This thesis studies the effects of morphological factors of hexapod robots on their locomotion stability. In particular, an offset model for such robots is proposed. The stability margin as well as the error margin are used to indicate the stability of the hexapod robot, as it walks with different gaits in arbitrary directions. Two hexapod gaits are compared, which are the symmetric gait and the metachronal gait. The former is an artificial gait and the latter, on the contrary, is a natural gait which can be observed in many multiped animals. As we investigate advantages and disadvantages of the two gaits, we find that the stability of a hexapod robot can be enhanced by increasing the offset value. This is particularly true for a robot moving in the X and oblique directions with a symmetrical gait. However, altering the offset is less useful for metachronal gaits. In general, a hexapod robot moves most stably in the Y direction with a symmetrical gait, whereas it is most stable in the X direction with a metachronal gait.

<p>Since digital system has become very common today it is important to have good interfaces in between the analog and digital domain. This puts high demandson the analog to digital converter. It is therefore important in the design of theanalog to digital converter to reduce noise and offset as much as possible. That isalso what this analysis is going to consider but in a comparator which is a crucialpart of the analog to digital converter. The comparator consists of a preamplifierand a latch and it is the preamplifier that will be studied here. The analog todigital converter in consider is of PSAR structure. Some other structures will alsobe mentioned in the first part together with some noise theory.</p><p> </p><p> </p>

The static linearity test is one of the fundamental production tests used to measure DC performance of analog to digital converters (ADCs). It comes with high test equipment cost. An ADC built-in-self-test (BIST) is an attractive solution. However the stringent linearity requirement for an on-chip signal generator has made it prohibitive. The stimulus error identification and removal (SEIR) method has greatly reduced the linearity requirement. However, it requires a highly stable voltage offset, which remains a daunting task. This work exploits the inherit capacitive sample-and-hold circuit used in various ADC architectures to inject offset with very good constancy. A 16-bit successive approximate register (SAR) ADC with the proposed BIST scheme is modeled and simulated in Matlab to prove its validity. The results show that the estimation error on the maximum INL is less than 0.07 LSB. This BIST solution is then naturally extended to the calibration of an ADC. It is shown missing codes of such ADC can be effectively estimated and calibrated out. / text

This master thesis analyzes the effect of Carrier Frequency Offsets (CFO) on LTEuplink transmission, which is the main cause of ICI (Inter Carrier Interference) andMAI (Multiuser Access Interference). A model of the LTE uplink is required toconduct the study and is implemented in MATLAB, in compliance with 3GPPspecifications. The model can generate uplink signal as generated by the UE, (UserEquipment) and it supports multiple channel bandwidths described by the 3GPP.The channel estimation is done with the help of block type pilots. The model is usedto simulate the experimental conditions. The presence of CFO results in poor systemperformance. Therefore, many algorithms have been proposed for the CFOcancellation such as Successive Interference Cancellation (SIC), Parallel InterferenceCancellation (PIC) and Inverse Interference Matrix Cancellation. As the topic is verybroad, I investigate the performance of Inverse Interference Matrix Cancellationalgorithm. Compared with the other CFO cancellation algorithms this algorithm candirectly estimate the interference components from the inverse pilot matrix, thusthere is no need for CFO estimation. Simulation results show that the algorithm isvery effective in the presence of CFO. The channel estimation technique used is theLeast Square (LS) method and frequency selective channel is used for simulation.Performance graphs are plotted in terms of BER (Bit Error Rate) against differentvalues of SNR (Signal to Noise Ratio).

Development actions such as urban, residential, commercial, industrial and mining contribute significantly to the loss of biodiversity worldwide. As development and subsequent loss and degradation of habitats continue, terrestrial biodiversity offsets, or mitigation schemes are conservation instruments that increasingly are being developed, implemented, and used throughout Australia and abroad. However, the failure of offset policies and practices to incorporate sound ecological principles into their design and implementation has led to ineffective conservation and management of biodiversity through offsetting. The aim of this research was to develop a ‘recommended best practice’ offset framework for environments experiencing development pressure, and to inform planners and decision makers on a sound ecological approach to improve biodiversity outcomes for terrestrial ecosystems through the use of offsetting/mitigation schemes. A content analysis technique was applied to evaluate 26 local, provincial, and national biodiversity offset policies, guidance/discussion papers, and planning documents from five countries. Five ecological and planning criteria were applied to evaluate the offset policies. The results from the policy evaluation found that most offset policies contained vague, ambiguous statements and difficult to apply concepts and these results were consistent with a plethora of existing literature, which had identified that the planning of offsets lacked effective consideration and implementation of landscape-ecological principles, and that the protection of biodiversity through offsetting was not occurring. It is therefore important that national, state, and regional policies provide sufficient detail, with definitive performance criteria, indicators and targets, rather than vague principles which are open to ambiguous interpretation and inconsistency in implementation. The results from this research suggested that offset policies failed to protect biodiversity in that the majority of policies evaluated did not effectively incorporate ecological principles that would result in no-net-loss of biodiversity outcomes. This included a failure to recognise and consider the impact of offsets at a landscape-ecosystem scale in relation to ecosystem functionality and the viability of biotic populations. This research also indicated that a variety of tools (e.g., remote sensing, field surveys, and expert opinion) can be used to ensure effective consideration of landscape, ecological, and planning aspects of offsetting. The results of a case study in the Coomera-Pimpama region of Gold Coast City, Australia found that Gold Coast City Council explicitly considered only two of the five recommended off-setting criteria outlined in this research and as a result the conservation of biodiversity and in particular the habitat of the koala (Phascolarctos cinereus) in this area remained threatened. Key strategies were identified to help improve biodiversity outcomes from offsetting and these included: requirements to assess both impacted and offset sites, minimisation of threats to offset sites, and collaboration with professionals in other agencies, ensure that statements are accompanied by definitions, policies provide sufficient detail with definitive performance criteria, indicators and targets, active engagement with agencies dealing with offsetting procedures, professionals, or researchers, effective commitments to facilitative integration, structural integration and collaboration, and strategic integration.

