Observations from the Earth's geomagnetic tail have established that the current sheet is often bifurcated with two peaks in the current density. These so-called bifurcated current sheets have also been reported in a variety of simulations and often occur in conjunction with significant temperature anisotropy. In this work, a new self-consistent Vlasov equilibrium is developed that permits both the current profile and temperature anisotropy to be independently adjusted. This new equilibrium has a sufficient flexibility to model a wide variety of bifurcated sheets observed in both kinetic simulations and space observations, and transforms continuously back to the standard Harris sheet model with a single peak in the current density. The linear stability of these layers with respect to the tearing mode is examined in the framework of resistive MHD and full Vlasov theory. From the simplified fluid theory, it is demonstrated that a bifurcated current profile has a stabilizing influence on the resistive tearing instability. However, the resistive MHD model is not really appropriate to model the highly collisionless plasma conditions in the magnetosphere. To obtain reliable predictions, Vlasov theory is required and the approach in this thesis employs both standard analytic techniques and a formally exact treatment in which the full orbit integral is numerically evaluated. The resulting linear growth rate for the collisionless tearing instability and the mode structure are verified with 2D full kinetic particle-in-cell simulations. The simplified analytic theory is reasonably accurate in capturing these dependencies for long wavelength modes, but the short wavelength regime generally requires the full numerical treatment to accurately compute the growth rate. The results from these different approaches consistently demonstrate that a bifurcated current profile has a strong stabilizing influence on the collisionless tearing mode in comparison to centrally peaked layers with a similar thickness. In collisionless tearing, electron temperature anisotropy is strongly destabilizing in the limit $T_{e \perp} > T_{e \parallel}$ and strongly stabilizing when $T_{e \perp} < T_{e \parallel}$. Thus, the collisionless tearing instability is determined by the competition between these two influences.

Master of Engineering (Research) / Multiple antenna systems are an appealing candidate for emerging fourth-generation wireless networks due to its potential to exploit space diversity for increasing conveyed throughput without wasting bandwidth and power resources. Particularly, layered space-time architecture (LST) proposed by Foschini, is a technique to achieve a significant fraction of the theoretical capacity with a reasonable implementation complexity. There has been a great deal of challenges in the detection of space-time signal; especially to design a low-complexity detector, which can efficiently remove multi-layer interference and approach the interference free bound. The application of iterative principle to joint detection and decoding has been a promising approach. It has been shown that, the iterative receiver with parallel interference canceller (PIC) has a low linear complexity and near interference free performance. Furthermore, it is widely accepted that the performance of digital communication systems can be considerably improved once the channel state information (CSI) is used to optimize the transmit signal. In this thesis, the problem of the design of a power allocation strategy in LST architecture to simultaneously optimize coding, diversity and weighting gains is addressed. A more practical scenario is also considered by assuming imperfect CSI at the receiver. The effect of channel estimation errors in LST architecture with an iterative PIC receiver is investigated. It is shown that imperfect channel estimation at an LST receiver results in erroneous decision statistics at the very first iteration and this error propagates to the subsequent iterations, which ultimately leads to severe degradation of the overall performance. We design a transmit power allocation policy to take into account the imperfection in the channel estimation process. The transmit power of various layers is optimized through minimization of the average bit error rate (BER) of the LST architecture with a low complexity iterative PIC detector. At the receiver, the PIC detector performs both interference regeneration and cancellation simultaneously for all layers. A convolutional code is used as the constituent code. The iterative decoding principle is applied to pass the a posteriori probability estimates between the detector and decoders. The decoder is based on the maximum a posteriori (MAP) algorithms. A closed-form optimal solution for power allocation in terms of the minimum BER is obtained. In order to validate the effectiveness of the proposed schemes, substantial simulation results are provided.

