Dissertations / Theses on the topic 'Linear encoders'

Raman scattering can be applied to biological imaging to identify molecules in a sample without the need for adding labels. Raman microscopy can be used to visualize functional areas at the cellular level by means of a molecular contrast and is thus a highly desired imaging tool to identify diseases in biomedical imaging. The underlying Raman scattering effect is an optical inelastic scattering effect, where energy is transferred to molecular excitations. Molecules can be identified by monitoring this energy loss of the pump light, which corresponds to a vibrational or rotational energy of the scattering molecule. With Raman scattering, the molecules can be identified by their specific vibrational energies and even quantified due to the signal height. This technique has been known for almost a century and finds vast applications from biology to medicine and from chemistry to homeland security. A problem is the weak effect, where usually only one in a billion photons are scattered. Non-linear enhancement techniques can improve the signal by many orders of magnitude. This can be especially important for fast biomedical imaging of highly scattering media and for high resolution spectroscopy, surpassing the resolution of usual spectrometers. In this thesis a new system for stimulated Raman spectroscopy (SRS) and hyperspectral Raman microscopy with a rapidly wavelength swept laser is presented. A time-encoded (TICO) technique was developed that enables direct encoding of the Raman transition energy in time and direct detection of the intensity change on the Stokes laser by employing fast analogue-to-digital converter (ADC) cards (1.8 Gigasamples/s). Therefore, a homebuilt pump laser was developed based on a fiber-based master oscillator power amplifier (MOPA) at 1064 nm and extended by a Raman shifter that can shift the output wavelength to 1122 nm or 1186 nm. This is achieved by seeding the Raman amplification in the fiber with a narrowband 1122 nm laser diode. Surprisingly, this also leads to narrowband (0.4 cm-1) cascaded Raman shifts at 1186 nm and 1257 nm, which is in contrast to the usually broadband spontaneous Raman transition in fused silica. The underlying effect was examined and therefore concluded that it is most probably due to a combined four-wave-mixing and cascaded Raman scattering mechanism. Experimentally, the narrowband cascaded Raman line was used to record a high-resolution TICO-Raman spectrum of benzene. As Raman Stokes laser, a rapidly wavelength swept Fourier domain mode-locked (FDML) laser was employed which provides many advantages for SRS. The most important advantages of this fiber based laser are that it enables coverage of the whole range of relevant Raman energies from 250 cm-1 up to 3150 cm-1, while being a continuous wave (CW) laser, which at the same time allows high resolution (0.5 cm-1) spectroscopy. Further, it enables a new dual stage balanced detection which permits shot noise limited SRS measurements and, due to the well-defined wavelength sweep, the TICO-Raman technique directly provides high-quality Raman spectra with accurate Raman transition energy calibration. This setup was used for different applications, including Raman spectroscopy and non-linear microscopy. As results, broadband Raman spectra are presented and compared to a state-of-the-art spontaneous Raman spectrum. Furthermore, several spectroscopic features are explored. For first imaging results, samples were raster scanned with a translational stage and at each pixel a TICO-Raman spectrum acquired. This led to a hyperspectral Raman image which was transformed into a color-coded image with molecular contrast. Biological imaging of a plant stem is presented. The setup further allowed performing multi-photon absorption imaging by two-photon excited fluorescence (TPEF). In summary, this thesis presents the design, development and preliminary testing of a new and promising platform for spectroscopy and non-linear imaging. This setup holds the capability of biological multi-modal imaging, including modalities like optical coherence tomography (OCT), absorption spectroscopy, SRS, TPEF, second harmonic generation (SHG), third-harmonic generation (THG) and fluorescence lifetime imaging (FLIM). Amongst the most promising characteristics of this setup is the fiber-based design, paving the way for an endoscopic imaging setup. Already now, this makes it a robust, alignment-free, reliable and easy-to-use system.