises de sensibilidade do acionamento proposto. Uma análise da influência da inércia da carga no desempenho do controlador de velocidade é apresentada. Uma técnica de modulação do inversor de frequência que maximiza a utilização do barramento CC é apresentada e verificada por meio de simulação numérica. Resultados experimentais são fornecidos para validar a técnica descrita. Uma plataforma experimental para implementação dos controladores é desenvolvida e detalhada para permitir a reprodução do trabalho. Utilizando-se desta plataforma experimental, resultados são obtidos para demonstrar a implementação dos controladores de corrente, do modulador PWM e do controlador de velocidade apresentado neste trabalho. As conclusões são detalhadas e sugestões para explorar a tecnologia desenvolvida neste trabalho são feitas ao final do documento.

Orientadores: Rangel Arthur, Jaime Frejlich / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Tecnologia / Made available in DSpace on 2018-08-27T09:07:10Z (GMT). No. of bitstreams: 1 Araujo_WilliamRobertode_M.pdf: 5397089 bytes, checksum: d2eae9ba62023ba097143f2d74e0fd24 (MD5) Previous issue date: 2015 / Resumo: Neste trabalho foi desenvolvido um instrumento capaz de realizar medidas em materiais fotossensíveis. Para estudar materiais fotossensíveis, por exemplo, o Bi12TO20, que em geral geram correntes muito baixas da ordem de dezenas de picoamperes, fez-se necessário obter um instrumento capaz de medir nessa ordem de grandeza e com baixo ruído. Para identificar estados localizados dentro do band gap de um semicondutor, que são gerados por defeitos estruturais, é necessário ter uma intensidade de luz com energia acima do nível de Fermi que consiga penetrar no semicondutor, e pelos testes realizados não foram facilmente detectados pela técnica convencional, fonte de luz branca seguida de um monocromador. O uso de LED (Light Emitting Diode) se mostrou promissor por ser barato e ter uma intensidade de luz muito maior que a luz monocromática produzida pelo monocromador. O instrumento possui um computador embarcado (Raspberry PI) que realiza o controle do hardware e possui uma interface Ethernet para conexão remota. O hardware é composto de: uma fonte de alimentação para controle da intensidade e modulação para os LEDs, um controle do posicionamento dos LEDs na amostra, um controle da fonte de alta tensão e um sistema de detecção síncrona para melhor coleta dos dados. Os testes realizados com amostra Bi12TO20 se mostrou compatível com resultados já apresentados pela literatura / Abstract: This work aims to an instrument to perform measurements in photosensitive materials. To study photosensitive materials, for example, Bi12TO20, it was necessary to obtain an instrument capable of measuring the scale and with low noise, which generally lead to very low currents on the order of tens of picoamperes. To identify located states within the band gap of a semiconductor, which structural defects are generated, it is necessary to have a light intensity with energy above the Fermi level can penetrate into the semiconductor, and the tests were not easily detected by the technique conventional white light source followed by a monochromator. The use of LED (Light Emitting Diode) has shown promise for being cheap and having a much higher light intensity that monochromatic light produced by the monochromator. The instrument has an embedded computer (Raspberry-PI) that performs hardware the control and an Ethernet interface for remote connection. The hardware is comprised of: a power supply for the control of intensity and modulation for the LED, a control of the positioning of LEDs on the sample, a high voltage supply control and a synchronous detection system for improved data acquisition. The results of performed tests with sample Bi12TO20 were compatible with results have been presented in the literature / Mestrado / Tecnologia e Inovação / Mestre em Tecnologia