Cette thèse s'inscrit dans le cadre de la réduction de la consommation de puissance durant le test par scan des circuits intégrés. Le test par scan est une technique de conception en vue du test qui est largement utilisée, mais qui pose quelques problèmes. Elle nécessite en effet un nombre important de cycles d'horloge pour permettre le chargement, l'application, et le déchargement des données de test. Ces opérations engendrent une activité de commutation dans le circuit largement plus importante que celle rencontrée lors du fonctionnement normal. Cette forte activité lors du test peut avoir des conséquences graves sur le circuit telles qu'une baisse de sa fiabilité ou sa destruction pure et simple. L'objectif de cette thèse est de proposer des techniques permettant de réduire cette suractivité, en particulier durant la période comprise entre l'application d'un vecteur de test et la récupération de la réponse du circuit.

The development of the negative ion source constitutes a crucial step in the construction of the neutral beam injector of ITER. To fulfil the ITER requirements in terms of heating and current drive, the negative ion source should deliver 40 A of D-. The achievement of such a source is challenging from technical and scientific points, and it requires a deeper understanding of the underlying physics. The present knowledge of the ion extraction mechanism from the negative ion source is limited due to the complexity of the problem that involves the comprehension of the behaviour of magnetized plasma sheaths when negative ions and electrons are pulled out from the plasma. Moreover, due to the asymmetry induced by the crossed magnetic configuration used to filter the electrons, any realistic study of this problem must consider the three spatial dimensions. To address this problem in a realistic way, a 3D Particles-in-Cell electrostatic code specifically designed for this system was developed. The code uses Cartesian coordinate system and it can deal with complex boundary geometry as it is the case of the extraction apertures. The complex magnetic field that is applied to deflect electrons is also taken into account. This code, called ONIX, was used to investigate the plasma properties and the transport of negative ions and electrons close to a source extraction aperture. Results on the formation of the plasma meniscus and the screening of the extraction field by the plasma are presented here, as well as negative ions trajectories. Negative ion extraction efficiency from volume and surfaces was investigated showing the capital importance of the surface negative ion production.

Pour réaliser les conditions des réactions de fusion thermonucléaire dans le tokamak ITER, des moyens additionnels de chauffage sont requis. L'une des principales méthodes pour chauffer les ions du plasma de coeur sera l'injection de neutres D0 énergétiques. Le neutraliseur est l'étape de l'injecteur de neutres d'ITER où le faisceau de deutérium prend ses propriétés en termes de taux de neutres D0 et de direction de propagation. L'interaction entre le faisceau à 1MeV et le gaz D2 neutralisant (~0.1Pa) crée un plasma secondaire. Les phénomènes physiques en jeu sont présentés à travers l'analyse des résultats du code OBI-2. OBI-2 est un code PIC-MCC (Particle In Cell Monte Carlo Collision) en géométrie cylindrique (2D3V) développé au LPGP qui permet de suivre la propagation du faisceau et les particules du plasma le long du neutraliseur.L'injection de lithium comme cible neutralisante a été étudiée et comparée au deutérium. Une étude paramétrique sur le neutraliseur basé sur le lithium a été réalisée dans la mesure où la longueur et/ou la densité de Li injectée peuvent être modifiées. Le profil de densité de Li a été estimé par le code Monte-Carlo 3D MC-OLIJET développé au LPGP. Le profil résultatnt a été implémenté en entrée du code PIC-MCC. Les résultats montrent la faisabilité du neutraliseur basé sur le lithium, gardant la convergence correcte du faisceau et avec de meilleures performances en termes de durée de vie des cryompompes avant régénération, de neutralisation du faisceau, d'effet de rétrodiffusion des ions positifs.

<p>Optical encoders are being widely suggested for precise mobile navigation. Combining such sensor information with Global Positioning System (GPS) is a practical solution for reducing the accumulated errors from encoders and moving the navigational base into global coordinates with high accuracy.</p><p>This thesis presents integration methods of GPS and optical encoders for a mobile vehicle that is controlled by microcontroller. The system analyzed includes a commercial GPS receiver, dsPIC microcontroller and mobile vehicle with optical encoders. Extended kalman filtering (EKF), real time curve matching, GPS filtering methods are compared and contrasted which are used for integrating sensors data. Moreover, computer interface, encoder interface and motor control module of dsPIC microprocessor have been used and explained.</p><p>Navigation quality on low speeds highly depends greatly upon the processing of GPS data. Integration of sensor data is simulated for both EKF and real time curve matching technique and different behaviors are observed. Both methods have significantly improved the accuracy of the navigation. However, EKF has more advantages on solving the localization problem where it is also dealing with the uncertainties of the systems.</p>

