Relevant bibliographies by topics / Angle measurement systems / Dissertations / Theses
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Dissertations / Theses on the topic 'Angle measurement systems'

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Published: 5 June 2025
Last updated: 1 August 2025

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1

Martin, David G. "High precision angle calibration for spherical measurement systems." Thesis, University of Warwick, 2009. http://wrap.warwick.ac.uk/2775/.

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The European Synchrotron Radiation Facility (ESRF) located in Grenoble, France is a joint facility supported and shared by 19 European countries. It operates the most powerful synchrotron radiation source in Europe. Synchrotron radiation sources address many important questions in modern science and technology. They can be compared to “super microscopes”, revealing invaluable information in numerous fields of diverse research such as physics, medicine, biology, geophysics and archaeology. For the ESRF accelerators and beam lines to work correctly, alignment is of critical importance. Alignment
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2

Li, Tianya. "Electromechanical wave propagation phenomenon and its control implications in power systems." Thesis, Queensland University of Technology, 2016. https://eprints.qut.edu.au/95962/1/Tianya_Li_Thesis.pdf.

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This thesis investigates advanced control methods and strategies to enhance the transient stability of a power system which is affected by the electromechanical wave propagation phenomenon. The characteristics of the travelling wave phenomenon and its impact on system separation during first swing are investigated in detail. This thesis identifies four innovative control implications for power system stability and proposes an improved method to enhance power system transient stability. By designing better control of existing equipment, this research achieves increased maximum power transfer un
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Svensson, Johan. "Design of a portable steering wheel angle measurement system." Thesis, KTH, Fordonsdynamik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-180034.

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The aim of this Master Thesis is to develop a steering wheel measuring system. The system should be easy to use and install, portable and have the possibility to be used in different vehicle types from different manufactures. The old system in use is stationary equipment that is difficult to apply on a new vehicle without any major installation. In this work a prototype is developed using rate sensor technology. The system is based on two different angular rate sensors. One sensor is mounted on the steering wheel to record the motions the driver affects on the steering wheel. The second sensor
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4

Delport, Jacques. "Synchronized Measurement of Machine Rotor Angle and Its Application." Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/51242.

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The internal voltage angle of a generator is an important parameter that indicates the stability, both transient and steady-state, of the generator. This paper proposes a method of measuring and synchronizing the internal angle using a microprocessor and an optical encoder installed on the shaft of a generator. With a synchronized angle measurement, accurate stability studies and wide-area controls can be implemented. The experimental setup for measuring the rotor angle of a generator is explained in this work. A wide-area power system stabilizer implementing the synchronized angle measurement
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5

Redd, Justin D. "An Ultrasonic Angular Measurement System." International Foundation for Telemetering, 1993. http://hdl.handle.net/10150/611880.

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International Telemetering Conference Proceedings / October 25-28, 1993 / Riviera Hotel and Convention Center, Las Vegas, Nevada<br>An original design is presented for a system capable of measuring the relative angle of a flat surface using reflected ultrasonic wave pulses. No physical contact with the surface is necessary. The measurement range is from 0 to 54 degrees. Theoretical resolution is 5 minutes of arc, with actual measured resolution of approximately 20 minutes of arc. The system has performed successfully in limited flight tests, is capable of rates up to 80 angle measurements per
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6

Ouckama, Ryan. "Comparison of flexible electrogoniometers to a 3D optical tracking system for measurements of ankle angles during level walking and running." Thesis, McGill University, 2008. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=18818.

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Accurate measurement of joint motion is highly desirable for human gait analysis. Marker based optical motion capture is currently a gold standard in human gait studies but limited to a small field of view, exclusively in a laboratory setting. Where quantitative assessment is needed in the unconstrained environments (eg. factory floor, clinical wards), strain-gauge electrogoniometers provide portable operation and simple measurement of joint angles. These modern electrogoniometers have overcome problems associated with prior generations of fixed axis goniometers. The purpose of this study was
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7

Baird, Russell A. "Novel techniques for interfacial tension and contact angle measurements in polymer/CO2 systems." Connect to this title online, 2005. http://hdl.handle.net/1811/306.

