Nowadays, high portion of tactical missiles use gimbaled seeker. For accurate target tracking, the platform where the gimbal is mounted must be stabilized with respect to the motion of the missile body. Line of sight stabilization is critical for fast and precise tracking and alignment. Although, conventional PID framework solves many stabilization problems, it is reported that many PID feedback loops are poorly tuned. In this thesis, recently introduced robot control method, proxy based sliding mode control, is adopted for the line of sight (LOS) stabilization. Before selecting the proposed method, adaptive neural network sliding mode control and fuzzy control are also implemented for comparative purposes. Experimental and simulation results show a satisfactory response of the proxy based sliding mode controller.

This thesis presents an aerodynamic shape optimization methodology for rotor blades of horizontal axis wind turbines. Genetic Algorithm and Blade Element Momentum Theory are implemented in order to find maximum power production at a specific wind speed, rotor speed and rotor diameter. The potential flow solver, XFOIL, provides viscous aerodynamic data of the airfoils. Optimization variables are selected as the sectional chord length, the sectional twist and the blade profiles at root, mid and tip regions of the blade. The blade sections are defined by the NACA four digit airfoil series or arbitrary airfoil profiles defined by a Bezier curve. Firstly, validation studies are performed with the airfoils and the wind turbines having experimental data. Then, optimization studies are performed on the existing wind turbines. Finally, design optimization applications are carried out for a 1 MWwind turbine.

Vikram Sarabhai Space Centre,Trivandrum / In the space surrounding the earth there are two major regions where orbital debris causes concern. They are the Low Earth Orbits (LEO) up to about 2000 km, and Geosynchronous Orbits (GEO) at an altitude of around 36000 km. The impact of the debris accumulations are in principle the same in the two regions; nevertheless they require different approaches and solutions, due to the fact that the perturbations in the orbital decay due to atmospheric drag effects predominates in LEO, gravitational forces including earth’s oblateness and luni solar effects dominating in GEO are different in these two regions. In LEO it is generally known that the debris population dominates even the natural meteoroid population for object sizes 1 mm and larger. This thesis focuses the study mainly in the LEO region. Since the first satellite breakup in 1961 up to 01 January 2003 more than 180 spacecraft and rocket bodies have been known to fragment in orbit. The resulting debris fragments constitute nearly 40% of the 9000 or more of the presently tracked and catalogued objects by USSPACECOM. The catalogued fragment count does not include the much more numerous fragments, which are too small to be detected from ground. Hence in order to describe the trackable orbital debris environment, it is important to develop mathematical models to simulate the trackable fragments and later expand it to untrackable objects. Apart from the need to better characterize the orbital debris environment down to sub millimeter particles, there is also a pressing necessity of simulation tools able to model in a realistic way the long term evolution of space debris, to highlight areas, which require further investigations, and to study the actual mitigation effects of space policy measures. The present thesis has provided newer perspectives for five major issues in space debris modeling studies. The issues are (i) breakup modeling, (ii) environment modeling, (iii) evolution of the debris environment, (iv) collision probability analysis and (v) reentry prediction. The Chapter 1 briefly describes an overview of space debris environment and the issues associated with the growing space debris populations. A literature survey of important earlier work carried out regarding the above mentioned five issues are provided in the Chapter 2. The new contributions of the thesis commence from Chapter 3. The Chapter 3 proposes a new breakup model to simulate the creation of debris objects by explosion in LEO named “A Semi Stochastic Environment Modeling for Breakup in LEO” (ASSEMBLE). This model is based on a study of the characteristics of the fragments from on orbit breakups as provided in the TLE sets for the INDIAN PSLV-TES mission spent upper stage breakup. It turned out that based on the physical mechanisms in the breakup process the apogee, perigee heights (limited by the breakup altitude) closely fit suitable Laplace distributions and the eccentricity follows a lognormal distribution. The location parameters of these depend on the orbit of the parent body at the time of breakup and their scale parameters on the intensity of explosion. The distribution of the ballistic coefficient in the catalogue was also found to follow a lognormal distribution. These observations were used to arrive at the proper physical, aerodynamic, and orbital characteristics of the fragments. Subsequently it has been applied as an inverse problem to simulate and further validate it based on some more typical well known historical on orbit fragmentation events. All the simulated results compare quite well with the observations both at the time of breakup and at a later epoch. This model is called semi stochastic in nature since the size and mass characteristics have to be obtained from empirical relations and is capable of simulating the complete scenario of the breakup. A new stochastic environment model