<br>Ramanstreuung kann in der biomedizinischen Bildgebung dazu eingesetzt werden, Moleküle in einer Probe zu identifizieren, ohne dass die Probe vorher aufbereitet werden muss. Raman Mikroskopie kann funktionelle Bereiche sichtbar machen, indem es einen molekularen Kontrast auf Größenordnungen der Zellen bereitstellt und wird damit hochinteressant für die Krankheitserkennung in biomedizinischer Bildgebung. Der zugrundeliegende Raman Streuprozess ist ein optisch-inelastischer Streuungsmechanismus der die Detektion von Molekülschwingungen ermöglicht. Dabei wird das gestreute Licht detektiert und die Energiedifferenz zum Anregungslicht entspricht der molekularen Schwingungsenergie. Durch diese molekülspezifischen Schwingungsenergien ist es möglich, die Moleküle zu identifizieren und weiterhin durch die Signalhöhe zu quantifizieren. Diese Technik ist seit nunmehr beinahe einem Jahrhundert bekannt und findet breite Anwendung in Gebieten wie der Biologie, Chemie und der Medizin. Das Problem der Ramanstreuung ist die geringe Signalstärke des Effekts, wobei normalerweise nur eines von einer Milliarde Photonen gestreut wird. Es ist jedoch möglich, diesen Effekt durch nichtlineare Techniken um einige Größenordnungen zu verstärken. Dies wird besonders relevant beim Einsatz in der biomedizinischen Bildgebung von hochstreuendem Gewebe und bei hochauflösender Spektroskopie, wo gewöhnliche, gitterbasierte Spektrometer an ihre Grenzen stoßen. In der vorliegenden Arbeit wird ein neues System zur stimulierten Ramanstreuung (SRS) und hyperspektralen Ramanmikroskopie mittels eines schnell wellenlängenabstimmbaren Lasers vorgestellt. Hierfür wurde eine neue, zeitkodierte (TICO) Technik entwickelt, die es ermöglicht, die abgefragte Raman-Schwingungsenergie in der Zeit zu kodieren und weiter die durch SRS auftretende Leistungssteigerung direkt in der Zeitdomäne aufzunehmen, indem sehr schnelle Analog-zu-Digital-Wandler (ADC) mit 1.8 Gigasamples/s eingesetzt werden. Der hierfür entwickelte Pumplaser ist ein faserbasierter Masteroszillator Leistungsverstärker (MOPA) mit integriertem Ramanwandler, der einen Betrieb bei 1064 nm, 1122 nm oder 1186 nm ermöglicht. Diese Mehrwellenlängenfähigkeit basiert auf dem Ramaneffekt in der Glasfaser, der durch ein Keimlicht einer 1122 nm Laserdiode stimuliert wird. Überraschenderweise wurde dadurch ebenfalls ein schmalbandiger Betrieb (0,4 cm-1) der kaskadierten Ramanbanden bei 1186 nm und 1257 nm beobachtet, was zunächst der erwarteten breitbandigen Ramanbande von Glas widerspricht. Diese Ergebnisse wurden untersucht und es wird ein Modell vorgeschlagen, wonach der gefundene Effekt auf einer Kombination von Vier-Wellen-Mischen und kaskadierter Ramanstreuung beruht. Das schmalbandige kaskadierte Ramanlicht bei 1186 nm wurde im Experiment für hochauflösende Ramanspektroskopie von Benzol benutzt. Als Raman Stokeslaser wurde ein schnell wellenlängenabstimmbarer Fourierdomänen modengekoppelter (FDML) Laser benutzt, der einige Vorteile kombiniert. Als wichtigste Vorteile dieses faserbasierten Lasers sind die breite Abdeckung relevanter Ramanenergien, die sich von möglichen 250 cm-1 bis 3150 cm-1 erstreckt, die gleichzeitig hohe spektrale Auflösung (0.5 cm-1), und der für biologische Bildgebung interessante Dauerstrich-Betrieb (CW) zu nennen. Weiterhin wurde eine neue, zweistufig balanzierte Detektion entwickelt, die SRS Messungen an der Schrotrauschgrenze ermöglichen. Die wohldefinierte Wellenlängen-zu-Zeit Beziehung dieses Lasers wurde darüber hinaus dafür benutzt, den TICO-Raman Spektren direkt Ramanenergien zuzuweisen. Dadurch wurden hochqualitative Ramanspektren mit akkurater Wellenzahlinformation möglich. Das entwickelte System wurde für Anwendungen in der Raman Spektroskopie und nicht-linearen Bildgebung eingesetzt. Als Ergebnisse werden breitbandig abgetastete Ramanspektren präsentiert, die mit spontanen Raman Spektren verglichen werden. Weitere, neue spektrale Anwendungen wurden untersucht und erste Mikroskopiebilder erzeugt. Hierfür wurde die Probe mittels eines Verschiebetisches verfahren und an jedem Pixel ein TICO-Raman Spektrum aufgenommen. Die so erzeugten hyperspektralen Raman Mikroskopiebilder wurden in farbig