Delay discounting is considered by many to be a risk factor for substance use disorders and other health-related behavior problems. While these health-related behavior problems are often treated with incentive-based interventions, little is known about whether delay discounting (DD) moderates response to that treatment approach. The present study examined how response to incentive-based smoking-cessation treatment varied as a function of baseline DD scores among pregnant women participating in randomized controlled clinical trials examining the efficacy of financial incentives. Women were assigned to a condition wherein they earned vouchers exchangeable for retail items contingent on abstinence from recent smoking or to a control condition wherein they received vouchers of comparable value but independent of smoking status. Individual differences in DD of hypothetical monetary rewards were measured at the study intake and follow-up assessments. We examined whether individual differences in baseline scores on that instrument predict antepartum and postpartum smoking status using logistic regression, and if sustaining abstinence caused changes in DD scores from intake to 24-weeks postpartum. We did not see any significant main effects of DD or interactions of DD with treatment on antepartum or postpartum smoking status. Treatment condition, baseline smoking rate (cigs/day), a history of quit attempts pre-pregnancy, and educational attainment were all associated with increased odds of abstaining from smoking at the late-pregnancy antepartum assessment, and treatment condition was the only significant predictor of abstaining from smoking at 24-weeks postpartum, three months after the treatment formally ended. We saw no discernible evidence that sustained abstinence from smoking was associated with post-treatment decreases in DD. Overall, we saw no evidence that being a steeper discounter is associated with a lack of success in quitting smoking in either treatment condition. Being assigned to the incentives condition was the only predictor of antepartum and postpartum abstinence. The observed associations of a lower baseline smoking rate, higher educational attainment, and a history of having attempted to quit smoking previously with increased odds of success in achieving antepartum smoking abstinence is consistent with results from previous reports on predictors of response to this treatment underscoring the reliability of these relationships.

Recently, wireless access has become an essential part of modern society. Consequently, the demand for new wireless applications and services, as well as the number of wireless users, are gradually increasing. Given that this amount of expansion is eventually controlled by the available radio frequency spectrum, government regulatory agencies have recently adopted a strict approach to the licensing of limited amounts of spectrum to different entities (e.g., public safety, military, service providers, unlicensed devices, and TV). All of them possess exclusive transmissions to their assigned frequency channels. A new study on spectrum efficiency revealed big geographic and temporal variations in spectrum utilisation, ranging from 15-85% in the bands below 3GHz. These variations were less at frequencies above this figure. Recently, the Cognitive Radio (CR) has risen as an encouraging piece of technology to improve spectrum efficiency and to solve the problem of spectrum scarcity. This is because CR allows the secondary (unlicensed) users to occupy unused licensed spectrum bands temporarily, given that the interference of the primary (licensed) users is prohibited or minimised. In this thesis, various spectrum handoff management schemes have been proposed in order to improve the performance evaluation for CR networks. The proposed spectrum handoff schemes use the Opportunistic Spectrum Access (OSA) concept to utilise available spectrum bands. The handoff Secondary Users (SUs) have a higher priority to occupy available spectrum channels in the licensed and unlicensed spectrum bands without interfering with the legacy spectrum owner, i.e. primary users (PUs). However, existing spectrum handoff management schemes in CR networks do not provide high transmission opportunities for handoff secondary users to utilise the available radio spectrum resources. The first part of this thesis addresses the issue of spectrum handoff management in a licensed spectrum band environment. In this case, both reactive and proactive spectrum handoff schemes are proposed. Queuing theory or/and simulation experiments have been used to evaluate the performance of the proposed schemes and compare them with other existing schemes. Handoff delay has mainly been used to investigate the impact of successive handoff operations on the performance of the proposed CR networks. Implemented models have shown an improvement in the adopted performance measures. According to the achieved results, the improvement of the proposed, prioritised handoff schemes in some cases is approximately 75% when compared with existing schemes. On the other hand, the second part of this research proposed a prioritised spectrum handoff scheme in a heterogeneous spectrum environment, which is composed of a pool of licensed and unlicensed spectrum channels. In general, the availability of substantial numbers of the licensed spectrum channels is the key benefit of using this type of radio spectrum channel. Whereas, accessing with equal rights for all types of users is the main advantage of using unlicensed spectrum channels. In this respect, no transmission interruptions occur once a user obtains a channel. In addition, the proposed schemes use only the unlicensed spectrum channels as their backup channels. This enables the user to resume interrupted transmission in the case of the spectrum handoff operation (mainly; due to the appearance of the primary users), and thus facilitates a SUs communication. The proposed principle is investigated using a retrial queuing theory as well as extensive simulation experiments, and is compared with another non-prioritised scheme which do not give any preference to handoff SUs over new SUs. The results indicate that the proposed model has improved on current average handoff delay. This thesis contributes to knowledge by further enhancing the efficient utilisation of available radio spectrum resources and therefore subsequently provides an improvement in the spectrum capacity for wireless cognitive radio networks.