Remote experimentation and control have led researchers to develop new technologies as well as implement existing techniques. The multidisciplinary nature of research in electromechanical systems has led to the synergy of mechanical engineering, electrical engineering and computer science. This work describes the design of a model of a Gantry Mechanism, which maneuvers a web-cam. The user controls virtually the position of end-effecter of the Gantry Mechanism using a Graphical User Interface. The GUI is accessed over the Internet. In order to reduce the unbalanced vibrations of the Gantry Mechanism, we investigate the development of an algorithm of input shaping. A model of the Gantry Mechanism is built, and it is controlled over the Internet to view experimentation of the SCARA Robot. The system performance is studied by comparing the inputs such as distances and angles with outputs, and methods to improve the performance are suggested.

This study uses the PIC (Particle-in-cell) method to simulate unsteady three-dimensional dynamics of particles in argon plasma under low pressure, high density, and weak ionization between two planar electrodes subject to a sudden biased voltage. Plasma has been widely used in materials processing, film manufacturing, nuclear fusion, lamps, etc. Properties of plasmas are also becoming important area for research. This work includes elastic collisions between electrons and neutrals, ions and neutrals, and inelastic collisions resulting in ionization from impacting neutrals by electrons, and charge exchange between ions and neutrals, and Coulomb collisions between electrons and ions. The model ignores secondary electron emission, recombination between ions and electrons, and assumes uniform distribution of the neutrals having velocity of Maxwellian distribution. The computed results show the effects of elastic and inelastic collisions on the characteristics of plasma and sheath (space charge region) in front of the workpiece surface. Unsteady mass, momentum and energy transport from the bulk plasma through sheath to the workpiece is confirmatively and exploratorily studied after successful comparison between PIC prediction and experimental data has been made.

In this thesis the nonlinear effects and heating are studied in inductively coupled plasma (ICP) in a regime of anomalous skin effect (nonlocal regime). In this regime the thermal motion of plasma electrons plays an important role, significantly influencing the processes associated with the penetration of electromagnetic field into plasma, such as the ponderomotive effect and heating of plasma by the field. We have developed a linear kinetic theory that describes the electron dynamics in ICP taking into account the electron thermal motion and collisions of electrons. This theory yields relatively simple expressions for the electron current in plasma, the ponderomotive force, and plasma heating. It describes correctly the thermal reduction of ponderomotive force in the nonlocal regime, which has been previously observed experimentally. It also describes the collisionless heating of plasma due to resonant interaction between the electromagnetic wave and plasma electrons. There is a good overall agreement of the results of our theory with the experimental data on ponderomotive force and plasma heating. Using our theory, we predicted a new effect of reduction of plasma heating compared to the purely collisional value, occurring at low frequencies. This effect has not been previously reported. The nonlinear effects of the electromagnetic field on the electron distribution function and on plasma heating, that are not accounted for in the linear kinetic theory, have been studied using a quasilinear kinetic theory, also developed in this thesis. Within the quasilinear approximation we have formulated the system of equations describing the slow response of plasma electrons to the fast oscillating electromagnetic field. As an example, these equations have been solved in the simplest case of cold plasma with collisions, and the nonlinear perturbation of the electron distribution function and its effect on the plasma heating have been found. It has been shown that the nonlinear modification of plasma heating occurs mainly due to the nonlinear effect of the magnetic component of the electromagnetic field. It has also been shown that at high frequencies the nonlinear effects vanish, and the heating is well described by the linear theory. To verify the predicted new effect of plasma heating reduction at low frequencies, as well as to investigate the nonlinear effect of the magnetic field on plasma heating for arbitrary amplitudes of electromagnetic field in plasma, we have developed a 1d3v Particle-In-Cell (PIC) numerical simulation code with collisions. The collisions were implemented into the PIC code using two different techniques: the direct Monte-Carlo technique for the electron-atom collisions, and the stochastic technique based on the Langevin equation for the electron-electron collisions. The series of numerical simulations by this code confirmed the results of our linear theory, particularly the effect of heating reduction at low frequencies that we predicted theoretically. Also, the nonlinear effects of electromagnetic field on plasma heating were studied using the PIC code in the cases of weak and strong electromagnetic fields. It has been shown that in the case of weak electromagnetic fields (corresponding to weak nonlinearity) the nonlinear effects lead to some enhancement of heating (compared to the linear theory) at low frequencies, followed by a small reduction of heating at higher frequencies. This observed nonlinear perturbation of heating in warm plasma with collisions is similar to that predicted by the quasilinear theory for the case of cold plasma with collisions. In the case of strong electromagnetic fields (corresponding to strong nonlinearity) the nonlinear effects lead to a further reduction of heating (compared to the linear theory) at low frequencies, as shown by the simulation, thus adding to the effect of reduction of heating predicted by the linear theory. The nonlinear effects are shown to vanish at high frequencies, as expected.

