RHex is an autonomous hexapedal robot capable of locomotion on rough terrain. Up to now, most modelling and simulation efforts on RHex were based on the linear leg assumption. These models disregarded what might be seen as the most characteristic feature of the latest iterations of this robot: the half circular legs. This thesis focuses on developing a more realistic model for this specially shaped compliant leg and studying its effects on the kinematics and dynamics of the resulting platform. One important consequence of the half circular compliant leg is the resulting rolling motion. Due to rolling, the rest length of the leg changes and the leg-ground contact point moves. Another consequence is the varying stiffness of the legs due to the changing rest length. These effect the resulting behaviour of any platform using these legs. In the first part of the thesis we are studying the effects of the half circular leg morphology on the kinematics of RHex using a simple planar model. The rest of the studies within the scope of this thesis focuses on the effect of the half circular compliant legs on the dynamics of a single legged hopping platform with a point mass. The formulation derived in this work is successfully integrated in a readily working but rather simple model of a single legged hopping system. We replace the equations of the straight leg in this model by the equations of the half circular compliant leg. Realistic results are obtained in the simulations and these results are compared to those obtained by the simpler constant stiffness straight leg model. This more realistic leg model brings us the opportunity to further study the effects of this leg morphology, in particular the positive effects of the resulting rolling motion on platform stability.

In practice, there exist many error sources which distort the antenna array pattern. For example, elements of antenna arrays influence each other (known as mutual coupling), mismatches in cables and element positions affects the antenna radiation pattern and also unequal gain and phase characteristics of RF receiver distorts the received signal. These effects generally degrade the array performance. They cause an increase in sidelobe levels with an accompanying decrease in gain. Also, these errors limit the performance of direction finding (DF) algorithms. So, in order to have low sidelobe level, good performance in direction finding and beamforming, calibration is necessary. In the literature, there exist many algorithms proposed for the calibration of errors. Calibration method used in this thesis assumes that there is a linear transformation between ideal signal and measurements. Calibration matrix is formed by using measurements. In this work, we look for the adequate number of measurements for successful calibration. Performance of calibration method may depend on the angle interval from which measurements are taken. So, the width of the data collection angle interval is also studied. Moreover, in real life, measurements can be collected from equally or randomly spaced angles. Does it affect the performance of calibration? The answer of this question is also inspected in this thesis. Additionally, the performance of algorithm under noise is studied. Performance evaluation is done for both elevation and azimuth sectors. Simulations are carried out on MATLABTM and Ansoft HFSS software package.

During severe floods, bed material around bridge piers and abutments are scoured by the flow and as a result, bridges are subject to damages. These damages are mostly unrepairable and can result in loss of lives and property. In this thesis study, abutment scour under clear-water condition was investigated and collars were tested as scour countermeasures around the abutments. The experimental study was carried out in a rectangular channel with an almost uniform cohesionless bed material of d50=1.50 mm for a test period of 3-hours. The channel was 28.5 m long and 1.5 m wide. The erodible bed material was placed into the test section that was 5.8 m long and 0.48 m deep. For this thesis study, 60 experiments were carried out with and without various collars placed at different elevations around the abutments. The scour formation around the abutments with collars was observed and scour reduction efficiencies of the collars were studied. Experiment results were compared with the previous studies of Dogan (2008) and Kayat&uuml / rk (2005) in terms of sediment size, abutment shape and flow depth, and the effects of these factors on collar&#039 / s scour reduction efficiency were studied. Based on the results of the experimental studies, it was observed that scour depths decreased as the collar width increased and the collar placed deeper into the sediment bed for a given abutment length. When the present study and the previous studies were compared, it was observed that sediment size and flow depth had no significant effect on the scour reduction performances of the collars.

The major damage to bridges occurs due to scour of the bed materials around piers and abutments during severe floods. This study involves the experimental investigations of the various scour patterns forming around abutment models tested with and without collars as scour countermeasures. The experiments were conducted in a rectangular channel under clear-water scour conditions. In the first part of this study, 34 experiments were conducted with semi-circular end abutment models with and without a collar for a period of 3 hours. Collars of various sizes were placed at different elevations on the abutment models, and the scour reduction efficiencies of collars were investigated for the different flow depths. Based on the results of the experimental studies, the optimum locations of collars on the abutments, which result in minimum scour depth around the abutments, are obtained at the bed level and below the bed level depending on the flow intensity values. In the second part of this study, the effects of flow depth and abutment length on the temporal development of local scour at bridge abutments were studied. 20 experiments were performed without collars for a time period of 8 hours. It was observed that at the upstream of the abutment, the depth of the local scour increases rapidly within the first three hours of the experiment for the different flow depths.