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Senior Honors Thesis (Chemical Engineering)--Ohio State University, 2005.<br>Title from first page of PDF file. Document formatted into pages; contains 27 p.; also includes graphics Includes bibliographical references (p. 24-25). Available online via Ohio State University's Knowledge Bank.
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8

Chen, Jian. "Accurate frequency estimation with phasor angles." Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-12042009-020203/.

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9

Tripathi, Anjali. "Exoplanetary system WASP-3 : measurement of the projected spin-orbit angle and evidence for stellar activity." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/51586.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Physics, 2009.<br>Includes bibliographical references (leaves 69-73).<br>In this thesis, I present new spectroscopic and photometric observations of WASP-3, a transiting extrasolar planetary system. From spectra obtained during two transits, I use the Rossiter-McLaughlin effect in a simplified physical model to determine the projected spin-orbit angle between the planetary orbital axis and the stellar rotation axis, ... degrees. I use the new photometric data to refine the system parameters. Additionally, I present evidence for ste
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10

Patwari, Neal. "Measured and Modeled Time and Angle Dispersion Characteristics of the 1.8 GHz Peer-to-Peer Radio Channel." Thesis, Virginia Tech, 1999. http://hdl.handle.net/10919/32201.

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In an extensive outdoor propagation study, low antenna heights of 1.7 m are used at both the transmitter and the receiver to measure over 3500 wideband power-delay profiles (PDPs) of the channel for a peer-to-peer communications system. Rural and urban areas are studied in 22 different transmitter-receiver links. The results are used to characterize the narrowband path loss, mean delay, root-mean-square (RMS) delay spread, and timing jitter of the peer-to-peer wideband channel. Small-scale fading characteristics are measured in detail by measuring and analyzing 160 PDPs within each local are
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11

Seidu, Iddrisu. "Analytical and Numerical Validation of Nozzle Spray Measurement Data Obtained from a Newly Developed Production System." Cleveland State University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=csu1446504762.

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12

Ellingson, Steven W. "Design, development, and evaluation of a system for angle-of-arrival measurement at a UHF Mobile Radio Base Station." The Ohio State University, 2000. http://rave.ohiolink.edu/etdc/view?acc_num=osu1299777185.

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13

Finck, Alexander von [Verfasser], Stefan [Akademischer Betreuer] Sinzinger, Angela [Gutachter] Duparré, and Michael [Gutachter] Pfeffer. "Table top system for angle resolved light scattering measurement / Alexander von Finck ; Gutachter: Angela Duparré, Michael Pfeffer ; Betreuer: Stefan Sinzinger." Ilmenau : TU Ilmenau, 2014. http://d-nb.info/1178180743/34.

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14

Savin, Andrej. "Experimental Measurement of Lateral Force in a Submerged Single Heaving Buoy Wave Energy Converter." Doctoral thesis, Uppsala universitet, Elektricitetslära, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-159519.

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The search for new solutions for the generation of energy is becoming more and more important for our future. Big arguments and disagreements on e.g. the questions of gas transport or the dependence on energy supplied by other countries raise demands on the development of new forms of alternative energy resources. Wave power is one of the main sources of renewable energy due to the high power density stored in ocean waves. Nevertheless, the dynamic forces of waves are so large that serious questions popped up on how to design a system which could work even in an unfavourable wave climate or co
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15

Utgaard, Nicklas Sørlie. "Investigating the effect of a robotic presence compared to a virtual robot in teaching angles and turn measurements to children." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for datateknikk og informasjonsvitenskap, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-27246.

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In the later years robotics has seen a huge increase within domestic use, and have now become an affordable tool in the daily life of most people. The goal of this project was to investigate the differences between a physical and virtual robot in terms of increased content knowledge, learning motivation, and interest in science, technology, engineering and mathematics (STEM). To investigate this we conducted an experiment at Trondheim&#146;m International School (THIS), using a quasi-experimental setup with two treatment group, virtual and physical robot. The results showed that there does not
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Stølsvik, Jan Tore. "Investigating the effect of a robotic presence compared to a virtual robot in teaching angles and turn measurements to children." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for datateknikk og informasjonsvitenskap, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-27247.