kodierte Bilder mit molekularem Kontrast umgewandelt. Es wird eine TICO-Raman Mikroskopieaufnahme von einem Pflanzenschnitt präsentiert. Das System erlaubt es ferner, durch den Einsatz des hochintensiven Pumplasers Bilder mit Mehrphotonenabsorption zu messen, indem zweiphotonenangeregte Fluoreszenzbildgebung (TPEF) angewandt wird. Zusammenfassend wird in dieser Arbeit die Entwicklung eines neuen Systems der Spektroskopie und nichtlinearen Bildgebung beschrieben und erste Messergebnisse präsentiert. Mit diesem System wird es möglich sein, viele verschiedene Bildgebungsverfahren zu verbinden. Darunter unter anderem Bildgebungsverfahren wie die optische Kohärenztomographie (OCT), Absorptionsspektroskopie, SRS, TPEF, Frequenzverdopplung (SHG) und Frequenzverdreifachung (THG) und Fluoreszenzlebenszeitmikroskopie (FLIM). Der wohl vielversprechendste Vorteil dieses Systems liegt in dem faserbasierten Design, welches es ermöglichen kann dieses System zukünftig zur endoskopischen Bildgebung einzusetzen. Bereits jetzt ergibt dieser faserbasierte Aufbau ein sehr robustes System, das verlässlich, justagefrei und einfach zu bedienen ist.

Práce se zabývá návrhem a implementací testovacího zařízení pro manipulačnínmechanismus vzorku v elektronovém mikroskopu. Testovací zařízení a jeho software zajištuje meření několika parametrů mechanismu, jejich statistické vyhodnocení a porovnání se specifikací. Cílem je vytvořit komplexní testovací zařízení s jednoduchým uživatelským rozhraním, s požadavkem náhrady stávajícího nemodulárního a nestabilního řešení a jeho rozšíření o testování dalších parametrů.

DDT, an extremely widely used organochlorine pesticide, was banned in most developed countries more than 30 years ago. However, DDT residues, including 1,1-dichloro-2,2-bis(4-chlorophenyl)ethylene (DDE), still persist in the environment and have been identified as priority pollutants due to their toxicity and their ability to bioaccumulate and biomagnify in the food chain. In particular, DDE was long believed to be &quotenon-biodegradable&quote, however some microorganisms have now been isolated that are able to metabolise DDE in pure culture. Terrabacter sp. strain DDE-1 was enriched from a DDT-contaminated agricultural soil from the Canterbury plains and is able to metabolise DDE to 4-chlorobenzoic acid when induced with biphenyl. The primary objective of this study was to identify the gene(s) responsible for Terrabacter sp. strain DDE-1�s ability to metabolise DDE and, in particular, to investigate the hypothesis that DDE-1 degrades DDE cometabolically via a biphenyl degradation pathway. Catabolism of biphenyl by strain DDE-1 was demonstrated, and a biphenyl degradation (bph) gene cluster containing bphDA1A2A3A4BCST genes was identified. The bphDA1A2A3A4BC genes are predicted to encode a biphenyl degradation upper pathway for the degradation of biphenyl to benzoate and cis-2-hydroxypenta-2,4-dienoate and the bphST genes are predicted to encode a two-component signal transduction system involved in regulation of biphenyl catabolism. The bph gene cluster was found to be located on a linear plasmid, designated pBPH1. A plasmid-cured strain (MJ-2) was unable to catabolise both biphenyl and DDE, supporting the hypothesis that strain DDE-1 degrades DDE cometabolically via the biphenyl degradation pathway. Furthermore, preliminary evidence from DDE overlayer agar plate assays suggested that Pseudomonas aeruginosa carrying the strain DDE-1 bphA1A2A3A4BC genes is able to catabolise DDE when grown in the presence of biphenyl. A second objective of this study was to characterise pBPH1. The complete 84,054-bp sequence of the plasmid was determined. Annotation of the DNA sequence data revealed seventy-six ORFs predicted to encode proteins, four pseudogenes, and ten gene fragments. Putative functions were assigned to forty-two of the ORF and pseudogenes. Besides biphenyl catabolism, the major functional classes of the predicted proteins were transposition, regulation, heavy metal transport/resistance, and plasmid maintenance and replication. It was shown that pBPH1 has the terminal structural features of an actinomycete invertron, including terminal proteins and terminal inverted repeats (TIRs). This is the first report detailing the nucleotide sequence and characterisation of a (linear) plasmid from the genus Terrabacter.