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<p>With the advance of the modern information society, the importance of reliable identity authentication has increased dramatically. Using biometrics as a means for verifying the identity of a person increases both the security and the convenience of the systems. By using yourself to verify your identity such risks as lost keys and misplaced passwords are removed and by virtue of this, convenience is also increased. The most mature and well-developed biometric technique is fingerprint recognition. Fingerprints are unique for each individual and they do not change over time, which is very desirable in this application. There are multitudes of approaches to fingerprint recognition, most of which work by identifying so called minutiae and match fingerprints based on these. </p><p>In this diploma work, two alternative methods for locating distinct features in fingerprint images have been evaluated. The Template Correlation Method is based on the correlation between the image and templates created to approximate the homogenous ridge/valley areas in the fingerprint. The high-dimension of the feature vectors from correlation is reduced through principal component analysis. By visualising the dimension reduced data by ordinary plotting and observing the result classification is performed by locating anomalies in feature space, where distinct features are located away from the non-distinct. </p><p>The Circular Sampling Method works by sampling in concentric circles around selected points in the image and evaluating the frequency content of the resulting functions. Each images used here contains 30400 pixels which leads to sampling in many points that are of no interest. By selecting the sampling points this number can be reduced. Two approaches to sampling points selection has been evaluated. The first restricts sampling to occur only along valley bottoms of the image, whereas the second uses orientation histograms to select regions where there is no single dominant direction as sampling positions. For each sampling position an intensity function is achieved by circular sampling and a frequency spectrum of this function is achieved through the Fast Fourier Transform. Applying criteria to the relationships of the frequency components classifies each sampling location as either distinct or non-distinct. </p><p>Using a cyclic approach to evaluate the methods and their potential makes selection at various stages possible. Only the Circular Sampling Method survived the first cycle, and therefore all tests from that point on are performed on thismethod alone. Two main errors arise from the tests, where the most prominent being the number of spurious points located by the method. The second, which is equally serious but not as common, is when the method misclassifies visually distinct features as non-distinct. Regardless of the problems, these tests indicate that the method holds potential but that it needs to be subject to further testing and optimisation. These tests should focus on the three main properties of the method: noise sensitivity, radial dependency and translation sensitivity.</p>

Nanoparticles are promising platforms for biomedical applications ranging from diagnostic tools to therapeutic delivery agents. During the course of these applications, nanoparticles are exposed to a complex mixture of extracellular serum proteins that nonspecifically adsorb onto the surface. The resulting protein layer, or protein "corona," creates an interface between nanoparticles and the biological environment. Protecting the nanoparticle surface can reduce protein adsorption, but complete inhibition remains a challenge. As a result, the corona, rather than the nanoparticle itself, mediates the cellular response to the nanoparticle. The following dissertation describes the fundamental characterization of the cellular binding of charged nanoparticles, interactions of protein-nanoparticle complexes with cellular receptors, and the structural and thermodynamic properties of adsorbed corona proteins.

The focus of this dissertation is on the development and circuit modeling of planar series-fed, linear- and circular-polarized microstrip aperture-coupled antennas and N-element arrays operating in C-band. These arrays were designed to be used as part of airborne or land-based frequency-hopped communication systems. One of the main objectives of this work was to maintain a constant beam angle over the frequency band of operation. In order to achieve constant beam pointing versus frequency, an anti-symmetric series-fed approach using lumped-element circuit models was developed. This series feed architecture also balances the power radiated by each element in the N-element arrays. The proposed series-fed approach was used in the development of four-element series-fed aperture-coupled arrays with 15% 10 dB impedance bandwidth centered at 5 GHz and a gain of 11.5 dB, to construct an omni-directional radiator. Omni-directional radiators with pattern frequency stability are desired in a multitude of applications; from defense in tactical communications, information gathering, and detection of signal of interest to being part of sensors in medical applications. A hexagonal assembly of six series-fed microstrip aperture-coupled four-element arrays was used to achieve the omni-directional radiation with 0.6 dB peak to peak difference across 360˚ broadside pattern and 0.6 dB gain variation at the specific azimuth angle across 15% impedance bandwidth. Given that each of these six arrays can be individually controlled, this configuration allows for individual pattern control and reconfiguration of the omni-directional pattern with increased gain at specific azimuth angles and the ability to form a directional pattern by employing a fewer number of arrays. Incorporating a beam-forming network or power distribution network is also possible. Wide 3 dB circular polarization (CP) bandwidth was achieved without external couplers and via only a single feed with a unique Z-slot aperture-coupled microstrip antenna. A single RHCP Z-slot aperture-coupled antenna has ∼10% CP and 10 dB impedance bandwidth. The series-fed network consisting of lumped elements, open-circuited stubs and transmission lines was subsequently developed to maintain more than 5% CP and 10% 10 dB impedance bandwidth in the series-fed four-element Z-slot aperture-coupled CP array that could also be used for-omni-directional radiation.