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In the later years robotics has seen a huge increase within domestic use, and have now become an affordable tool in the daily life of most people. The goal of this project was to investigate the differences between a physical and virtual robot in terms of increased content knowledge, learning motivation, and interest in science, technology, engineering and mathematics (STEM). To investigate this we conducted an experiment at Trondheim&#146;m International School (THIS), using a quasi-experimental setup with two treatment group, virtual and physical robot. The results showed that there does not
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17

Strömstedt, Erland. "Submerged Transmission in Wave Energy Converters : Full Scale In-Situ Experimental Measurements." Doctoral thesis, Uppsala universitet, Elektricitetslära, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-179740.

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Different wave power technologies are in development around the world in different stages of prototype testing. So far only a few devices have been deployed offshore at full scale for extended periods of time. Little data is published about how these different devices perform. This thesis presents results from experiments with the full-scale offshore wave energy converters at the Lysekil research site on the Swedish west coast. The theories, experiments, measurements, performance evaluations and developments of the submerged transmission in the direct driven permanent magnet linear generator a
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18

Stüken, David Anselm [Verfasser]. "Estimation of the systematic uncertainties of the measurement of the neutrino mixing angle theta13 related to the trigger system of the Double Chooz Experiment / David Anselm Stüken." Aachen : Hochschulbibliothek der Rheinisch-Westfälischen Technischen Hochschule Aachen, 2013. http://d-nb.info/104665120X/34.

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19

Algers, Björn. "Stereo Camera Calibration Accuracy in Real-time Car Angles Estimation for Vision Driver Assistance and Autonomous Driving." Thesis, Umeå universitet, Institutionen för fysik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-149443.

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The automotive safety company Veoneer are producers of high end driver visual assistance systems, but the knowledge about the absolute accuracy of their dynamic calibration algorithms that estimate the vehicle’s orientation is limited. In this thesis, a novel measurement system is proposed to be used in gathering reference data of a vehicle’s orientation as it is in motion, more specifically the pitch and roll angle of the vehicle. Focus has been to estimate how the uncertainty of the measurement system is affected by errors introduced during its construction, and to evaluate its potential in
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20

Zadeh, Ramin Agha. "Performance control of distributed generation using digital estimation of signal parameters." Thesis, Queensland University of Technology, 2010. https://eprints.qut.edu.au/47011/1/Ramin_Agha_Zadeh_Thesis.pdf.

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The Queensland University of Technology (QUT) allows the presentation of a thesis for the Degree of Doctor of Philosophy in the format of published or submitted papers, where such papers have been published, accepted or submitted during the period of candidature. This thesis is composed of seven published/submitted papers, of which one has been published, three accepted for publication and the other three are under review. This project is financially supported by an Australian Research Council (ARC) Discovery Grant with the aim of proposing strategies for the performance control of Distributed
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21

Fuhrland, Matthias. "Konzeption und Umsetzung neuer Technologien zur biaxialen Winkelmessung und elektrooptischen Pseudostreckenmessung." Doctoral thesis, München : Verl. der Bayerischen Akad. der Wiss, 2008. http://nbn-resolving.de/urn:nbn:de:bsz:14-ds-1201784888043-41278.

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22

Fuhrland, Matthias. "Konzeption und Umsetzung neuer Technologien zur biaxialen Winkelmessung und elektrooptischen Pseudostreckenmessung." Doctoral thesis, München Beck, 2007. http://d-nb.info/988973138/04.

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23

Li, Qi. "Acoustic noise emitted from overhead line conductors." Thesis, University of Manchester, 2013. https://www.research.manchester.ac.uk/portal/en/theses/acoustic-noise-emitted-from-overhead-line-conductors(90a5c23c-a7fc-4230-bbab-16b8737b2af2).html.

