This study proposes an application design for Stewart platform. The Stewart platform is selected to function as a mass center adjusting mechanism. The mechanism is attached to the chassis of a coaxial two-wheeled self-balancing car so that the mass center of the car can be shifted backward and forward to change the car speed. Besides, the mechanism can be applied to adjust the contacting forces between wheels and the ground if the mass center is shifted to the left and right of the car. In order to verify the feasibility of the design, the dynamic behavior of the car and the designing requirements for the Stewart platform are examined by using dynamic simulations on both sagittal plane and coronal plane. Therefore, the equation of motion of the car is derived from Lagrange mechanics. The driving torques to the wheels for balancing control, velocity control, and direction control are all determined by PID controllers. An algorithm for determining the displacement, that the mass center should be shifted to prevent losing contact force between wheels and the ground, is also introduced. The results of dynamic simulation show that the proposed application is feasible. Designing requirements for synthesizing the dimensions of the adjusting mechanism are also determined from the simulations. Finally, the dimensions of the desired Stewart platform are determined according to the designing requirements. The workspace of the Stewart platform is then investigated by inversed kinematic analysis method. Since the workspace includes the necessary space for the proposed application, which means the specified dimensions of the Stewart platform is valid.

In the last years, with more and more transistors can fit into a chip, the growth the IC design complexity is fast and original design flow can¡¦t cater for designers. Therefore, so many people promote to integrate the system into a single chip gradually with the last technology using the concept of hardware/software co-design. In this thesis, we use the hardware/software co-design concept to build a simple video codec from system level and implement it on the ARM¡¦s SOC platform. We focus on the hardware/software co-ordination. Because we use the platform-based design method, the build hardware/software modules can be used in the similar architecture on the ARM platform In our Video codec system, discrete wavelet transform(DWT) and RGBtoYCbCr are the most timing-consuming parts. Since DWT has inherent scalability and excellent features of energy compaction, it has been applied widely in the various image compression systems. We adopt the 5-3 filter lifting-based DWT in the hardware part of our system and design three different lifting-based DWT architectures by using the high level synthesis concept to optimize the hardware utilization and speed. In the premise of not increasing memory access times and additional processes of software, we overcome the boundary extension of DWT and verify it by means of FPGA after combining it with the RGBtoYCbCr hardware architecture. Finally, the hardware part is integrated with the other part implemented by software, we build a completely video encode system on the ARM SOC platform using the hardware/software co-design.

Under the influence of digital technology and deregulation of media, cross-media groups are formed in communications industry, which integrate the content of different media by the means of knowledge management in order to achieve the purpose to lower the cost and synergy. The purpose of this research is to set up the model of knowledge management which is suitable for communications industry, and evaluating the barriers may confront in the process of knowledge management. Arthur Andersen Business Consulting extracts five key factors in knowledge management: training, leadership, culture, technology and measurement, and the media feature is added to form the structure of this research. The participants of this study is the ¡§editor's platform¡¨ in Eastern Broadcasting, the employees and mid-management in TV news department, wed news department and broadcasting news department. With the methodology of sequential mixed method designs, the questionnaire is designed by the results of interviews. The structure of the questionnaire is based on the Arthur Andersen Knowledge Management Assessment Tool (KMAT), the participants are asked to evaluating the importance and performance of each item, to know the ability of knowledge management by six factors (training, culture, leadership, media's features, technology and measurement), helping the organization to understand the efficiency of knowledge management. The result of this study shows that the staff emphasize on the factor training, the measurement on the contrast; the technology factor is considered to be best performance, while the leadership part is the worst one. In the barriers of knowledge management, shows that the case company has not promoted the whole knowledge management yet at present; in editor¡¦s platform section, shows though staff clasp negative view to editor¡¦s platform, but there is not apparent improvement. The suggestions of this research is to emphasize on the exchange of tacit knowledge, set up the style of leadership from lower to upper, set up cross-media work group as an experiment, change the information platform interface into a window interface, and interact with staff to set up the index that the measurement of knowledge management.