Autonomous navigation is nowadays one of the hottest topic among engineering research fields and, as a matter of facts, the number of researches which are working on this field increased a lot in last years and it is expected to increase even more in future. One of the main problem, which can be encountered when facing with autonomous navigation, is the gathering of information coming from different sensors. The autonomous devices are, in fact, equipped with a large number of perception tools useful to build a model of the surrounding environment. The main question to which this dissertation aims to found an answer, is: how can this large number of data be combined in order to exploit all the available information and to obtain an improved, unique and more reliable estimation of the interesting variable? Therefore, the objective of this dissertation is the study of different techniques of state estimation which can be used to build different data fusion algorithms. In particular the focus is on Kalman-based data fusion techniques, the theory behind this kind of algorithms is deeply analyzed and the performances of them are tested by means of a real application: a Kalman-based method is used to combine data coming from visual odometry, IMU, GNSS module and encoders in order to estimate the absolute position of a UGV within a semistructured environment, such as an orchard.

Abstract Background: The ability to produce a high power output can be the deciding factor in determining which athlete wins or loses in a sporting event. Power output can be measured in an exercise like the squat or bench press. The use of a force plate, or a force plate paired with a linear position transducer is considered the gold standard when measuring power output in an exercise like the squat or bench press. Linear position transducers or linear encoders have also been considered valid methods. Power output can also be measured by accelerometers. Purpose: The purpose of this study was to test the concurrent validity of the accelerometer Beast Sensor by measuring average power in explosive squatting and bench pressing at 40 % and 80 % of one repetition maximum (1RM). The linear encoder MuscleLab was used as criterion. Methods: 17 test subjects, five women and 12 men (average age 28 years) were recruited. Fifteen of the subjects completed two test sessions. The first session determined their 1RM. The second session took place 7-14 days later and measured average power output during two sets of three repetitions at 40 % and 80 % of the subjects 1RM in explosive squats and bench presses. The average power output of the repetitions was measured simultaneously by Beast Sensor and MuscleLab. For the Beast Sensor to be considered valid, a correlation coefficient of 0.9 or higher needed to be reached. Results: Beast Sensor demonstrated high or very high correlations with MuscleLab for average power output of explosive squats at 40 % of 1RM (rs = 0.91), and for explosive bench presses at 40 % (rs = 0.86) and 80 % of 1RM (rs = 0.74). However, for explosive squats at 80 % of 1RM, the correlation was low (rs = 0.42). All correlations were statistically significant with