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The developments of new types of conductors and increase of voltage level have driven the need to carry out research on evaluating overhead line acoustic noise. The surface potential gradient of a conductor is a critical design parameter for planning overhead lines, as it determines the level of corona loss (CL), radio interference (RI), and audible noise (AN). The majority of existing models for surface gradient calculation are based on analytical methods which restrict their application in simulating complex surface geometries. This thesis proposes a novel method which utilizes both analytic
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24

Hunter, Brandon. "Channel Probing for an Indoor Wireless Communications Channel." BYU ScholarsArchive, 2003. https://scholarsarchive.byu.edu/etd/64.

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The statistics of the amplitude, time and angle of arrival of multipaths in an indoor environment are all necessary components of multipath models used to simulate the performance of spatial diversity in receive antenna configurations. The model presented by Saleh and Valenzuela, was added to by Spencer et. al., and included all three of these parameters for a 7 GHz channel. A system was built to measure these multipath parameters at 2.4 GHz for multiple locations in an indoor environment. Another system was built to measure the angle of transmission for a 6 GHz channel. The addition of th
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25

kulkarni, Milind Anant. "Small Angle Measurement Using Optical Caustics From Hollow Cylinders - Few Investingations." Thesis, 2007. https://etd.iisc.ac.in/handle/2005/621.

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‘Optical Caustics’ represent some of the most visually striking patterns of the light in nature.They occur when light rays from a source, such as the sun, get refracted, or reflected by curved media so as to bend and alter their path. They are ubiquitous and signify the regions of space in which many rays intersect to form bright singularities along a two-or a three-dimensional surface. The associated 2-D patterns (caustic patterns) could be simple or complex in ‘shape and size’ depending upon the optical arrangement used to produce them. Such patterns exhibit either a static or a dynamic beha
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kulkarni, Milind Anant. "Small Angle Measurement Using Optical Caustics From Hollow Cylinders - Few Investingations." Thesis, 2007. http://hdl.handle.net/2005/621.

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‘Optical Caustics’ represent some of the most visually striking patterns of the light in nature.They occur when light rays from a source, such as the sun, get refracted, or reflected by curved media so as to bend and alter their path. They are ubiquitous and signify the regions of space in which many rays intersect to form bright singularities along a two-or a three-dimensional surface. The associated 2-D patterns (caustic patterns) could be simple or complex in ‘shape and size’ depending upon the optical arrangement used to produce them. Such patterns exhibit either a static or a dynamic beha
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27

Tavassoli, Zahra. "Determination of line tension in liquid lens systems from contact angle measurement." 2006. http://link.library.utoronto.ca/eir/EIRdetail.cfm?Resources__ID=442088&T=F.

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28

Wadduwage, Darshana Prasad. "Novel algorithms for rotor angle security assessment in power systems." 2015. http://hdl.handle.net/1993/30972.

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This thesis proposes two novel algorithms to analyze whether the power system loses synchronism subsequent to credible contingencies. The two algorithms are based on the concept of Lyapunov exponents (LEs) and the Prony analysis respectively. The concept of LEs is a theoretically sound technique to study the system stability of nonlinear dynamic systems. The LEs measure the exponential rates of divergence or convergence of trajectories in the state space. Considering the higher computational burden associated with the convergence of the true LEs, a modified algorithm is proposed to study th
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LIN, CHIANG-YING, and 林江縈. "Real Time Joint Angle Measurement System." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/75330333443150323232.

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碩士<br>國立暨南國際大學<br>光電科技碩士學位學程在職專班<br>102<br>Due to the dynamics goniometer system is very expensive, damaged easily and some shortcomings at the market. Therefore, this study is to develop a low price and practical dynamic joint angle measurement system. Then, we connected Arduino modules with Labview software to achieve a real time joint angle measurement system, to help physical therapist in the assessment of rehabilitation. For example: extension, flexion, and other related activities of the situation.
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Li, Lung-Tien, and 李龍添. "Design and Development of Small-Angle-Measurement and Angular-Indexing-Measurement System." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/t8h5bw.