The purpose of this study is to investigate the Upper Tournaisian substage within the Carboniferous carbonate deposits of the Aladag Unit in the Hadim region (Central Taurides) based on foraminiferal diversity and to study the meter scale cyclicity in order to explain the sequence stratigraphic evolution of the carbonate succession. In this study, a 27.01 m thick stratigraphic section consisting of limestones and shales was measured and 89 samples, collected along this section, were analyzed. Micropaleontological analyses are based on benthic foraminifera. According to the benthic foraminiferal assemblages, two biozones were identified as Zone Ut1 and Zone Ut2 within the Upper Tournaisian. Zone Ut1 is characterized by a poor foraminiferal assemblage while the Zone Ut2 consists of a diverse Upper Tournaisian foraminiferal fauna. In order to construct a sequence stratigraphic framework and appreciate depositional environmental changes, microfacies studies were carried out. Seven microfacies types were recognized and depending on the stacking patterns of these microfacies types, two fundamental types of cycles, A and B, were identified. Through the measured section, twenty-five shallowing-upward meter scale cycles and two sequence boundaries were determined. Quantitative analysis of benthic foraminifera was used to demonstrate the biological response to cyclicity. Since foraminifers are very sensitive to sea level changes, the abundance of benthic foraminifera displays a good response to sedimentary cyclicity. In order to apply a worldwide sequence stratigraphic correlation, the sequence boundaries and the meter scale cycles of this study were compared with those described in South China and Western European platform and the Moscow Syneclise. An Early Tournaisian transgression was followed by a major fall in relative sea level during the Late Tournaisian. Two sequence boundaries recognized in the measured section correspond to global sea level falls in the Late Tournaisian.

During the uniform locomotion of legged robots with compliant legs, the body of the robot exhibits quasi-periodic oscillations that have a disturbing eect on dierent onboard sensors. Of particular interest is the camera sensor which suers from image degradation in the form of motion-blur as a result of this camera motion. The eect of angular disturbances on the camera are pronounced due to the perspective projection property of the camera. The thesis focuses on the particular problem of legged robots exhibiting angular body motions and attempts to analyze and overcome the resulting disturbances on a camera carrying platform (head). Although the full problem is in 3D with three independent axes of rotation, a planar analysis provides signicant insight into the problem and is the approach taken in the thesis. A carefully modeled planar version of an actual camera platform with realistic mechanical and actuator selections is presented. Passive (ltering) and active (controller) approaches are discussed to compensate/cancel motion generated disturbances. We consider and comparatively evaluate PID and LQR based active control. Since PID has the limitation of controlling only one output, PID-PID control is considered to iv control two states of the model. Due to its state-space formulation and the capability of controlling an arbitrary number of states, LQR is considered. In addition to standard reference signals, Gyroscope measured disturbance signals are collected from the actual robot platform to analyze the bandwidth and test the performance of the controllers. Inverted pendulum control performance is evaluated both on a Matlab-Simulink as well as a precise electro-mechanical test setup. Since construction of the planar head test setup is in progress, tests are conducted on simulation.

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In this paper, we proposed a hardware development environment of the Embedded system to reduce the complexity of the Embedded system archeitecture, fit the varied specification, decrease the difficulties and time consuming on hardware integration, and short the life period of products. According to the On-Cihp Bus platform, we can utilize certain modules repeatly and recofigure the parameters flexibily to integrate the necessary system hardware and complete the system verification rapidly that we can achieve the time to market. In this thesis, we discuss architecture of hardware platform and the technique of system integration. Further more; we introduce the concept of VRM (Verification Reuse Methodology) on the system verification that reduces the verification time of system.