p-values of &lt; 0.01. Beast Sensor was considered valid for squats at 40 % of 1RM, but neither at 80 % of 1RM in squats, nor at 40 % or 80 % of 1RM in bench presses. Conclusion: Beast Sensor showed high or very high correlations with the criterion MuscleLab in three of the four assessed data variables. Only the correlation for average power output of the explosive squats at 40 % of the subject’s 1RM reached the required correlation coefficient of 0.9 or higher for the Beast Sensor to be considered valid. Except for at 40 % of 1RM in squats, Beast Sensor missed a substantial amount of repetitions. Further studies examining the reliability of the Beast Sensor are therefore needed.<br>Abstrakt Bakgrund: Förmågan att producera hög effektutveckling (power) kan avgöra vilken idrottare som vinner eller förlorar en tävling. Effektutveckling kan mätas i övningar som knäböj och bänkpress. Detta kan göras med hjälp av en kraftplatta, eller en kraftplatta parad med en linear position transducer. Dessa metoder anses vara ”gold standard”, men linear position transducers eller linear encoders har också ansetts vara valida metoder. Effektutveckling kan även mätas med hjälp av en accelerometer. Syfte: Syftet med denna studie var att mäta samtidig validitet hos accelerometern Beast Sensor genom att mäta genomsnittlig effektutveckling i explosiva knäböj och bänkpressar vid 40 % och 80 % av en repetition max (1RM). MuscleLab, en linear encoder, användes som referensvärde.  Metod: 17 försökspersoner, fem kvinnor och tolv män (medelålder 28 år) rekryterades. Femton av försökspersonerna fullföljde deltagande. Vid det första testtillfället mättes 1RM. Det andra tillfället ägde rum 7-14 dagar senare och mätte genomsnittlig effektutveckling i explosiva knäböj och bänkpressar vid 40 % och 80 % av försökspersonernas uppmätta 1RM. Två set av tre repetitioner mättes vid 40 % och 80 % av 1RM i både knäböj och bänkpress. Repetitionerna mättes samtidigt av MuscleLab och Beast Sensor. För att Beast Sensor skulle anses vara valid behövde en korrelationskoefficient på 0.9 eller högre uppnås. Resultat: Beast Sensor uppvisade höga eller väldigt höga korrelationer med MuscleLab för genomsnittlig effektutveckling i explosiva knäböj vid 40 % av 1RM (rs = 0.91) och explosiva bänkpressar vid 40 % (rs = 0.86) och 80 % av 1RM (rs = 0.74). Dock uppmättes en låg korrelation för de explosiva knäböjen vid 80 % av 1RM (rs = 0.42). Alla korrelationer var statistiskt signifikanta med p-värden på &lt; 0.01. Beast Sensor ansågs vara valid för att mäta effektutveckling vid 40 % av 1RM i knäböj, men varken vid 80 % av 1RM i knäböj, eller vid 40 % eller 80 % av 1RM i bänkpressar. Slutsats: Beast Sensor visade höga eller väldigt höga korrelationer med referensvärdet från MuscleLab för tre av de fyra uppmätta variablerna. Endast korrelationen för genomsnittlig effektutveckling i explosiva knäböj vid 40 % av 1RM uppnådde den korrelationskoefficient på 0.9 eller högre som krävdes för att Beast Sensor skulle anses vara valid. Förutom vid 40 % av 1RM i knäböj, missade Beast Sensor en väsentlig andel repetitioner. Därför finns det ett behov av fler studier som undersöker reliabiliteten hos Beast Sensor.