Alcohol use during pregnancy is common and its consequences often result in a broad range of negative, lifelong developmental outcomes. This study describes the effects of prenatal alcohol exposure and interacting socio-demographic factors on early childhood development. One hundred and twenty one children from the Northern Cape, South Africa, were clinically examined using standard diagnostic procedures and assessed using the Griffiths Mental Development Scales (GMDS/ER) at 7-12 months (Time 1) and 5 years of age (Time 2). Participants were assigned to either: a Fetal Alcohol Syndrome (FAS/Partial Fetal Alcohol Syndrome (PFAS); a Prenatal Alcohol Exposed (PAE); or a Control group based on the diagnosis at 5 years. Mothers/caregivers were interviewed to ascertain socio-demographic information, including prenatal alcohol exposure. During infancy, the FAS/PFAS group showed significantly lower gross motor and language abilities, with delays in higher-order executive functioning becoming more apparent with age. No significant differences were noted during infancy between the PAE and Control groups over any developmental subscales. However, with age, higher-order executive function delays were reported in the PAE group. Performance on the infant and child versions of the GMDS was not significantly correlated, suggesting that the tests may be measuring different developmental constructs. Lower maternal education, unemployment and later recognition of pregnancy were associated with reduced social adaptive functioning, and language and eye hand coordination abilities, irrespective of amount of prenatal alcohol exposure over both time points. Larger anthropometric birth measurements and longer duration of breastfeeding were significantly related to increased performance on the GMDS at 5 years within the groups exposed to prenatal alcohol. Socio–demographic variables are likely to complicate developmental profiles for all three groups, with prenatal and postnatal nutrition emerging as possible protective factors for positive developmental outcomes at 5 years of age.

Esta dissertação tem como objetivo principal estudar a estabilidade assintótica de Equações Diferenciais com Retardamento utilizando as técnicas desenvolvidas por Faria e Liz (2003). Para analisar a estabilidade assintótica, a abordagem utilizada neste trabalho é a de impor uma condição de dominância do termo sem retardo sobre a parte com retardo, possibilitando o estudo de soluções oscilatórias. Além disso, o estudo culminará em um teorema que garante essa estabilidade em uma Equação do tipo Lotka-Volterra, para a qual o método de Liapunov não se aplica. Para atingir o objetivo, estudou-se inicialmente a teoria geral de estabilidade de Equações Diferenciais Funcionais e a teoria de estabilidade para alguns tipos dessas equações / This paper\'s main objective is to study the asymptotic stability of Dierential Equations with Delay using the techniques developed by Faria and Liz (2003). To analyze the asymptotic stability, the approach used in this study is to impose a condition of dominance of the term without delay on the part delayed, allowing the study of oscillatory solutions. In addition, the study will culminate in a theorem ensures such stability in an equation Lotka-Volterra type, for which the Liapunov method does not apply. To achieve the objective, we studied initially the general theory of stability of Functional Dierential Equations and stability theory for some types of these equations