With the advent of the Age of Knowledge Economy, most businesses are gradually realizing that only knowledge can guarantee the long-term competition advantage for any individual business. To strengthen its competitive edge, China Steel Corporation (also known as CSC) has been actively investing in knowledge management in recent years. The purpose of this study, then, is an attempt to find out the factors that may be hindering CSC¡¦s knowledge management and innovation and possible solutions to these issues. This study will first construct a relevant theory to knowledge management and innovation obstruction, followed by a discussion regarding the current situation of CSC¡¦s knowledge innovation and management. Through in-depth interview and questionnaire survey with CSC¡¦s individual departments, the present research is going to try to ascertain the factors in CSC¡¦s knowledge obstruction, to devise a plausible solution relevant to the company¡¦s problems, and to serve as an example for other businesses who may also be mapping their own knowledge management. The primary research subject of this study includes current CSC staff with a rank of certified engineer or above. All subjects are arranged into five main groups according to their departments. A total of 410 questionnaires are issued, but only 244 responses are deemed valid and are included in the research. Through various statistical analyses, like Reliability analysis, descriptive statistical analysis, ANOVA, etc., the present study concludes with the following findings: I.Through literature and interview, the cause and factors of knowledge management and innovation obstruction are discovered to be: A.System: 1. A lack of knowledge inheritance, 2. Insufficient trigger, 3. No professional staff, 4. No operational standard. B.Personnel: 1. Unwilling to share, 2. Insufficient training, 3. Insufficient time, 4. A lack of teamwork, 5. Insufficient understanding. C.Platform: 1. Insufficient data, 2. Insufficient hardware, 3. Time inefficiency, 4. Operation difficulty, 5. Insufficient safety. D.Management: 1. Insufficient understanding, 2. Insufficient willpower, 3. Insufficient support, 4.Insufficient communication. II.This study, through questionnaire survey, has confirmed that the degree in which each factor magnifies the obstruction depends on: A.In structural surface, platform is the most severe component, and personnel is considered to be a less severe component. The time inefficiency, insufficient safety and insufficient data are the three leading factors in the platform component, followed by personnel¡¦s insufficient time and insufficient hardware. B.Unwilling to share, a lack of teamwork, and insufficient understanding are the mildest obstruction factors. III.Most subjects of the survey consider the current progress satisfactory, and they also believe that the personnel component has the most progress among many other factors, followed by the work done in knowledge innovation. The platform receives the lowest progress rating. IV.The relationship between individual difference, progress, and innovation obstruction: A.Staff from different work units experiences significant difference in terms of ¡§innovation progress¡¨, ¡§system obstruction¡¨, ¡§personnel obstruction¡¨, ¡§platform obstruction¡¨, and ¡§management obstruction¡¨, etc. Sales unit people face more hindrance in system, personnel, and management than other units. Operation unit people experience the least obstruction, and they also acquire more ¡§innovation progress¡¨ than the sales unit. B.Staff with different work positions experiences significant difference in terms of ¡§system obstruction¡¨, ¡§personnel obstruction¡¨, and ¡§management obstruction¡¨, etc. Engineers in general face more hindrance than other staff in terms of the three main categories ¡V¡§system obstruction¡¨, ¡§personnel obstruction¡¨, and ¡§management obstruction¡¨. On the other hand, technicians evidently experience less obstruction than other kinds of staff. C.Staff with different educational backgrounds experiences significant difference in terms of ¡§system obstruction¡¨, ¡§personnel obstruction¡¨, ¡§platform obstruction¡¨, and ¡§management obstruction¡¨, etc. As a whole, staff with higher education will experience more obstruction and its accompanying factors. D.Staff with different seniority levels experiences significant difference only in terms of ¡§personnel obstruction¡¨. The result of post-occupational multi-comparison analysis shows that this obstruction does not reach a significant standard.

