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Wheeled systems are energy efficient on prepared surfaces like roads and tracks. Legged systems are capable of traversing different terrains but can be lossy. At low speeds and on off-road surfaces, legged systems using dynamic walking can be energy efficient. Towards this objective, the dynamics of the walker needs to be modelled and controlled. In addition, the braking and ground impact losses need to be minimized. This thesis presents analysis and experiments on the dynamics and control of a rimless-spoked-wheel based mobile robot (Chatur ∗) that belongs to a category between wheeled and legged systems. This rolling rimless wheel is effectively a 2D dynamic walker that serves as a platform for investigating the dynamics and energetics of inverted pendulum walking with constant step angle. A pulsed actuation torque is proposed for the system resulting in four torque regimes defined by the ratio of energy losses to available actuator torque. Five physical constraints that impose fundamental limits on the choice of operating points of a generic inverted pendulum walker are expounded and a method for locating optimal operating points is discussed. Chatur’s hardware design is elaborated and a control topology is proposed for pulsed actuation of the dual brushless dc (BLDC) motor driven platform with wheel synchronization. Various actuator torque profiles can be used to achieve dynamic ‘walking’ in a hub-actuated rimless wheel. The proposed pulsed actuation torque gives rise to four torque regimes that achieve sustained walking and a fifth regime where the walker keeps slowing down with each step. The regimes can be identified based on the fraction of stance phase for which the actuator is energized. Theoretical analysis and experimental results are presented. A simple closed-form analytical solution, using hyperbolic functions, is proposed for the stance phase inverted pendulum dynamics considering planar motion. Ground impacts are assumed to cause abrupt drop in velocity. A constant braking torque that lumps together the effect of several loss phenomena is also considered. Based on whether the CoM is rising or falling and whether or not there is an actuating torque, a stance phase can have four types of sub-phases — actuated rise, unactuated rise, actuated fall, unactuated fall. These are concatenated in four different ways to form repeating cycles yielding the four regimes. The experimental set-up is a fixed step-angle walker constructed using two synchronized adjacent rimless wheels independently actuated at the hub. Varying the magnitude and duty ratio of the torque pulse, the four proposed regimes are experimentally shown. The mechanical power consumption and cost of transport are computed from measured motor currents for different average forward speeds. Videos of the walks are also taken. The space of operating points for an inverted pendulum based bipedal dynamic walker in terms of constraints and optimality is investigated. The operating point of the walker can be specified by the combination of initial mid-stance velocity (v0) and step angle (φm) chosen for a given walk. Not all operating points lead to a realizable steady-state gait. Using basic mechanics, a framework of physical constraints that limit the choice of operating points is proposed. The constraint lines thus obtained delimit the valid region of operation of the walker in the v0–φm plane. Within this allowable region, sub-regions that result in various regimes of walking are identified. A given average forward velocity vx,avg can be achieved by several combinations of v0 and φm. Only one of these combinations results in the minimum mechanical power consumption and can be considered the opti-mum operating point for the given vx,avg. A method is proposed for obtaining this optimal operating point based on tangency of the power and velocity contours. Putting together all such operating points for various vx,avg, a family of optimum operating points, called the optimal locus, is obtained. For the energy loss and internal energy models chosen, the optimal locus obtained has a largely constant step angle with increasing speed but tapers off at non-dimensional speeds close to unity. Thus, choosing the right step angle and keeping it fixed over a broad range of speeds could lead to an inverted pendulum walker that is close to optimal from a mechanical energy perspective. The complete hardware design for Chatur and the caveats associated with reliable performance of the mechanical and electrical subsystems are elaborated. In order to en-sure lateral stability, the system uses two contralateral wheels each driven by a separate BLDC hub motor. From a motor drive perspective, the mechanical load belongs to a unique class of dynamic loads whose reflected torque has a characteristic cyclic varia-tion that repeats several times within a mechanical revolution. The proposed control topology has two hierarchical levels, an inner loop for torque control of BLDC motor implemented using a standard proportional-integral controller, and an outer loop for torque reference generation that uses the information on the ground impact instants and the motor position feedback. Ground impacts of the spokes are detected by an accelerometer to initiate the application of torque. The torque pulse magnitude can be set internally or by a manual operator via radio control. The pulse duration is programmable and enables attainment of various torque regimes at different steady state speeds. The wheels are synchronized so that corresponding spokes on both wheels move in unison. This is achieved by including a wheel synchronization loop that compensates for any lag between the wheels. Lag is detected based on number of sector changes in the hall-effect position sensor data received from both motors. An improved BLDC motor drive is developed wherein non-commutating current feedback is used to reduce current spikes during sector transitions. Experimental waveforms for controller validation are shown.