Os estímulos evento-relacionados (event-related functional magnetic resonance imaging - ER-fMRI) têm se tornado mais popular nos últimos anos. A maioria das análises das séries temporais geradas nesses exames é baseada em um modelo específico da função resposta hemodinâmica, hemodinamic response function (HRF). Contudo, a considerável variabilidade da HRF e a baixa relação sinal ruído das imagens, tem dificultado sua caracterização e localização. Neste sentido, recentemente foi proposto um método baseado na computação da entropia de Shannon, que não faz suposição sobre a forma da resposta. Desse modo, no presente trabalho, buscou-se, em um primeiro momento, avaliar alguns parâmetros do método proposto a fim de aumentar sua sensibilidade. Além disso, generalizou-se o método com a entropia de Tsallis, que introduz um novo parâmetro, q. Foi proposto, também, um novo método baseado no cálculo da distância de Kullback-Leibler (KL). Todos os métodos foram aplicados a dados simulados e dados reais. Curvas ROC (Receiver Operating Characteristic) foram usadas para estudar a dependência dos valores de corte e os diferentes parâmetros dos métodos em relação à sensibilidade e especificidade. A entropia de Tsallis apresentou maior poder de detecção nos intervalos de -1 < q < 1 (q diferente de 0) com dois níveis. O método de KL mostrou uma melhora significativa da sensibilidade em dados simulados e apresentou a habilidade em discriminar regiões funcionais ativas e em repouso, para um estímulo motor. Por fim, foi proposta uma primeira tentativa de identificar simultaneamente duas regiões cerebrais não correlacionadas no tempo e no espaço com os métodos de Tsallis e KL-fMRI em um experimento de estímulo duplo (visual e motor). Além disso, um novo método mostrou-se eficiente, ainda que de forma preliminar, para detectar o atraso temporal de duas HRFs. / Event-related functional magnetic resonance imaging (ER-fMRI) has become more popular in the last years. Most of analysis applied to such exams is based on a specific model of the hemodynamic response function (HRF). However, the variability of HRF and the low signal-to-noise ratio of such exams have imposed interesting challenges to both characterization and localization of the HRF. Recently, it was proposed a method based on computation of Shannon entropy, which makes no assumption about the shape of the response. We herein evaluated some parameters of the previous method in order to increase its sensibility. Moreover, this method was generalized with Tsallis entropy, which introduces a new parameter, q. Besides, a new method was proposed based on a distance of Kullback- Leibler (KL) measurement. Every method was applied to simulated and real data. Receiver Operating Characteristic curves were used to study the threshold dependence and the different methods parameters related to sensitivity and specificity. Tsallis entropy showed high detection power in the intervals -1 < q < 1 (q different from 0) with two bins. The KL method allowed significant improvement of sensibility in simulated data and reviewed the ability to discriminate regions of functional activity and rest in a motor stimulus. Finally, it was proposed a new technique to identify two brain regions without correlation in time and space through Tsallis and KL-fMRI methods, in a experiment of double stimuli (visual and motor). Furthermore, in a preliminary study, we developed a strategy to detect temporal delay between two HRFs.