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碩士<br>國立虎尾科技大學<br>光電與材料科技研究所<br>92<br>In this paper, two novel angular measuring systems are developed: (1) The small Angular measuring system. (2) The indexing measuring system. To meet the need of high precision machinery for IC and other related manufacturing industry, high positioning techniques are required. Thus, in the thesis, the principle, the design and the performance tests of the developed measuring systems were represented. Finally, the verification of the two system were also carried out. The performance of the systems can be described as followed: 1. The novel small angu
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Chen, Siang-Ru, and 陳香如. "Dynamic joint angle measurement and active hand rehabilitation system." Thesis, 2019. http://ndltd.ncl.edu.tw/cgi-bin/gs32/gsweb.cgi/login?o=dnclcdr&s=id=%22107NCHU5810002%22.&searchmode=basic.

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碩士<br>國立中興大學<br>生醫工程研究所<br>107<br>The accuracy and repeatability of the traditional method of measuring joint angle is fairly low and unable to instantly display, record and upload the data onto cloud drive. The degree of the range of motion is an important standard for rehabilitation program analysis and efficacy of the program. Doctors and physiotherapists will develop a comprehensive treatment plan based on the measurements to avoid causing harm to the patient. Stroke is a fairly common disease on middle aged and elderly people that causes brain cells to degrade which leads to abnormal exci
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Chi, Chien-Yu, and 紀建宇. "MEMS Gyroscope Systems with Imperfection Compensations and Direct Angle Measurements." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/59878526713731664721.

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博士<br>國立交通大學<br>機械工程學系<br>99<br>In this dissertation, we proposed using control techniques to estimate and compensate the effects from both mechanical structure imperfections and interface circuit imperfections. Accompanied with proper feedback controls and signal processing techniques, the compensated system dynamics can be used to obtain the rotation angle without integrating the angular rates. The mechanical structure imperfections discussed in this report including unknown proof mass, unknown system stiffness, unknown system damping coefficients, undesired cross-axis coupling, and mismatch
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Yu, Hsiu-Wei, and 余修瑋. "A Tilt Angle Measurement System using RCNN Computer Vision Technique." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/35972935325899780035.

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碩士<br>國立中興大學<br>電機工程學系所<br>105<br>Taiwan is located on the circum-Pacific seismic zone and earthquakes occur quite frequently. As a result, buildings, street lights, and piles are prone to tilt because of the earthquakes. If they tilt to a certain extent, there is a high risk of collapsing. To measure the tilt angle, devices like theodolites or posting plumbs are commonly used and the process is generally expensive, time-consuming, dangerous and even stringent in mountainous terrain. Therefore, this paper introduces a relatively simple, flexible, non-contact measurement method – using devices
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Zhang, Rong-Hua, and 張榮華. "Machine vision based relative angle measurement system between circular holes." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/86ctej.

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碩士<br>國立臺北科技大學<br>機械工程系機電整合碩士班<br>106<br>In this thesis, the machine vision technique is employed to measure the angle between two circular holes for the bicycles derailleur parts. The delta robot combining the motorized zoom lens are composed to construct an automatic measuring device. In this way, we are able to detect normal vectors of circular holes under different positions and sizes by using only one camera. By calculating plane normal vectors of two circular holes within the camera coordinate system and performing the cross product operation, the angle between the two circular holes is
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BARBAGLIO, FRANCESCO. "Precise angle and range measurements: Advanced systems for deep space missions." Doctoral thesis, 2013. http://hdl.handle.net/11573/918563.

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Magruder, Lori Adrian 1971. "Pointing angle and timing verification of the geoscience laser altimeter using a ground-based detection system." 2001. http://hdl.handle.net/2152/10730.

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Hu, Yibin. "Payload's sway angle measurement for container in the crane system based on remote sensing." Master's thesis, 2020. http://hdl.handle.net/10071/21897.

