The projects goal is to construct and program a robot that is controlled from a computer but also have an obstacle handling function that allows the robot to navigate around the object by itself. The robot is a simple construction and the number of components and functions is kept at a minimum. A tricycle construction was chosen because it’s the simplest. Communication between the robot and the computer also kept as simple as possible. / Målet med projektet är att konstruera och programmera en robot som går att styra från en dator men det skall även finnas en hinderhanterande funktion som gör att roboten kan åka runt hinder av sig själv. Roboten är en enkel konstruktion där antalet komponenter och funktioner hålls nere till ett minimum. En trehjuling valdes då det är den enklaste konstruktionen. Kommunikationen mellan roboten och datorn hålls också så enkel som möjligt.

<p>This document contains the development of an amplifier for an ECG-signal and interfacing it to wireless communication. The purpose of this project is to get a clear ECG-signal without any noise, save it and send it through wireless communication.A challenge of the wireless communication unit is to send as little information as possible to make the communication faster, without loss of information in the ECG-signal.The context for this project is the integration of wireless communication in medical applications for home healthcare. This means that, patients are no longer bound to a specific healthcare location where they are monitored by medical instruments. Wireless communication will not only provide them with safe and accurate monitoring, but also the freedom of movement.</p>

Thesis (Ph. D.)--University of Chicago, Department of Chemistry, 2002. / Includes bibliographical references. Also available on the Internet.

<p> </p><p>Infrared (IR) imaging devices based on energy detection has shown a dramatic development in technology along with an impressive price reduction in recent years. However, for a low-end market as in automotive applications, the present cost of IR cameras is still the main obstacle to broadening their usage. Ongoing research has continuously reduced the system cost. Apart from decreasing the cost of infrared optics, there are other key issues to achieve acceptable system costs, including wafer-level vacuum packaging of the detectors, low vacuum level operation, and the use of standard materials in the detector fabrication. This thesis presents concepts for cost reduction of low-end IR cameras.</p><p>     The thesis presents a study of detector performance based on the thermal conductance design of the pixel. A circuit analog is introduced to analyze the basic thermal network effect from the surrounding environment on the conductance from the pixel to the environment. A 3D simulation model of the detector array conductance has been created in order to optimize the performance of the arrays while operated in low vacuum. In the model, Fourier's law of heat transfer is applied to determine the thermal conductance of a composite material pixel. The resulting thermal conductance is then used to predict the performance of the detector array in low vacuum.</p><p>     The investigations of resist as the intermediate bonding material for 3D array integration are also reported in the thesis. A study has been made of the nano-imprint resists series mr-I 9000 using a standard adhesive wafer bonding scheme for thermosetting adhesives. Experiments have been performed to optimize the thickness control and uniformity of the nano-imprint resist layer. The evaluation, including assessment of the bonding surface uniformity and planarizing ability of topographical surfaces, is used to demonstrate the suitability of this resist as sacrificial material for heterogeneous detector array integration<em>. </em><em></em></p><p>     Moreover, the thesis presents research in wafer-level packaging performed by room temperature bonding. Sealing rings, used to create a cavity, are manufactured by electroplating. The cavity sealing is tested by liquid injection and by monitoring the deflection of the lid membrane of the cavities. A value for the membrane deflection is calculated to estimate the pressure inside the cavities.  </p>