In online service systems, delay experienced by a user from the service request to the service completion is one of the most critical performance metrics. To improve user delay experience, in this thesis, we investigate a novel aspect of system design: proactive serving, where the system can predict future user request arrivals and allocate its capacity to serve these upcoming requests proactively. This approach is complementary to the conventional capacity boosting mechanism and is motivated by recent industrial and academic advances. In particular, we investigate the fundamentals of proactive serving from a queuing theory perspective. / First, most importantly, we show that under proactive serving the average user delay decreases exponentially (in the prediction window size) for a wide range of queuing models. Furthermore, the delay reduction is robust against prediction errors. We also show that both the variance of user delay and the tail of user delay decrease exponentially under proactive serving, which are also important user delay experience metrics. / We then show that proactive serving is more effective in decreasing user delay than capacity boosting in light workload regime. In particular, the average user delay decays inverse-proportionally in system capacity, but exponentially in the prediction window size in proactive serving. / Finally we demonstrate how to leverage proactive serving in system design from a optimization point of view, e.g., how many resources are dedicated to proactive serving. The results provide useful engineering insights to system designers. / Our trace-driven simulation results demonstrate the practical power of proactive serving: for example, under the YouTube data trace of 1000 different videos, the average user delay can be decreased by 50% when the system predicts 100 seconds ahead. Our results provide useful insights for proactive serving and justify its increasing applications in practical systems. / 對於在線服務系統，由於系統服務造成的用戶延遲是衡量系統性能的重要指標。提高用戶的延遲體驗的傳統方法是提高系統中服務器的性能。在本論文中，我們研究一種新穎的叫做“前瞻性服務”的方法用來提高用戶的延遲體驗。前瞻性服務是指系統在預測用戶需求的基礎上，在用戶產生需求之前，系統已經將服務送到用戶手中。前瞻性服務是傳統方法的有力補充。我們從排隊論的角度研究前瞻性服務對用戶的延遲的提高。 / 首先，對於多种排隊系統，我們證明前瞻性服務能夠指數性降低用戶的平均延遲。而且前瞻性服務對於用戶需求預測的誤差具有魯棒性。我們同時也證明了前瞻性服務能夠指數性降低用戶的延遲方差和尾概率。 / 然後，我們證明前瞻性服務在系统低负载时比傳統方法在降低用戶的平均延遲上更加有效。前瞻性服務能夠指數性降低用戶的平均延遲。而通過提高系統服務器性能，只能反比例降低用戶的平均延遲。 / 最後，我們從優化的角度分析怎樣在系統設計中利用前瞻性服務，給系統設計者提供有用的建議。 / 我們基於實際數據的仿真結果驗證了前瞻性服務在實際系統的作用。例如，基於Youtube數據的仿真表明，如果系統能提前一百秒預測用戶的需求，那麼前瞻性服務能夠降低一半的用戶延遲。 / Zhang, Shaoquan. / Thesis (Ph.D.)--Chinese University of Hong Kong, 2014. / Includes bibliographical references (leaves 103-108). / Abstracts also in Chinese. / Title from PDF title page (viewed on 02, December, 2016). / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only.

by Hing-cheung So. / Thesis (Ph.D.)--Chinese University of Hong Kong, 1995. / Includes bibliographical references (leaves 133-141). / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Time Delay Estimation (TDE) and its Applications --- p.1 / Chapter 1.2 --- Goal of the Work --- p.6 / Chapter 1.3 --- Thesis Outline --- p.9 / Chapter 2 --- Adaptive Methods for TDE --- p.10 / Chapter 2.1 --- Problem Description --- p.11 / Chapter 2.2 --- The Least Mean Square Time Delay Estimator (LMSTDE) --- p.11 / Chapter 2.2.1 --- Bias and Variance --- p.14 / Chapter 2.2.2 --- Probability of Occurrence of False Peak Weight --- p.16 / Chapter 2.2.3 --- Some Modifications of the LMSTDE --- p.17 / Chapter 2.3 --- The Adaptive Digital Delay-Lock Discriminator (ADDLD) --- p.18 / Chapter 2.4 --- Summary --- p.20 / Chapter 3 --- The Explicit Time Delay Estimator (ETDE) --- p.22 / Chapter 3.1 --- Derivation and Analysis of the ETDE --- p.23 / Chapter 3.1.1 --- The ETDE system --- p.23 / Chapter 3.1.2 --- Performance Surface --- p.26 / Chapter 3.1.3 --- Static Behaviour --- p.28 / Chapter 3.1.4 --- Dynamic Behaviour --- p.30 / Chapter 3.2 --- Performance Comparisons --- p.32 / Chapter 3.2.1 --- With the LMSTDE --- p.32 / Chapter 3.2.2 --- With the CATDE --- p.34 / Chapter 3.2.3 --- With the CRLB --- p.35 / Chapter 3.3 --- Simulation Results --- p.38 / Chapter 3.3.1 --- Corroboration of the ETDE Performance --- p.38 / Chapter 3.3.2 --- Comparative Studies --- p.44 / Chapter 3.4 --- Summary --- p.48 / Chapter 4 --- An Improvement to the ETDE --- p.49 / Chapter 4.1 --- Delay Modeling Error of the ETDE --- p.49 / Chapter 4.2 --- The Explicit Time Delay and Gain Estimator (ETDGE) --- p.52 / Chapter 4.3 --- Performance Analysis --- p.55 / Chapter 4.4 --- Simulation Results --- p.57 / Chapter 4.5 --- Summary --- p.61 / Chapter 5 --- TDE in the Presence of Multipath Propagation --- p.62 / Chapter 5.1 --- The Multipath TDE problem --- p.63 / Chapter 5.2 --- TDE with Multipath Cancellation (MCTDE) --- p.64 / Chapter 5.2.1 --- Structure and Algorithm --- p.64 / Chapter 5.2.2 --- Convergence Dynamics --- p.67 / Chapter 5.2.3 --- The Generalized Multipath Cancellator --- p.70 / Chapter 5.2.4 --- Effects of Additive Noises --- p.73 / Chapter 5.2.5 --- Simulation Results --- p.74 / Chapter 5.3 --- TDE with Multipath Equalization (METDE) --- p.86 / Chapter 5.3.1 --- The Two-Step Algorithm --- p.86 / Chapter 5.3.2 --- Performance of the METDE --- p.89 / Chapter 5.3.3 --- Simulation Results --- p.93 / Chapter 5.4 --- Summary --- p.101 / Chapter 6 --- Conclusions and Suggestions for Future Research --- p.102 / Chapter 6.1 --- Conclusions --- p.102 / Chapter 6.2 --- Suggestions for Future Research --- p.104 / Appendices --- p.106 / Chapter A --- Derivation of (3.20) --- p.106 / Chapter B --- Derivation of (3.29) --- p.110 / Chapter C --- Derivation of (4.14) --- p.111 / Chapter D --- Derivation of (4.15) --- p.113 / Chapter E --- Derivation of (5.21) --- p.115 / Chapter F --- Proof of unstablity of A°(z) --- p.116 / Chapter G --- Derivation of (5.34)-(5.35) --- p.118 / Chapter H --- Derivation of variance of αs11(k) and Δs11(k) --- p.120 / Chapter I --- Derivation of (5.40) --- p.123 / Chapter J --- Derivation of time constant of αΔ11(k) --- p.124 / Chapter K --- Derivation of (5.63)-(5.66) --- p.125 / Chapter L --- Derivation of (5.68)-(5.72) --- p.129 / References --- p.133

by Wing-Kit Chung. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 123-127). / Abstracts in English and Chinese. / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Application of Time Delay and Doppler Shift Estimation in Active Radar --- p.1 / Chapter 1.2 --- Joint Time delay and Doppler Shift Estimation Algorithm based on Correlation --- p.4 / Chapter 1.3 --- A Brief Review of Radar Signal Design --- p.6 / Chapter 1.3.1 --- Suppression of Range Sidelobes Level --- p.6 / Chapter 1.3.2 --- Reduction of Ambiguity of Delay-Doppler Plane --- p.8 / Chapter 1.4 --- Goal and Outline of the Thesis --- p.9 / Chapter 2 --- CAF and Pulse Diversity for Radar Signals --- p.11 / Chapter 2.1 --- Radar Ambiguity Function --- p.12 / Chapter 2.1.1 --- Properties of Radar Ambiguity Function --- p.12 / Chapter 2.1.2 --- Ideal Ambiguity Function --- p.13 / Chapter 2.2 --- Composite Ambiguity Function (CAF) --- p.14 / Chapter 2.2.1 --- Properties of Composite Ambiguity Function --- p.15 / Chapter 2.3 --- CAF of Joint Phase and Frequency Shift Keying (PSK-FSK) Mod- ulated Signal --- p.17 / Chapter 