In recent years, linear prediction voice encoders have become very efficient in terms of computing execution time and channel bandwidth usage while providing, in the absence of im- pulsive noise, natural sounding synthetic speech signals. This good performance has been achieved via the use of a maximum likelihood parameter estimation of an auto-regressive model of order ten that best fits the speech signal under the assumption that the signal and the noise are Gaussian stochastic processes. However, this method breaks down in the presence of impulse noise, which is common in practice, resulting in harsh or non-intelligible audio signals. In this paper, we propose a robust estimator of correlation, the Phase-Phase correlator that is able to cope with impulsive noise. Utilizing this correlator, we develop a Robust Mixed Excitation Linear Prediction encoder that provides improved audio quality for voiced, unvoiced, and transition speech segments. This is achieved by applying a statistical test to robust Mahalanobis distances for identifying the outliers in the corrupted speech signal, which are then replaced with filtered signals. Simulation results reveal that the proposed method outperforms in variance, bias, and breakdown point three other robust approaches based on the arcsin law, the polarity coincidence correlator, and the median- of-ratio estimator without sacrificing the encoder bandwidth efficiency and the compression gain while remaining compatible with real-time applications. Furthermore, in the presence of impulsive noise, the proposed speech encoder speech perceptual quality also outperforms the state of the art in terms of mean opinion score.<br>Doctor of Philosophy<br>Impulsive noise is a natural phenomenon in everyday experience. Impulsive noise can be analogous to discontinuities or a drastic change in natural progressions of events. Specifically in this research the disrupting events can occur in signals such as speech, power transmission, stock market, communication systems, etc. Sudden power outage due to lighting, maintenance or other catastrophic events are some of the reasons why we may experience performance degradation in our electronic devices. Another example of impulsive noise is when we play an old damaged vinyl records, which results in annoying clicking sounds. At the time instance of each click, the true music or speech or simply the audible waveform is completely destroyed. Other examples of impulse noise is a sudden crash in the stock market; a sudden dive in the market can destroy the regression and future predictions. Unfortunately, in the presence of impulsive noise, classical methods methods are unable to filter out the impulse corruptions. The intended filtering objective of this dissertation is specific, but not limited, to speech signal processing. Specifically, research different filter model to determine the optimum method of eliminating impulsive noise in speech. Note, that the optimal filter model is different for time series signal model such as speech, stock market, power systems, etc. In our studies we have shown that our speech filter method outperforms the state of the art algorithms. Another major contribution of our research is in speech compression algorithm that is robust to impulse noise in speech. In digital signal processing, a compression method entails in representing the same signal with less data and yet convey the the same same message as the original signal. For example, human auditory system can produce sounds in the range of approximately 60 Hz and 3500 Hz, another word speech can occupy approximately 4000 Hz in frequency space. So the challenge is, can we compress speech in one of half of that space, or even less. This is a very attractive proposition because frequency space is limited but the wireless service providers desires to service as many users as possible without sacrificing quality and ultimately maximize the bottom line. Encoding impulse corrupted speech produces harsh quality of synthesized audio. We have shown if the encoding is done with the proposed method, synthesized audio quality is far superior to the sate of the art.

Background: A squat is a common exercise that is used in many areas of strength training and for different purposes and the literature is inconclusive when it comes to whether the weight lifting belt (WB) affects performance and/or is injury-preventing. The use of breathing techniques is common during heavy lifting and therefore the practice of the breathing teqnice; valsalva maneuver (VM) may be of interest to study and if this along with the WB can provide some advantages in power output and velocity. Aim: The specific aim of the study was to evaluate whether the velocity in the eccentric and the concentric phase of the squat, and the peak velocity in the concentric phases are affected in power output through the use of the VM when the subjects use or did not use a WB. Method: Fifteen subjects (10 men and 5 women) volunteered freely to participate and did a total of 12 squats divided in four different sets with three repetitions each on 75% of their self-reported one repetition maximum (1RM). The first two sets were either with or without WB and the third and fourth sets were either with or without the practice of the VM. The three conditions (with WB, with WB + VM and VA only) were compared to each other and to the control group (without any instructions and no WB) in terms of power output and velocity in the eccentric, concentric and peak velocity in the concentric phase of the squat. Result: There was no significant difference in power output when comparing the four different test conditions. The velocity in the eccentric, concentric and peak velocity in the concentric phase did not have a significant difference between the different test conditions. Conclusions: This study shows a different output compared to previous literature. The WB and the practice of VM did not affect the power output and velocity in a squat, alone or together.