of the debris scenario in LEO that is simple and impressionistic in nature named SIMPLE is proposed in Chapter 4. Firstly among the orbital debris, the distribution of the orbital elements namely altitude, perigee height, eccentricity and the ballistic coefficient values for TLE sets of data in each of the years were analyzed to arrive at their characteristic probability distributions. It is observed that the altitude distribution for the number of fragments exhibits peaks and it turned out that such a feature can be best modeled with a tertiary mixture of Laplace distributions with eight parameters. It was noticed that no statistically significant variations could be observed for the parameters across the years. Hence it is concluded that the probability density function of the altitude distribution of the debris objects has some kind of equilibrium and it follows a three component mixture of Laplace distributions. For the eccentricity ‘e’ and the ballistic parameter ‘B’ values the present analysis showed that they could be acceptably quite well fitted by Lognormal distributions with two parameters. In the case of eccentricity also the describing parameter values do not vary much across the years. But for the parameters of the B distribution there is some trend across the years which perhaps may be attributed to causes such as decay effect, miniaturization of space systems and even the uncertainty in the measurement data of B. However in the absence of definitive cause that can be attributed for the variation across the years, it turns out to be best to have the most recent value as the model value. Lastly the same kind of analysis has also been carried out with respect to the various inclination bands. Here the orbital parameters are analyzed with respect to the inclination bands as is done in ORDEM (Kessler et al 1997, Liou et al 2001) for near circular orbits in LEO. The five inclination bands considered here are 0-36 deg (in ORDEM they consider 19-36 deg, and did not consider 0-19 deg), 36-61 deg, 61-73 deg, 73-91 deg and 91- 180 deg, and corresponding to each band, the altitude, eccentricity and B values were modeled. It is found that the third band shows the models with single Laplace distribution for altitude and Lognormal for eccentricity and B fit quite well. The altitude of other bands is modeled using tertiary mixture of Laplace distributions, with the ‘e’ and ‘B’ following once again a Lognormal distribution. The number of parameter values in SIMPLE is, in general, just 8 for each description of altitude or perigee distributions whereas in ORDEM96 it is more. The present SIMPLE model captures closely all the peak densities without losing the accuracy at other altitudes. The Chapter 5 treats the evolution of the debris objects generated by on orbit breakup. A novel innovative approach based on the propagation of an equivalent fragment in a three dimensional bin of semi major axis, eccentricity, and the ballistic coefficient (a, e, B) together with a constant gain Kalman filter technique is described in this chapter. This new approach propagates the number density in a bin of ‘a’ and ‘e’ rapidly and accurately without propagating each and every of the space debris objects in the above bin. It is able to assimilate the information from other breakups as well with the passage of time. Further this approach expands the scenario to provide suitable equivalent ballistic coefficient values for the conglomeration of the fragments in the various bins. The heart of the technique is to use a constant Kalman gain filter, which is optimal to track the dynamically evolving fragment scenario and further expand the scenario to provide time varying equivalent ballistic coefficients for the various bins. In the next chapter 6 a new approach for the collision probability assessment utilizing the closed form solution of Wiesel (1989) by the way of a three dimensional look up table, which takes only air drag effect and an exponential model of the atmosphere, is presented. This approach can serve as a reference collision probability assessment tool for LEO debris cloud environment. This approach takes into account the dynamical behavior of the debris objects propagation and the model utilizes a simple propagation for quick assessment of collision probability. This chapter also brings out a comparison of presently available collision probability assessment algorithms based on their complexities, application areas and sample space on which they operate. Further the quantitative assessment of the collision probability estimates between different presently available methods is carried out and the obtained collision probabilities are match qualitatively. The Chapter 7 utilizes once again the efficient and robust constant Kalman gain filter approach that is able to handle the many uncertain, variable, and complex features existing in the scenario to predict the reentry time of the risk objects. The constant gain obtained by using only a simple orbit propagator by considering drag alone is capable of handling the other modeling errors in a real life situation. A detailed validation of the approach was carried out based on a few recently reentered objects and comparison of the results with the predictions of other agencies during IADC reentry campaigns are also presented. The final Chapter 8 provides the conclusions based on the present work carried together with suggestions for future efforts needed in the study of space debris. Also the application of the techniques evolved in the present work to other areas such as atmospheric data assimilation and forecasting have also been suggested.