2.4 --- Summary --- p.21 / Chapter 3 --- CAF Algorithm and Its Performance Analysis --- p.22 / Chapter 3.1 --- CAF Algorithm for Time Delay and Doppler Shift Estimation --- p.23 / Chapter 3.2 --- The Cramer-Rao Lower Bound of the CAF Algorithm --- p.24 / Chapter 3.3 --- Performance Analysis of the CAF Algorithm --- p.28 / Chapter 3.4 --- Global Accuracy --- p.31 / Chapter 3.5 --- Numerical Results for Derivation of CAF Algorithm --- p.35 / Chapter 3.5.1 --- Simulation Results of CRLB for Various Multi-pulse Signals --- p.35 / Chapter 3.5.2 --- Simulation Results of Global Accuracy for Various Multi- pulse Signals --- p.36 / Chapter 3.5.3 --- Simulation on Global Accuracy with Different Parameters --- p.37 / Chapter 3.6 --- Summary --- p.39 / Chapter 4 --- Optimum Pulse-Diverse Waveforms Design --- p.46 / Chapter 4.1 --- Criteria for Optimum Waveforms --- p.46 / Chapter 4.2 --- Optimum Signals Based on Joint Phase and Frequency Shift Key- ing (PSK-FSK) Modulated Signal --- p.48 / Chapter 4.3 --- Genetic Algorithm (GA) --- p.50 / Chapter 4.4 --- Numerical Results --- p.54 / Chapter 4.4.1 --- "Comparison of Optimized PSK, FSK and PSK-FSK Signals" --- p.55 / Chapter 4.4.2 --- Simulation on Large Number of Pulses for Pulse-diverse Waveform Set --- p.59 / Chapter 4.4.3 --- Simulation Results of CAF algorithm for Time Delay and Doppler Shift Estimation --- p.63 / Chapter 4.4.4 --- Various Distribution of Ambiguity Volume on the Delay- Doppler Plane --- p.70 / Chapter 4.5 --- Summary --- p.74 / Chapter 5 --- Wideband CAF (WCAF) and Its Analysis --- p.75 / Chapter 5.1 --- WCAF Algorithm for Time Delay and Doppler Stretch Estimation --- p.76 / Chapter 5.2 --- Theory of Wavelet Packets --- p.77 / Chapter 5.3 --- Design of Wideband Optimum Waveforms for WCAF Algorithm --- p.80 / Chapter 5.4 --- Performance Evaluation --- p.82 / Chapter 5.4.1 --- The Cramer-Rao Lower Bound of WCAF Algorithm --- p.83 / Chapter 5.4.2 --- The Global Accuracy of WCAF Algorithm --- p.84 / Chapter 5.4.3 --- Numerical Results --- p.86 / Chapter 5.5 --- Summary --- p.89 / Chapter 6 --- Conclusion and Suggestion for Future Research --- p.90 / Chapter 6.1 --- Conclusion --- p.90 / Chapter 6.2 --- Suggestion for Future Research --- p.93 / Chapter A --- Derivation of Ambiguity Function and CAF --- p.94 / Chapter A.1 --- Properties of Radar Ambiguity Function --- p.94 / Chapter A.2 --- Properties of Composite Ambiguity Function --- p.96 / Chapter B --- Derivation of Fisher Information Matrix of CAF Algorithm --- p.98 / Chapter C --- Derivation of Performance Analysis of CAF Algorithm --- p.103 / Chapter C.1 --- Derivation of TD and DS Estimate by Proposed Estimator --- p.103 / Chapter C.2 --- Derivation the Asymptotic Variance of The Estimates --- p.106 / Chapter D --- Derivation of Probability of Decision Error --- p.113 / Chapter E --- PSK-FSK Modulating Code of Various Multi-pulse Signals --- p.116 / Chapter F --- Derivation of Wavelet-Based Wideband CAF --- p.120 / Chapter F.1 --- Volume of Wideband Ambiguity Function --- p.120 / Chapter F.2 --- Volume of Wideband Composite Ambiguity Function --- p.121 / Bibliography --- p.123