Spacecraft trajectory optimization is a topic of crucial importance to space missions design. The less fuel required to accomplish the mission, the more payload that can be transported, and the higher the opportunity to lower the cost of the space mission. The objective is to find the optimal trajectory through space that will minimize the fuel used, and still achieve all mission constraints. Most space trajectories are designed using the simplified relative two-body problem as the base model. Using this patched conics approximation, however, constrains the solution space and fails to produce accurate initial guesses for trajectories in sensitive dynamics. This dissertation uses the Circular Restricted Three-Body Problem (CR3BP) as the base model for designing transfer trajectories in the Circular Restricted Four-Body Problem (CR4BP). The dynamical behavior of the CR3BP guides the search for useful low-energy trajectory arcs. Two distinct models of the CR4BP are considered in this research: the Concentric model, and the Bi-Circular model. Transfers are broken down into trajectory arcs in two separate CR3BPs and the stable and unstable manifold structures of both systems are utilized to produce low-energy transfer arcs that are later patched together to form the orbit-to-orbit transfer. The patched solution is then used as an initial guess in the CR4BP model. A vital contribution of this dissertation is the sequential process for initial guess generation for transfers in the CR4BP. The techniques discussed in this dissertation overcome many of the difficulties in the trajectory design process presented by the complicated dynamics of the CR4BP. Indirect optimization techniques are also used to derive the first order necessary conditions for optimality to assure the optimality of the transfers and determine whether additional impulses might further lower the total cost of the mission. / text

Bulk imprinted polymers were synthesized using traditional small molecular weight imprinting techniques for the recognition of bovine serum albumin (BSA). Reproducibility and capacity concerns prompted the use of circular dichroism to investigate the potential effects that conditions commonly employed have on the structure of the protein prior to polymerization. These studies clearly showed a substantial change in the secondary structure of three common model protein templates when in the presence of various monomers and crosslinkers. Molecular docking was used to further examine the interactions taking place at the molecular level. Docking simulations revealed that significant amounts of non-covalent interactions are occurring between the amino acid side chains and ligands; although, the interactions taking place amongst the analyte and polypeptide backbone are responsible for the experimentally observed conformational change. The computational studies also showed that several of the ligands preferentially ‘docked’ to the same amino acids in the protein, indicating that if multiple monomers are employed, this competition for similar binding sites will potentially result in non-specific recognition. These findings are important as they offer insight into the fundamental reasons why recognition of macromolecular templates has proven difficult as well as provide guidance for future success in the field. Using this information, novel surface imprinted polymers were synthesized via a facile technique for the specific recognition of BSA. Thin films based on 2-(dimethylamino)ethyl methacrylate (DMAEMA) as the functional monomer and varying amounts of either N,N’ methylenebisacrylamide (MBA) or poly(ethylene glycol) (400) dimethacrylate (PEG400DMA) as crosslinker were synthesized via UV free-radical polymerization. A clear and reproducible increase in recognition of the template was demonstrated for these systems as 1.6-2.5 times more BSA was recognized by the MIP sample relative to the control polymers. Additionally, these polymers exhibited specific recognition of the template relative to similar competitor proteins with up to 2.9 times more BSA adsorbed than either glucose oxidase or bovine hemoglobin. These synthetic antibody mimics hold significant promise as the next generation of robust recognition elements in a wide range of bioassay and biosensor applications. / text