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The demand for a high quickly measuring angle in the port crane system should be considered when the container has been transferred from one place to another place. It is significant to build the feedback linking of payload's angle in the integrated crane system. The value of accurate measurement of the angle can be used to optimize the crane control system. In this context, the design and implementation of the experimental setup associated with emulated cranes will be carried out. Several solutions for remote angle measurement were considered one of the considered solutions being repres
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Hong, Shun-Yu, and 洪舜昱. "One-snap multi-angle spectroscopy optical system for electroluminescence, photoluminescence and reflectance measurements." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/kcdu6k.

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碩士<br>國立中央大學<br>光電科學與工程學系<br>106<br>This research focuses on the establishment of one-snap multi-angle spectroscopy optical system, which combines electroluminescence (EL), photoluminescence (PL) and reflectance measurements. In the optical design, the rays are expended by an objective, and the direction of angular dimension (y-axis) is determined by a slit, while the wavelength dimension (x-axis) are separated by a blazed grating. Finally, the rays enter a Complementary Metal-Oxide-Semiconductor (CMOS) and a two dimensional spatial spectrum is formed. The whole system is established on the b
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Wang, Sheng-Han, and 王聖翰. "In Vitro Measurement of Ankle Joint Biomechanics Using the Robot-Based Testing System." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/14597214622739578993.

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碩士<br>臺灣大學<br>醫學工程學研究所<br>95<br>Biomechanical studies of human joints often aim at determining the joint stiffness and the contribution of the soft tissues in terms of load and strain. Many methodologies have been applied to measure the mechanical properties of those tissues, e.g. implanted transducer, arthrometer, computer modelling. Nevertheless, it remains difficult to simulate the loading conditions applied to the joints since joint motion is multi-degree-of-freedom and joint is geometrically and materially nonlinear. The purpose of this study is to develop a Robot-based Joint Testing Syst
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Zhou, Pei-Wen, and 周姵妏. "Using the excitation surface plasma waves optical system to resonance angle of the Xylitol of measurement and analysis." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/49571792568207802416.

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Wang, Peiqing. "A Measurement of the Proton's Weak Charge Using an Integration Cerenkov Detector System." 2011. http://hdl.handle.net/1993/4835.

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The Q-weak experiment at Thomas Jefferson National Accelerator Facility (USA) will make a precision determination of the proton weak charge with approximately 4% combined statistical and systematic uncertainties via a measurement of the parity violating asymmetry in elastic electron-proton scattering at very low momentum transfer and forward angle. This will allow an extraction of the weak mixing angle at Q^2=0.026 (GeV/c)^2 to approximately 0.3%. The weak mixing angle is a fundamental parameter in the Standard Model of electroweak interactions. At the proposed accuracy, a measured deviation
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Chang, Chia-Hao, and 張家豪. "Using the method of optical frustrated total internal reflection and the excitation surface plasma waves optical system to resonance angle of the normal saline of measurement and analysis." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/51824726868109746098.

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碩士<br>清雲科技大學<br>電子工程所<br>100<br>The paper is using the method of optical frustrated total internal reflection and the excitation surface plasma waves optical system to resonance angle of the normal saline of measurement and analysis. The Kretschmann configuration to improve the five-layer configuration. We apply the surface plasma waves optical system to find the resonance angle and absorption depth of surface plasma waves to different thickness of Ag thin film.
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Tsai, Po-Lin, and 蔡帛霖. "Measurement of Ankle Joint Stiffness and Loadings in the Ligaments and Articular Surfaces Using Robot-Based Joint Testing System with Sequential Ligament Resection Before and After Subtalar Arthrodesis." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/4uv34w.

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碩士<br>國立臺灣大學<br>醫學工程學研究所<br>107<br>The ankle joint is the most important hub and load-bearing joint in the human body. It is also prone to injury. The ankle injury caused by sports injuries accounts for 25%. A severe ankle injury may lead to ankle joint function limitation and disability. Among the many ankle injuries, the ankle sprain accounts for more than 80% of the ankle sprain. About 77% of the ankle sprains belong to the lateral sprain. If the ankle sprain is not treated properly, 73% of the sprained athletes have an ankle sprain. In addition to the pain symptoms and ankle movement restr
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