Lo Wang Tai. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2002. / Includes bibliographical references (leaves 58-63). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iii / Tables of Content --- p.iv / List of Figures --- p.vii / List of Tables --- p.viii / Chapter Chapter1 --- Introduction --- p.1 / Chapter 1.1 --- Internet-based Tele-cooperation --- p.1 / Chapter 1.1.1 --- Cooperative Control of Multiple Robot --- p.1 / Chapter 1.1.2 --- Internet-based Teleoperation --- p.3 / Chapter 1.1.3 --- Time Delay of Internet Communication --- p.4 / Chapter 1.2 --- Related Work --- p.5 / Chapter 1.3 --- Motivation and Contribution --- p.6 / Chapter 1.3.1 --- Motivation --- p.6 / Chapter 1.3.2 --- Contribution --- p.7 / Chapter 1.4 --- Outline of the thesis --- p.8 / Chapter Chapter2 --- The Internet Robotic System --- p.9 / Chapter 2.1 --- System Architecture --- p.9 / Chapter 2.2 --- The Hardware --- p.12 / Chapter 2.2.1 --- Operator System --- p.12 / Chapter 2.2.2 --- Mobile Robot System --- p.13 / Chapter 2.2.3 --- Multi-fingered Robot Hand System --- p.17 / Chapter 2.2.4 --- Visual Tracking System --- p.19 / Chapter 2.3 --- Software Design --- p.21 / Chapter 2.3.1 --- Robot Client and Arm Client --- p.22 / Chapter 2.3.2 --- Robot Server --- p.23 / Chapter 2.3.3 --- Image Server --- p.25 / Chapter 2.3.4 --- Arm Server --- p.75 / Chapter 2.3.5 --- Arm Controller --- p.27 / Chapter 2.3.6 --- Finger Server --- p.27 / Chapter 2.3.7 --- Finger Controller --- p.27 / Chapter 2.3.8 --- Robot Tracker --- p.28 / Chapter 2.3.9 --- Interaction Forwarder --- p.28 / Chapter Chapter3 --- Event-based Control for Force Reflecting Teleoperation --- p.29 / Chapter 3.1 --- Modeling and Control --- p.29 / Chapter 3.1.1 --- Model of Operator System --- p.31 / Chapter 3.1.2 --- Model of Mobile Robot System --- p.33 / Chapter 3.1.3 --- Model of Multi-fingered Hand System --- p.34 / Chapter 3.2 --- Force Feedback Generation --- p.35 / Chapter 3.2.1 --- Obstacle Avoidance --- p.35 / Chapter 3.2.2 --- Singularity Avoidance --- p.38 / Chapter 3.2.3 --- Interaction Rendering --- p.40 / Chapter Chapter4 --- Experiments --- p.42 / Chapter 4.1 --- Experiment1 --- p.42 / Chapter 4.2 --- Experiment2 --- p.47 / Chapter 4.3 --- Experiment3 --- p.52 / Chapter Chapter5 --- Future Wok --- p.54 / Chapter Chapter6 --- Conclusions --- p.56 / Bibliography --- p.58

by Wai-Shan Chan. / Thesis submitted in: August 1997. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1998. / Includes bibliographical references (leaves 61-63). / Chapter Chapter 1 --- Introduction / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Fiber recirculating delay loop --- p.2 / Chapter 1.3 --- Slicing scheme --- p.3 / Chapter 1.4 --- Outline of the thesis --- p.4 / Chapter Chapter 2 --- Fiber recirculating delay loop / Chapter 2.1 --- Review --- p.5 / Chapter 2.1.1 --- Introduction --- p.5 / Chapter 2.1.2 --- The device --- p.6 / Chapter 2.1.3 --- Filtering properties of the fiber recirculating delay loop --- p.8 / Chapter 2.1.4 --- Noise properties of the fiber recirculating delay loop --- p.10 / Chapter 2.1.5 --- Limitations of the BRL device --- p.13 / Chapter 2.2 --- Discussion --- p.14 / Chapter 2.3 --- Summary --- p.14 / Chapter Chapter 3 --- Slicing scheme / Chapter 3.1 --- Introduction --- p.16 / Chapter 3.2 --- Slicing Scheme --- p.18 / Chapter 3.3 --- Experimental Investigation --- p.20 / Chapter 3.4 --- Numerical analysis --- p.33 / Chapter 3.5 --- Simulations --- p.40 / Chapter 3.6 --- Discussion --- p.49 / Chapter 3.6.1 --- The relationship between the system penalty and the ratio fd/fs --- p.49 / Chapter 3.6.2 --- Design of BRL --- p.51 / Chapter 3.6.3 --- Advantages and Disadvantages of the slicing scheme --- p.56 / Chapter 3.7 --- Summary --- p.56 / Chapter Chapter 4 --- Conclusion / Chapter 4.1 --- Fiber recirculating delay loop as a BRL device --- p.58 / Chapter 4.2 --- Slicing scheme --- p.59 / Chapter 4.3 --- Future work --- p.60 / Bibliography --- p.61