The main goal of testing is to find errors in the System Under Test (SUT). Prior research indicated that Model-Based Testing is indeed good at finding SUT errors, can lead to less time and effort spent on testing if the time needed to write and maintain the model plus the time spent on directing the test generation is less than the cost of manually designing and maintaining a test suite. This study proposed a methodology for Model-Based Testing. In this approach, Sequence Diagrams and Class Diagram are used to determine the testing path and test case and Object Constraint Language is used to specify the business logic constraint. Three real-world cases and a CASE tool are used to test the usability (including the concepts, application, and advantages) of the proposed methodology. With this approach, SUT errors can be found at the systems analysis and design stage and thereby reduce the cost of software testing and enhance the efficiency of system development.

This paper is to investigate the wave-induced dynamic properties of the floating platform for cage aquaculture. Considering the calculation efficiency and its applicability, this problem is simplified by: (1) assuming the flow field is inviscid, incompressible and irrotational; (2) the form drag and inertia drag on the fish net is calculated by the modified Morison equation (or Morison type equation of relative motion), including the material and geometric properties; (3) the moorings is treated as a symmetric linear spring system and the influence of hydrodynamic forces on the mooring lines is neglected; and (4) the net-volume is assumed as un-deformable to avoid the inversely prolonging computing time because the mass of fish net with is too light comparing with the mass of floating platform and cause the marching time step tremendously small to reach the steady-state condition which may lead to larger numerical errors (e.g. truncation errors) in computation. The BIEM with linear element scheme is applied to establish a 2D fully nonlinear numerical wave tank (NWT). The nonlinear free surface condition is treated by combining the Mixed Eulerian and Lagrangian method (MEL), the fourth-order Runge-Kutta method (RK4) and the cubic spline scheme. The second-order Stokes wave theory is adopted to give the velocity on the input boundary. Numerical damping zones are deployed at both ends of the NWT to dissipate or absorb the transmitted and reflected wave energy. The velocity and acceleration fields should be solved simultaneously in order to obtain the wave-induced dynamic property of the floating platform. Thus, both the acceleration potential method and modal decomposition method are adopted to solve the wave forces on the floating body, while the wave forces on the fish net are calculated by the modified Morison equation. According to Newton¡¦s second law, the total forces on the gravity center of the floating platform form the equation of motion. Finally, the RK4 is applied to predict the displacement and velocity of the platform. Firstly, the NWT is validated by comparing the wave elevation, internal velocity and acceleration with those from the second-order Stokes wave theory. Moreover, the numerical damping zone is suitable for long time simulation with a wide range of wave depth. The simulated results on wave-body interactions of fixed or freely floating body also indicate good agreement with those of other published results. Secondly, in the case of the interaction of waves and the floating platform, the simulated results show well agreement with experimental data, except at the vicinity of resonant frequency of roll and heave motions. This discrepancy is due to the fluid viscous effect. To overcome this problem and maintain the calculation efficiency, an uncoupled damping coefficient obtained by a damping ratio (£i=0.1 ) is incorporated into the vibration system. Results reveal that responses of body motion near the resonant frequencies of each mode have significant reduction and close to the experimental data. Moreover, the results are also consistent well with experiments in different wave height, mooring angle, water depth either with or without fish net. Therefore, the suitable value of the damping ratio for the floating platform is £i=0.1. Finally, the present model is applied to investigate the dynamic properties of the floating platform under different draft, width, spacing, spring constant, mooring angle and depth of fish net. Results reveal that the resonant frequency and response of body motion, mooring force, reflection and transmission coefficients and wave energy will be changed. According to the resonant response, the platform with shallower draft, larger width, longer spacing between two pontoons, smaller spring constants, or deeper depth of fish net has more stable body motions and smaller mooring forces. Irregular wave cases are presented to illustrate the relationship with the regular wave cases. Results indicate that the dynamic responses of body motion and the reflection coefficient in irregular waves have similar trend with regular waves. However, in the irregular wave cases, the resonant frequency is moved to the higher frequency. Similarly, resonant response function is smaller but wider, which is due to the energy distribution in the wave spectrum.