Testning är en viktig del i tillverkningskedjan för att säkerställa kvalitet och funktion hos elektronikprodukter, och utförs ofta på flera nivåer innan den färdiga produkten lämnar fabriken. Produktionstester är rutinmässiga tester som tillämpas under masstillverkning och vid utformning av dessa måste tidseffektivitet prioriteras för att minimera negativ inverkan på produktionstakten. I detta projekt överfördes ett produktionstest för färdigmonterade borstlösa DC-motorer med drivelektronik till en ny testutrustning hos företaget Allied Motion. Testet skulle moderniseras och införas i företagets mjukvaruplattform uppbyggd i programspråket LabView. Testsekvensen kunde effektiviseras främst genom att kombinera dess delmoment och låta körningar av motorn användas för att testa flera egenskaper istället för att upprepas. Resultatet blev ett test som täckte in samma mätningar som i det äldre systemet med undantag för enstaka moment, samt mätte hastighet och momentkarakteristik med högre precision. Det omarbetade testet bestod av fyra deltester jämfört med tidigare tolv steg, och implementerades i fyra LabView-baserade testfall som kunde användas för att skapa en komplett testsekvens i plattformen. Uppgiften visade sig dock kräva mer tid och arbete än vad som uppskattats inledningsvis, och därför återstod flera av de arbetsuppgifter som planerats inom projektet att slutföra innan det nya testet skulle kunna tas i bruk i produktionen. / Testing is an important part of the manufacturing process to ensure the functional quality of electronics products, and is often performed in multiple stages during product assembly before the final product leaves the factory. Production tests are applied as a routine on all units in a production line, therefore time efficiency must be prioritized in the design of such tests in order to minimize the negative effect imposed on production rate. In this project an existing production test for fully assembled brushless DC motors was re-implemented for a new test equipment at Allied Motion. The purpose was to modernize the test and implement it in the company’s own LabView-based software platform. The test sequence was streamlined by combining and thereby reducing the number of steps, using the same motor runs to test multiple functions rather than repeating run sessions to collect data for similar test steps. The project resulted in a new test that, with a minor exception, covered the same measurements as in the old system and measured speed and torque performance with higher precision. The new test consisted of four partial tests instead of the earlier version’s twelve test steps, which were implemented in LabView-code as four separate test cases that could be used in creating complete test sequences in the software platform. The project task though turned out to require more time and effort than was initially estimated, and several parts that had been planned to be completed within the project time still remained before the test could be taken into use in the production line.

Knowledge about the speed and the direction of the di˙erent shafts in the gearbox and the engine of trucks is becoming more and more important, especially as the industry moves towards autonomous vehicles. The most common way to measure these parame-ters today is by using inductive or Hall sensors. Testing and benchmarking these sensors has a large significance for heavy truck manufacturers such as Scania.In order to test these components, a rig assembly was constructed. In this project a LabVIEW program was developed for controlling the rig and gathering the required data. The aim of the rig was to try and simulate the behaviour of the components that are commonly measured in the gearbox or the engine, as well as use it for testing and benchmarking new rotational speed sensors. In order to achieve this, di˙erent processes were studied that cover certain working conditions in a Scania truck. The rig’s ability to follow these processes was then studied. In addition, a test case for inductive and Hall sensors was also presented.It is shown that the implemented solution for testing the sensors can be used for benchmarking di˙erent sensors and can be a useful tool for future sensor development at Scania. However, the rig with its current hardware was unable to closely replicate processes that are of interest. There are a lot of improvements that have to be made in order to properly simulate the behaviour of the powertrain components that are of interest for speed sensor applications. / Information gällande hastigheten och riktningen på de olika axlarna i växellådan och motorn hos tunga fordon blir alltmer viktig, särskilt när fordonsindustrin går mot au-tonoma fordon. Det vanligaste sättet att mäta dessa parametrar idag är med induktiva-eller Hall-givare. Provning och utvärdering av dessa givare är därmed av stor betydelse för en fordonstillverkare som Scania.I detta projekt har en rigg designats för att testa dessa komponenter. Ett LabVIEW program har utvecklats för att styra riggen samt samla all relevant data med avseende på givarutveckling. Syftet med riggen var att simulera beteendet hos de komponenter i växellådan eller motorn som övervakas av dessa givare samt att använda riggen för att testa och jämföra nya varvtalsgivare. För att uppnå detta, undersöktes ett antal processer som täcker ett urval av driftsfall i en Scania lastbil. Riggens förmåga att återskapa dessa processer undersöktes. Utöver detta presenterades även ett testfall för induktiva- och Hall-givare.Den implementerade lösningen för provning av givare visas kunna användas för att jämföra olika givare och kan vara ett användbart verktyg för framtida givarutveckling på Scania. Däremot kan riggen inte återskapa de processer som är intressanta med den hårdvara som var tillgänglig vid tillfället. Förbättringar av riggens hårdvara måste göras för att kunna simulera de drivlinekomponenterna som är av intresse för utveckling av varvtalsgivare.