Thesis (Ph.D.)--University of Texas at Dallas, 2007. / Includes vita. Includes bibliographical references (leaves 103-107)

Thesis (M.F.A.)--Rochester Institute of Technology, 1988. / Typescript.

Thesis (M. Sc.)--University of Alberta, 2010. / Title from pdf file main screen (viewed on Mar. 18, 2010). A thesis submitted to the Faculty of Graduate Studies and Research in partial fulfillment of the requirements for the degree of Master of Science in Geophysics, Department of Physics, University of Alberta. Includes bibliographical references.

Techn. Universiẗat, Diss., 2004--Berlin.

Submitted by Fernanda Weschenfelder (fernanda.weschenfelder@uniceub.br) on 2018-06-11T19:37:55Z No. of bitstreams: 1 61400186.pdf: 1981131 bytes, checksum: 0bbd150df7b7568d9cc07d76356ec261 (MD5) / Approved for entry into archive by Fernanda Weschenfelder (fernanda.weschenfelder@uniceub.br) on 2018-06-11T19:38:02Z (GMT) No. of bitstreams: 1 61400186.pdf: 1981131 bytes, checksum: 0bbd150df7b7568d9cc07d76356ec261 (MD5) / Made available in DSpace on 2018-06-11T19:38:02Z (GMT). No. of bitstreams: 1 61400186.pdf: 1981131 bytes, checksum: 0bbd150df7b7568d9cc07d76356ec261 (MD5) Previous issue date: 2016 / O tema do presente trabalho são os contratos de compensação, mais especificamente, aqueles que incluem transferência de tecnologia. Os contratos de offset foram analisados consoante sua instrumentalidade e procedimentalidade. O estudo teve como foco o setor de defesa brasileiro em virtude da experiência adquirida por este setor no emprego do instituto contratual das compensações. Partiu-se das seguintes indagações: de que maneira as compras públicas no setor de defesa podem contribuir com o desenvolvimento tecnológico nacional? E ainda: quais fatores impactam a efetividade das compensações tecnológicas? Realizou-se inicialmente pesquisa bibliográfica e documental. Na sequência, realizou-se pesquisa empírica, cujos instrumentos de coleta de dados utilizados foram o painel de especialistas e o questionário on-line. Identificou-se que há grande interação entre o setor de defesa e a inovação tecnológica, e que as compras públicas de defesa podem estimular o desenvolvimento tecnológico a partir de acordos de compensação tecnológica. Outrossim, os órgãos integrantes da defesa já dispõem de estrutura capaz de apoiar o desenvolvimento tecnológico nacional e balizam seus projetos e setores estratégicos por tecnologias inovadoras. No que tange às espécies compensatórias, identificou-se que os offsets tecnológicos são os que possibilitam benefícios mais expressivos para o caso brasileiro, dado o hiato tecnológico que separa o país dos Estado desenvolvidos. Dada a complexidade das compensações tecnológicas, foram identificados doze critérios para avaliação das propostas de offsets tecnológicos, divididos em noventa e seis subcritérios. A partir do processo analítico hierárquico, os critérios e subcritérios foram submetidos ao painel de especialistas. Obteve-se como resultado uma matriz de avaliação de propostas de compensações tecnológicas, a qual contém o valor percentual correspondente à contribuição de cada subcritério para a meta institucional de promover o desenvolvimento tecnológico nacional. Realizou-se estudo de caso do projeto piloto do Sistema Integrado de Monitoramento de Fronteiras (SISFRON), que é um projeto estratégico do Exército Brasileiro. A matriz de avaliação foi validada a partir da sua aplicação às propostas das compensações tecnológicas em execução no referido projeto, obtendo-se um valor numérico para cada proposta, possibilitando priorizar as propostas com base em dados objetivos. A partir das respostas ao questionário on-line, constatou-se que os fiscais dos contratos de compensação tecnológica têm baixo grau de concordância com o painel de especialistas, o que indica que o processo de avaliação de propostas de compensação tecnológica depende de um conjunto de expertises que incluem conhecimentos jurídicos, técnicos e gerenciais. Concluiu-se que as compensações tecnológicas resultantes de compras públicas em defesa podem contribuir com a política pública de inovação desde que esta seja ampla o suficiente para abarcar a defesa e outras áreas de atuação estatal.