In this thesis the nonlinear effects and heating are studied in inductively coupled plasma (ICP) in a regime of anomalous skin effect (nonlocal regime). In this regime the thermal motion of plasma electrons plays an important role, significantly influencing the processes associated with the penetration of electromagnetic field into plasma, such as the ponderomotive effect and heating of plasma by the field. We have developed a linear kinetic theory that describes the electron dynamics in ICP taking into account the electron thermal motion and collisions of electrons. This theory yields relatively simple expressions for the electron current in plasma, the ponderomotive force, and plasma heating. It describes correctly the thermal reduction of ponderomotive force in the nonlocal regime, which has been previously observed experimentally. It also describes the collisionless heating of plasma due to resonant interaction between the electromagnetic wave and plasma electrons. There is a good overall agreement of the results of our theory with the experimental data on ponderomotive force and plasma heating. Using our theory, we predicted a new effect of reduction of plasma heating compared to the purely collisional value, occurring at low frequencies. This effect has not been previously reported. The nonlinear effects of the electromagnetic field on the electron distribution function and on plasma heating, that are not accounted for in the linear kinetic theory, have been studied using a quasilinear kinetic theory, also developed in this thesis. Within the quasilinear approximation we have formulated the system of equations describing the slow response of plasma electrons to the fast oscillating electromagnetic field. As an example, these equations have been solved in the simplest case of cold plasma with collisions, and the nonlinear perturbation of the electron distribution function and its effect on the plasma heating have been found. It has been shown that the nonlinear modification of plasma heating occurs mainly due to the nonlinear effect of the magnetic component of the electromagnetic field. It has also been shown that at high frequencies the nonlinear effects vanish, and the heating is well described by the linear theory. To verify the predicted new effect of plasma heating reduction at low frequencies, as well as to investigate the nonlinear effect of the magnetic field on plasma heating for arbitrary amplitudes of electromagnetic field in plasma, we have developed a 1d3v Particle-In-Cell (PIC) numerical simulation code with collisions. The collisions were implemented into the PIC code using two different techniques: the direct Monte-Carlo technique for the electron-atom collisions, and the stochastic technique based on the Langevin equation for the electron-electron collisions. The series of numerical simulations by this code confirmed the results of our linear theory, particularly the effect of heating reduction at low frequencies that we predicted theoretically. Also, the nonlinear effects of electromagnetic field on plasma heating were studied using the PIC code in the cases of weak and strong electromagnetic fields. It has been shown that in the case of weak electromagnetic fields (corresponding to weak nonlinearity) the nonlinear effects lead to some enhancement of heating (compared to the linear theory) at low frequencies, followed by a small reduction of heating at higher frequencies. This observed nonlinear perturbation of heating in warm plasma with collisions is similar to that predicted by the quasilinear theory for the case of cold plasma with collisions. In the case of strong electromagnetic fields (corresponding to strong nonlinearity) the nonlinear effects lead to a further reduction of heating (compared to the linear theory) at low frequencies, as shown by the simulation, thus adding to the effect of reduction of heating predicted by the linear theory. The nonlinear effects are shown to vanish at high frequencies, as expected.