<p>Economic affordability of services and infrastructures has rapidly become one of the key issues in the evaluation and design of wireless access systems. The provisioning of high data rates, at an ``affordable'' price, constitutes a serious challenge to the structure and management of current and future wireless networks.</p><p>The management of radio resources, Radio Resource Management or RRM for short, has traditionally been benchmarked mostly by technical merits such as throughput (data delivery capability) and Quality of Service (QoS). When comparing different RRM schemes, the scheme that can deliver more bits per Hertz (unit of bandwidth) or per Euro is often assumed the more efficient. From an economic point of view, however, cost efficiency is not equivalent to profitability.</p><p>We conjecture that the economic efficiency and profitability can be improved both by better technical efficiency and by better accounting for users' service appreciation and willingness to pay. While we shall, primarily treat the operator's benefit of improved RRM, we will try to improve the RRM by means of being more responsive to the demands of the users. In eight conference and journal papers, we investigate: Provisioning of support for asymmetric traffic, Quality and pricing aware resource management and Creation of forwarding incentive in multihop cellular networks.</p><p>We show that implementing support for asymmetric links can improve the efficiency of (service) production in Time Division Duplexing (TDD) mode wireless networks with asymmetric traffic. That is, more traffic can be handled with the same system resources. Compared to Frequency Division Duplexing (FDD), TDD offers more flexible use of spectrum resources. The benefits of TDD and support for asymmetric links are readily available for systems providing high-rate spotty coverage. For systems aiming at full coverage and tight reuse, however, proper measures must be taken to control inter-mobile- and inter-base-station-interference.</p><p>We present the MEDUSA model framework for taking users' service appreciation and willingness to pay into account in performance evaluations of wireless networks with elastic traffic. Assuming that user satisfaction depends on both the quality and the price of the service, numerical experiments show that the economic efficiency of an RRM scheme is affected by the pricing scheme. We also introduce the concepts of speculative resource management to exploit traffic elasticity and improve resource utilisation. With speculative admission control, users with good propagation conditions may be admitted to a full system at the expense of a slight degradation of the QoS of some or all users, if the expected total revenue would thereby increase. Results indicate significant revenue gain with speculative admission control. Service perception aware scheduling was evaluated as a means to improve resource utilisation, but yielded only marginal gain compared to a weighted proportional fair scheduler.</p><p>For the third area studied in this Thesis, i.e. multihopping in cellular networks, economic efficiency was both the goal and one of the means to achieve it. By means of a resource re-distribution scheme called Resource Delegation we eliminated the bandwidth bottle neck of the relays. We combined Resource Delegation with economic compensation for the energy expenditures of the relays and were able to achieve significantly increased operator revenue with maintained or improved user utility. Assuming that the added complexity of keeping track of reward transactions is negligible, profitability was correspondingly improved.</p>

<p>Large-scale deployment of IEEE 802.11 wireless LANs (WLANs) remains a significant challenge. Many access points (APs) must be deployed and interconnected without a-priori knowledge of the demand. We consider that the deployment should be iterative, as follows. At first, access points are deployed to achieve partial coverage. Then, usage statistics are collected while the network operates. Overloaded and under-utilized APs would be identified, giving the opportunity to relocate, add or remove APs. In this thesis, we propose extensions to the WLAN architecture that would make our vision of iterative deployment feasible.</p><p>One line of work focuses on self-configuration, which deals with building a WLAN from APs deployed without planning, and coping with mismatches between offered load and available capacity. Self-configuration is considered at three levels. At the network level, we propose a new distribution system that forms a WLAN from a set of APs connected to different IP networks and supports AP auto-configuration, link-layer mobility, and sharing infrastructure between operators. At the inter-cell level, we design a load-balancing scheme for overlapping APs that increases the network throughput and reduces the cell delay by evenly distributing the load. We also suggest how to reduce the handoff time by early detection and fast active scanning. At the intra-cell level, we present a distributed admission control that protects cells against congestion by blocking stations whose MAC service time would be above a set threshold.</p><p>Another line of work deals with self-deployment and investigates how the network can assist in improving its continuous deployment by identifying the reasons for low cell throughput. One reason may be poor radio conditions. A new performance figure, the Multi-Rate Performance Index, is introduced to measure the efficiency of radio channel usage. Our measurements show that it identifies cells affected by bad radio conditions. An additional reason may be limited performance of some AP models. We present a method to measure the upper bound of an AP’s throughput and its dependence on offered load and orientation. Another reason for low throughput may be excessive distance between users and APs. Accurate positioning of users in a WLAN would permit optimizing the location and number of APs. We analyze the limitations of the two most popular range estimation techniques when used in WLANs: received signal strength and time of arrival. We find that the latter could perform better but the technique is not feasible due to the low resolution of the frame timestamps in the WLAN cards.</p><p>The combination of self-configuration and self-deployment enables the autonomic operation of WLANs.</p>

<p>In this thesis a novel method for controlling a manipulator with arbitrary number of Degrees of freedom is proposed, the proposed method has the main advantages of two common controllers, the simplicity of PID controller and the robustness and accuracy of adaptive controller. The controller architecture is based on an Artificial Neural Network (ANN) and a PID controller.</p><p>The controller has the ability of solving inverse dynamics and inverse kinematics of robot with two separate Artificial Neural Networks. Since the ANN is learning the system parameters by itself the structure of controller can easily be changed to</p><p>improve the performance of robot.</p><p>The proposed controller can be implemented on a FPGA board to control the robot in real-time or the response of the ANN can be calculated offline and be reconstructed by controller using a lookup table. Error between the desired trajectory path and the path of the robot converges to zero rapidly and as the robot performs its tasks the controller learns the robot parameters and generates better control signal. The performance of controller is tested in simulation and on a real manipulator with satisfactory results.</p>