The 5-HTT gene (SLC6A4) is regulated by a common polymorphism in the promoter region (5-HTTLPR), which has functional consequences. Two major alleles have been observed and shown to have differential transcriptional activity with the long (L) allele having greater gene expression than the short (S) allele. 5-HTTLPR appears to modulate depression, anxiety and personality traits such as neuroticism. Additionally, a significant influence of 5-HTTLPR genotype on amygdala reactivity in response to fearful stimuli has been reported. Moreover, 5-HTTLPR seems to impact on the role of stressful life events (SLEs) in the development of depression. An elevated risk of depression and suicidal behaviors has been found in carriers of at least one low expressing S allele who had experienced SLEs, suggesting a gene x environment interaction. However, a recent meta-analysis showed that several findings failed to replicate this finding. Since genetic polymorphisms of the dopaminergic and serotonergic neurotransmission interact at the molecular, analyses with another polymorphism of the dopaminergic system, the dopamine D4 receptor (DRD4) was included to consider these likely gene-gene interactions (epistasis). The aim of this series of studies was to investigate the role 5-HTTLPR and SLEs on the endocrine stress response in different age samples. While newborns have been examined by a heel prick, stress responses were provoked in children (8-12 yrs) and younger adults (19-31 yrs) and older adults (54-68 yrs.) with the Trier Social Stress Test (TSST). The Life History Calendar (LHC) and Life Events Questionnaire (LEQ) were used to acquire data on SLEs. While in newborns the S/S genotype showed a significantly higher acute endocrine stress response than L/L or S/L genotypes, no significant difference between genotype groups was found in children. In the younger adult sample, the genotype impacted on cortisol stress responsiveness was reversed. Adults carrying the more active L allele of the 5-HTTLPR polymorphism showed a significantly larger cortisol response to the TSST than individuals carrying at least one of the lower expressing S allele. In older adults, no significant difference between genotype groups was found. However, results point in the same direction with showing highest cortisol response in individuals with L/L genotype. These data suggest that the association between 5-HTTLPR and endocrine stress reactivity seems to alter across lifespan, more specific the effects of genotype turns around. In addition, a significant interaction effect of 5-HTTLPR and SLEs has been found in the sample of younger adults, i.e. that early SLE as well as a severe number SLEs across the entire lifespan seem to modulate the interaction between HPA axis activity and 5-HTTLPR genotype. Additionally, a DRD4 by 5-HTTLPR interaction emerged which point to independent and joint effects of these polymorphisms on stress responsivity with regard to the concept of genegene interaction.