The Ghost Machine is a practice-based research project that explores the process of embodiment in animated film. It describes the process of transfiguration from the artist’s/auteur’s point of view and not from an outside position. The dissertation follows the embodiment of a dramatic text, the Ghost Sonata by August Strindberg (1907), into an animated film. The starting point is my experience of the drama, at the age of thirteen, when staged by Ingmar Bergman at the Royal Dramatic Theatre. As a teenager, the world of the grown-ups seemed to be corrupt, twisted and ruled by violent power plays and economic sanctions, and this play confirmed my world view. Was I right, as a thirteen-year-old boy? What kind of world emerges in my version of the Ghost Sonata? In this thesis work, the films and the experimental research process meet the practice and art of writing. Using text, not as “theory” separated from “practice” but as a bodily art practice, creates a shifting border between the results and intentions of art and filmmaking, and the results of writing. At the same time a unity emerges where the results of the research process can be seen and experienced in the interaction between the texts and the artwork. The Ghost Machine is a totality where the text, films and artworks included in the project are equally important and must be seen as a unity. The Ghost Machine is a work journey where travelling, animated film practice, networking with colleagues and collecting data are mixed with experiments using methods from contemporary arts practice, performance, reenactment, appropriation and transfiguration, blended with traditional puppet animation in classic Czech style. In collaboration with actors, mime artists, puppet makers, musicians and a minimal film crew, century old stop-motion animation is combined with computer animation.  The textual part of the work falls into two categories: life stories and work stories. The work stories traces the forming of an artwork in all aspects. The life stories are related to the subject of ghosts. Suddenly, dead friends and dear family members claimed their space. The understanding of the Ghost Sonata came to be a process of sorting out and following lines of memory using an inverted version of the Orpheus myth as a guide. Instead of never turning around, when walking the dead out of oblivion, I chose to look back, again and again, until I hit something and could not write anymore. / https://www.uniartsplay.se/slin

Company A develops algorithms and hardware for the application of magnet tracking, to be able to use a dipole magnet as an interaction tool between humans and computers. This master thesis investigates the available magnetic sensors through a market survey and practical testing of a selection of the sensors in purpose to determine the most suitable magnetic sensor and magnetic sensor technology for the application of magnet tracking. With the most suitable sensor found in the investigation, a sensor platform is designed and manufactured. The sensor HMC5983 from Honeywell is found to be the most suitable sensor and is designed into the sensor platform, which also includes ,for instance, a wireless MCU, CC2640 from Texas Instru- ments, together with a PCB antenna and a PSU including a battery charger, BQ24075 from Texas Instruments. The most suitable mag- netic sensor technology was found to be magnetoresistive sensors. The sensor platform was designed according to the requirements and is working good enough to enable company A to start testing their algorithms for magnet tracking on the new platform.

The performance of commercial Radio Frequency Identification (RFID) tags is primarily limited by present techniques used for tag antenna design. Currently, industry techniques rely on identifying the RFID tag application (books, clothing, etc.) and then building antenna prototypes of different configurations in order to satisfy minimum read range requirements. However, these techniques inherently lack an electromagnetic basis and are unable to provide a low cost solution to the tag antenna design process. RFID tag performance characteristics (read-range, chip-antenna impedance matching, surrounding environment) can be very complex, and a thorough understanding of the RFID tag antenna design may be gained through an electromagnetic approach in order to reduce the tag antenna size and the overall cost of the RFID system. The research presented in this thesis addresses RFID tag antenna design process for passive RFID tags. With the growing number of applications (inventory, supply-chain, pharmaceuticals, etc), the proposed RFID antenna design process demonstrates procedures to design tag antennas for such applications. Electrical/geometrical properties of the antennas designed were investigated with the help of computer electromagnetic simulations in order to achieve optimal tag performance criteria such as read range, chip-impedance matching, antenna efficiency, etc. Experimental results were performed on the proposed antenna designs to compliment computer simulations and analytical modelling.