<p>Current printable memory technology are not suited for mass produc‐tion. With new inexpensive printed memory, it will be possible to manufacture cheap surveillance tags that are capable to tell the user if something has happened within a timeline. This project is within the ITC FrameProgram 7 founded project PriMeBits. The goal is to imple‐ment a write once read many memory (WORM) onto an RF‐tag together with a sensor that can sense wetness, which can be detected by EAS antitheft systems. Pre researches have been done in the fields printed capacitance, coils and WORMs, all printed with silver ink. Before implementation of a WORM onto a tag simulations and laboratory tests with adjustable resistances were made. Two different circuit models are simulated and tested. When connected to a tag and the WORM is un‐programmed, the EAS system should not trigger an alarm. But if the WORM is programmed by the sensor, the alarm should trigger. Results show that capacitances and WORMs are printable with this technique but coils are not due to high inner resistance. The simulations show that a tag built as an LCCR‐circuit is the best choice. This is also confirmed with tests done with real resistors. With WORMs connected to a tag the results show that approximately 70% of them work as intended, this is because the WORMs as of now are not completely developed. The conclusion of this project is that it is possible to implement a WORM onto a tag with further research, to make an inexpensive surveillance tag.</p> / PriMeBits

<p>Optical fibre sensors can be used to measure a wide variety of properties. In some cases they have replaced conventional electronic sensors due to their possibility of performing measurements in environments suffering from electromagnetic disturbance, or in harsh environments where electronics cannot survive. In other cases they have had less success mainly due to the higher cost involved in fibre-optic sensor systems. Intensity modulated fibre-optic sensors normally require only low-cost monitoring systems principally based on light emitting diodes and photo diodes. The sensor principle itself is very simple when based on coupling between fibres, and coupling based intensity modulated sensors have found applications over a long time, mainly within position and vibration sensing. In this thesis new concepts and applications for intensity modulated fibre-optic sensors based on coupling between fibres are presented. From a low-cost and standard component perspective alternative designs are proposed and analyzed in order to find improved performance. The development of a sensor for an industrial temperature sensing application, involving aspects on multiplexing and fibre network installation, is presented. Optical time domain reflectometry (OTDR) is suggested as an efficient technique for multiplexing several coupling based sensors, and sensor network installation with blown fibre in micro ducts is proposed as a flexible and cost-efficient alternative to traditional cabling. A new sensor configuration using a fibre to a multicore fibre coupling and an image sensor readout system is proposed. With this system a high-performance sensor setup with a large measurement range can be realised without the need for precise fibre alignment often needed in coupling based sensors involving fibres with small cores. The system performance is analyzed theoretically with complete system simulations on different setups. An experimental setup is made based on standard fibre and image acquisition components, and differences from the theoretical performance are analyzed. It is shown that sub-µm accuracy should be possible to obtain, being the theoretical limit, and it is further suggested that the experimental performance is mainly related to two error sources: core position instability and differences between the real and the expected optical power distribution. Methods to minimize the experimental error are proposed and evaluated.</p>

<p>Electrochemical Transistor(ECT) was reported by David Nilsson in 2002. Later,its dimensios were specified and a SPICE model was developed.</p><p>The main purpose of this diploma work is to check the performance of electrochemical transistors in amplifier circuits. Simple amplifier circuits were simulated using SPICE model of ECT. Lateral and Vertical structures of electrochemical transistors were patterned on orgacon sheet(provided by AGFA),with various electrolytes(EG010,MS-HEC & MS-L). Characteric curves and time responses of these transistors were studied and then were then used as an active component in single amplifier circuits. Screen printed ECT's were also checked with the best available electrolyte. Behaviour of self made and screen printed ECT's were compared on the basis of on-off ratio,slew rate,frequency response and gain. Screen printed transistors showed promising results having less deterioration with time  but  till  an  an  input  signal  frequency  of  2Hz  only. Mismatch with simulation results and Shockley's equation were other findings after data analysis.</p><p><img src="file:///C:/DOCUME%7E1/zia/LOCALS%7E1/Temp/moz-screenshot.jpg" /><img src="file:///C:/DOCUME%7E1/zia/LOCALS%7E1/Temp/moz-screenshot-1.jpg" /></p>