Cette thèse s´inscrit dans la problématique de la reconstruction de surfaces à partir de nuages de points. Les récentes avancées faites dans le domaine de l´acquisition de formes 3D à l´aide de scanners donnent lieu à de nouveaux besoins en termes d´algorithmes de reconstruction. Il faut être capable de traiter de grands nuages de points bruités tout en donnant une représentation compacte de la surface reconstruite. La surface est reconstruite comme le niveau zéro d´une fonction. Représenter une surface implicitement en utilisant des fonctions de base radiales (Radial Basis Functions) est devenu une approche standard ces dix dernières années. Une problématique intéressante est la réduction du nombre de fonctions de base pour obtenir une représentation la plus compacte possible et réduire les temps d´évaluation. Réduire le nombre de fonctions de base revient à réduire le nombre de points (centres) sur lesquels elles sont centrées. L´objectif que l´on s´est fixé consiste à sélectionner un "petit" ensemble de centres, les plus pertinents possible. Pour réduire le nombre de centres tout en gardant un maximum d´information, nous nous sommes affranchis de la correspondance entre centres des fonctions et points de donnée, qui est imposée dans la quasi-totalité des approches RBF. Au contraire, nous avons décidé de placer les centres sur l´axe médian de l´ensemble des points de donnée et de montrer que ce choix était approprié. Pour cela, nous avons utilisé les outils donnés par la géométrie algorithmique et approximé l´axe médian par un sous-ensemble des sommets du diagramme de Voronoi des points de donnée. Nous avons aussi proposé deux approches diférentes qui échantillonnent de manière appropriée l´axe médian pour adapter le niveau de détail de la surface reconstruite au budget de centres alloué par l´utilisateur.

Background Spinal pain is one of humanity’s most frequent complaints with high costs for the individual and society, and is commonly related to spinal disorders. There are many origins behind these disorders e.g., trauma, disc hernia or of other organic origins. However, for many of the disorders, the origin is not known. Thus, more knowledge is needed about how pain affects the neck and neural function in pain affected regions. The purpose of this dissertation was to improve the medical examination of patients suffering from chronic whiplash-associated disorders or other pain related neck-disorders. Methods A new assessment tool for objective movement analysis was developed. In addition, basic aspects of proprioceptive information transmission, which can be of relevance for muscular tension and pain, are investigated by studying the coding of populations of different types of sensory afferents by using a new spike sorting method. Both experiments in animal models and humans were studied to accomplish the goals of this dissertation. Four cats where were studied in acute animal experiments. Mixed ensembles of afferents were recorded from L7-S1 dorsal root filaments when mechanical stimulating the innervated muscle. A real-time spike sorting method was developed to sort units in a multi-unit recording. The quantification of population coding was performed using a method based on principal component analysis. In the human studies, 3D neck movement data were collected from 59 subjects with whiplash-associated disorders (WAD) and 56 control subjects. Neck movement patterns were identified by processing movement data into parameters describing the rotation of the head for each subject. Classification of neck movement patterns was performed using a neural network using processed collected data as input. Finally, the effect of marker position error on the estimated rotation of the head was evaluated by computer simulations. Results Animal experiments showed that mixed ensembles of different types of afferents discriminated better between different muscle stimuli than ensembles of single types of these afferents. All kinds of ensembles showed an increase in discriminative ability with increased ensemble size. It is hypothesized that the main reason for the greater discriminative ability might be the variation in sensitivity tuning among the individual afferents of the mixed ensemble will be larger than that for ensembles of only one type of afferent. In the human studies, the neural networks had a predictivity of 0.89, a sensitivity of 0.90 and a specificity of 0.88 when discriminating between control and WAD subjects. Also, a systematic error along the radial axis of the rigid body added to a single marker had no affect on the estimated rotation of the head. Conclusion The developed spike sorting method, using neural networks, was suitable for sorting a multiunit recording into single units when performing neurophysiological experiments. Also, it was shown that neck movement analysis combined with a neural network could build the basis of a decision support system for classifying suspected WAD or other pain related neck-disorders.