Thesis (M. Sc. (Zoology)) -- University of Limpopo, 2015 / The unprecedented expansion in human population and industry, since the industrial revolution in the late 1700s, has led to increased anthropogenic activities which have indisputably impacted freshwater ecosystems and biological communities therein, including fish. Although this has understandably been the focus, under natural aquatic conditions, no organism is only affected by pollution. Parasites have also been shown in a number of interdisciplinary studies to affect the health of aquatic hosts (amphibians, crustaceans, fish, and mammals). This is illustrated in a number of comprehensive studies the detrimental effects parasites exacerbate when their hosts (fish) are stressed. Therefore, the ability of parasites to interact with anthropogenic stressors, as well as effects they have on the genetic, cellular or tissue level of their host is crucial in conservation and sustaining aquatic biodiversity. As such, the present study examined the combined effects of pollution and metazoan parasites on the health and oxidative stress biomarkers, evaluated for the first time for silver carp, Hypophthalmichthys molitrix (Valenciennes, 1844) and rednose mudfish, Labeo rosae Steindachner, 1894, in one of South Africa’s impacted freshwater ecosystems, Flag Boshielo Dam, Olifants River System, Limpopo Province. Seasonal surveys were conducted from February 2012–January 2013. A total of 111 H. molitrix and 116 L. rosae fish specimens were collected using conventional angling gear, scoop and gill nets with stretched mesh sizes of 30–110 mm. The two selected cyprinid fish species were assessed for oxidative stress biomarkers [Glutathione S-transferase (GST), lipid peroxidation (MDA) and Total Antioxidant Capacity (TAC)] and parasitism of metazoan parasites. Concentrations of biomarkers of oxidative damage and antioxidant defense in the gill and liver tissue were measured to assess how these major organs of the immune system responded to oxidative stress associated with parasitic infections. In addition, water quality analyses were carried out by testing an assay of physico-chemical parameters to establish the level of contamination. Fish health was assessed using the Health Assessment Index (HAI), refined Parasite Index (PI), Inverted Parasite Index (IPI) and Condition Factor (K) protocols. Relative to previous studies at Flag Boshielo Dam, water quality results showed an increase of nutrients, major ions and several metals which may have adverse effects that may comprise fish health; however, this dam remains moderately polluted in a mesotrophic state. The fish health assessment results indicated that H. molitrix was more affected in terms of the necropsy and parasite based assessments (HAI, IPI and K) with mean±SD of 65.68±35.51; 68.29±25; 0.82±0.20, respectively, as compared to 39.14±22.44; 28.79±18.33; 1.17±0.21 for L. rosae during the study. In addition, significantly higher parasitic infections (mean prevalence of infection with any species of parasite = 45.3±0.13) were observed for H. molitrix than L. rosae (12.0±0.05). Furthermore, there was considerable variation in biomarker concentration between highly infected and non-infected fish, for and between each species and tissues with regard to parasite infection, suggesting that the specific functions of each tissue are associated with their susceptibility to oxidative stress, as well as their ability to defend against oxidative damage. These results illustrate that although fish are affected by aquatic contaminants they are to an extent affected by parasites, which may act synergistically on the health of the two fish species. Most importantly, it was suggested that knowledge on the parasites of alien H. molitrix when compared to indigenous L. rosae may give an indication of how adaptive this fish are to new localities as well as expands the information on the rarely studied biology, epizootiology and ecological interactions of these two cyprinid species. Keywords: Health Assessment Index, refined Parasite Index, Inverted Parasite Index, Condition Factor, water quality, lipid peroxidation, Glutathione S-transferase, Total Antioxidant Capacity, Hypophthalmichthys molitrix, Labeo rosae, Flag Boshielo Dam.

This thesis describes the process of rebuilding an experimental model of a single pendulum on a cart into the double pendulum on a cart. The control algorithm in MATLAB/Simulink environment for stabilization of the pendulum in the inverse position is designed. For this purpose, LQR state feedback control was implemented. Also method for swinging the pendulum into inverse position from stable state (swing-up) was designed. Feedforward method was utilised for swing-up control. In the thesis, functionality of these algorithms is shown.

This master thesis deals with the development and construction of the inverted pendulum, inspired by the Cubli project. The objective is to develop and design an inverted pendulum, in the shape of one side of the cube balancing at one of its corner and for balancing is used the flywheel. For its design 3D printing is used to the maximum extent and as the electronic parts commonly available components at an affordable price are used. The design of the construction and the components allow the construction of a complete cube, without the need of further development or fundamental changes in the design of the model. For the calculations and the design of the controller the Matlab / Simulink software was used. As the controller algorithm the LQR algorithm is used with added integral feedback, to minimize control error. The 3D models of the single parts are created with FreeCAD software and printed on a 3D Prusa i3 MK2S printer.

Improvement of the current double inverted pendulum model on a cart as well as a new LQG control and swing-up realization are the main goal of this thesis. Movement of the cart is driven by DC motor and gear belt mechanism. At first the control algorithms were simulated in Simulink program and then also implemented into the real system with MF624 card.

The topic of this work is the passivation of the active layer of perovskite solar cells with an inverted structure. The work is divided into theoretical and experimental part. The theoretical part describes in particular the passivation and modification of the perovskite layer as well as the characteristic properties of perovskite, including structure and stability. The experimental part deals with the preparation of photovoltaic cells with an inverted structure. For the characterization of photovoltaic cells, reference samples were prepared and their active layer was modified by plasma. The most used deposition technique for the preparation of layers was the spin coating method. From the performed experiments it can be concluded that the preparation of samples and their subsequent modification under laboratory conditions does not lead to the improvement of the final parameters of photovoltaic conversion. By transferring the sample preparation and passivation of the active layer to an inert atmosphere, it was possible to produce cells with higher efficiencies (compared to the reference sample), around 10 %. Another advantage of this plasma treatment of the active layer is that it also improves the stability of the prepared structures, which even after a few days in air show almost 80 % of the original efficiency.