Echocardiography is a well established technique when evaluating the size and function of the heart. One of the most common ways to measure the size of the right ventricle (RV) is to measure the RV outflow tract 1(RVOT1). Several ways to measure RVOT1 are described in the literature.These ways were compared with echocardiography on 27 healthy subjects.The result showed significant differences in RVOT1, depending on the way it was measured, concluding that the same site, method and body positionshould be used when comparing RVOT1 in the same subject over time.One parameter to evaluate the RV diastolic function (RVDF) is to measure the RV isovolumetric relaxation time (RV-IVRT), a sensitive marker ofRV dysfunction. There are different ways to measure this. In this thesis two ways of measuring RV-IVRT and their time intervals were compared in 20 patients examined with echocardiography. There was a significant difference between the two methods indicating that they are not measuring the same interval.Another way to assess the RVDF is to measure the maximal early diastolicvelocity (MDV) in the long-axis direction. MDV can be measured bydifferent methods, hence 29 patients were examined and MDV was measured according to two methods. There was a good correlation but a poor agreement between the two methods meaning that reference values cannot be used interchangeably.Takotsubo cardiomyopathy is characterized by apical wall motion abnormalities without coronary stenosis. The pathology of this condition remains unclear. To evaluate biventricular changes in systolic long-axisfunction and diastolic parameters in the acute phase and after recovery, 13 patients were included and examined with echocardiography at admission and after recovery. The results showed significant biventricular improvementof systolic long-axis function while most diastolic parameters remainedunchanged.

Approximately 1 in 6 infants are born prematurely each year. Typically, these infants spend 25 days in the Neonatal Intensive Care Unit (NICU) where they experience 10-18 painful and inflammatory procedures each day. Remarkably, pre-emptive analgesics and/or anesthesia are administered less than 30% of the time. Unalleviated pain during the perinatal period is associated with permanent decreases in pain sensitivity, blunted cortisol responses and high rates of neuropsychiatric disorders. To date, the mechanism(s) by which these long-term changes in stress and pain behavior occur, and whether such alterations can be prevented by appropriate analgesia at the time of injury, remains unclear. We have previously reported in rats that inflammation experienced on the day of birth permanently upregulates central opioid tone, resulting in a significant reduction in adult pain sensitivity. However, the impact on early life pain on anxiety- and stress-related behavior and HPA axis regulation is not known. Therefore the goal of this dissertation was to determine the long-term impact of a single neonatal inflammatory pain experience on adult anxiety- and stress-related responses. Neuroanatomical changes in stress-associated neurocircuits were also examined. As the endogenous pain control system and HPA axis are in a state of exaggerated developmental plasticity early in postnatal life, and these systems work in concert to respond to noxious or aversive stimuli, this dissertation research aimed to answer the following questions: (1) Does neonatal injury produce deficits in adult stress-related behavior and alter stress-related neuroanatomy through an opioid-dependent mechanism? (2) Does neonatal injury alter receptor systems regulating the activation and termination of the stress response in adulthood? (3) Are stress- and pain-related neurotransmitters altered within the first week following early life pain? (4) Is early activation of the pain system necessary for the long-term changes in anxiety- and stress-related behavior? Together these studies demonstrate the degree, severity and preventability of the long-term deficits in stress responding associated with a single painful experience early in life. The goal of this research is to promote change in the treatment of infant pain in the NICU to reduce long-term sensory and mental health complications associated with prematurity.

Registruojant (fotografuojant) objektus, dėl netinkamos vaizdo kameros padėties ar nepakankamos judėjimo erdvės gaunami vaizdo iškraipymai. Tokie vaizdų iškraipymai vadinami sukimosi ir perspektyvos iškraipymais. Šio darbo tikslas – ištirti kaip tiksliai, panaudojant vaizdo kameros posvyrio kampų reikšmes ir atstumą iki registruojamo objekto, galima atstatyti iškreiptą vaizdą. Vaizdo kameros posvyrio kampų (krypavimo ir nuolydžio) matavimui, pritaikomas trijų ašių analoginis akcelerometras, o atstumui matuoti – ultragarsinis atstumo jutiklis. Pasuktų vaizdų atstatymui naudojami sukonstruoto vaizdo kameros posvyrio kampų matuoklio duomenys. Kaip alternatyvi priemonė, vaizdo pasukimo kampui nustatyti, naudojama „radon“ transformacija. Tyrimai parodė, kad vaizdų atstatymui geriau naudoti vaizdo kameros posvyrio kampų matuokliu išmatuotus krypavimo kampus, nes „radon“ transformacija negalima nustatyti sudėtingų vaizdų pasukimo kampo. Vaizdo perspektyvos iškraipymų atstatymui, pagal “pinhole” (mažos skylutės) kameros modelį, kuris dažniausiai naudojamas robotų regoje, buvo sudarytas matematinis modelis. Šis modelis, lyginant su vaizdų atstatymo pagal keturis objekto kampus metodu, tinka įvairesnių formų iškreiptiems vaizdams atstatyti. Vaizdų atstatymui pasitelktas MathWorks, Image Processing paketas. Atstatytų vaizdų palyginimui su originaliu, skaičuojamas dvimatis koreliacijos koeficientas tarp dviejų to paties dydžio vaizdo matricų. / Image distortions may appear because of inappropriate position of the camera or because of an insufficient space movement while taking pictures of objects. These kinds of image distortions are called rotation and perspective distortions. The aim of the work is to investigate how the camera tilt meanings and distance to the object could help to restore the image distortions. To measure camera tilt angles (roll and pitch angles) the three axis analogical accelerometer is used, and to measure the distance - ultrasonic range finder. The measurements of designed camera tilt angles device data is used in order to restore rotated images. As an alternative method for setting roll angle, the “radon” transformation is used. The researches have showed that it is more useful to use the measurements of camera roll angles, because “radon” transformation is not capable to identify rotation angles of elaborate images. To set image perspective distortion rectification according to “pinhole” camera model, which is used in robot vision, the mathematical model was made. This model compared with image restoration according to four object corners method is more suitable for various forms of image distortions. To restore image MathWorks, Image Processing batch was used. The comparison between original and restorted image was found computing the two-dimensional correlation coefficient between image matrices of the same size.

The requirements of the consumer market on high frequency devices have been more and more demanding over the last decades. Thus, a continuing enhancement of the devices’ performance is required in order to meet these demands. In a macro view, changing the design of the device can result in an improvement of its performance. In a micro view, the physical properties of the device materials have a strong influence on its final performance. In the case of high frequency devices based on piezoelectric materials, a natural way to improve their performance is through the improvement of the properties of the piezoelectric layer. The piezoelectric material studied in this work is AlN, which is an outstanding material among other piezoelectric materials due to its unique combination of material properties. This thesis presents results from experimental studies on the synthesis of AlN thin films in view of telecom, microelectronic and sensor applications. The main objective of the thesis is to custom design the functional properties of AlN to best suit these for the specific application in mind. This is achieved through careful control of the crystallographic structure and texture as well as film composition. The piezoelectric properties of AlN films were enhanced by doping with Sc. Films with different Sc concentrations were fabricated and analyzed, and the coupling coefficient (kt2) was enhanced a factor of two by adding 15% of Sc to the AlN films. The enhancement of kt2 is of interest since it can contribute to a more relaxed design of high frequency devices. Further, in order to obtain better deposition control of c-axis tilted AlN films, a new experimental setup were proposed. When this novel setup was used, films with well-defined thicknesses and tilt uniformity were achieved. Films with such characteristics are very favorable to use in sensors based on electroacoustic devices operating in viscous media. Studies were also performed in order to obtain c-axis oriented AlN films deposited directly on Si substrates at reduced temperatures. The deposition technique used was HiPIMS, and the results indicated significant improvements in the film texture when comparing to the conventional Pulsed DC deposition process.