<br>Bakgrund: Det finns många olikheter i litteraturen när det gäller huruvida tyngdlyftarbältet påverkar prestationen och/eller om det minskar skaderisken. En knäböj är en vanlig övning som används inom många områden av styrketräning och för olika ändamål. Användning av andningstekniker är vanligt vid tunga lyft och därför kan utförandet av andningstekniken; valsalvamanövern vara av intresse att studera och om det tillsammans med lyftbältet kan ge effekt på effektutveckling och hastighet i lyft. Syfte: Syftet med studien var att utvärdera hastigheten i en knäböjs olika faser (excentriska, koncentriska och topphastigheten i den koncentriska fasen) och hur effektutvecklingen påverkas av lyftarbälte och valsalvamanövern. Metod: Femton personer (10 män och 5 kvinnor) deltog frivilligt och utförde totalt 12 knäböj i fyra olika sets med tre repetitioner på 75 % av testpersonernas självrapporterade 1RM. De första två seten var utförda antingen med eller utan tyngdlyftarbälte och de tredje och fjärde seten var utförda antingen med eller utan utövande av valsalvamanövern. Dessa tre förhållanden ( med lyftarbälte, med lyftarbälte + VA och VA endast) jämfördes med varandra och med kontrollgruppen ( ingen VM och inget lyftarbälte) med avseende på effektutveckling och hastigheten i den excentriska, koncentriska och topphastighet i knäböjens koncentriska fas. Resultat: Effektutvecklingen gav ingen signifikant skillnad i någon av de fyra olika förutsättningarna (med lyftarbälte, utan lyftarbälte, med bälte och valsalvamanövern och utan bälte och valsalvamanövern). Hastigheten i den excentriska, koncentriska och topphastigheten i den koncentriska fasen visade ingen signifikant skillnad mellan de fyra olika seten. Konklusion: Studien visade ingen skillnad vilket kan jämföras med tidigare litteratur där en skillnad fanns. Lyftarbältet och utförandet av valsalva manövern påverkade inte effektutvecklingen och/eller hastigheten när en knäböj utfördes.

<p>In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. </p><p>Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory. </p><p>Results from tests with the realistic robot modell shows that disturbance rejection was improved a factor 2 to 5 while tracking performance was improved a factor 4 to 5 according to maximum deviation from the reference path. At the same time good re-sults are achieved regarding oscillation damping and robustness.</p>

Background: The usage of the Force-Velocity relationship for individualizing training regimes for athletes has increased in popularity. This can be done through measurements of muscle mechanical properties and creating individual force-velocity profiles. To do this, one must use valid and reliable test equipment. These types of equipment are often expensive and impractical, which limits the usage to a small population with the right financial means. Therefore, the purpose of this study was to examine the concurrent validity of the inertial sensor Vmaxpro for measuring muscle mechanical properties. Method: 52 male ice-hockey players (age:17.9 ± 2.2 years, body weight: 77.7 ± 10.6 kg, height: 180.3 ± 6.2 cm) participated in this study and performed two jumps each on four different loading conditions (unloaded, 25, 50 and 75% of BW). The jumps were recorded simultaneously with an inertial sensor and a linear transducer. Three different variables were analyzed: peak velocity (pV), average velocity (avgV) and average power (avgP). Pearson’s correlation coefficient (r), linear regression analysis, Bland-Altman analysis, and standard error of estimate (SEE) was used to examine the concurrent validity. Results: The results showed a strong correlation, agreement and small SEE for pV: r=0.98, bias = -0.12, SEE = 0.08, for avgV: r=0.98 bias = 0.01, SEE = 0.04 and for avgP: r = 0.97, bias = 30.94, SEE = 73.47. Practical application: The results from the present study indicate that the Vmaxpro can be used for assessing muscle mechanical properties. Furthermore, since the Vmaxpro is both cheap and portable, it can potentially expand the usage of test equipment to clubs and associations with limited budgets.

The aim of the thesis is the design machines for laser cutting and plasma workspace 2.0 x1, 8 meters. The work described technology laser cutting and plasma and the resulting demands on the machine. Longer work includes a search of design solutions, then the actual design, including the necessary calculations and drawings.

Sporadic clear cell renal carcinomas (RCC) frequently harbor inactivating mutations in exon 2 of the von Hippel-Lindau (VHL) tumor suppressor gene. In this work, we examine the effect of the loss of exon 2-encoded beta-domain function on VHL biochemical properties. Exon 2-encoded residues are not essential for VHL ability to assemble with elongin BC/Cullin-2 and to display E3-ubiquitin ligase activity in vitro. However, exon 2-encoded beta-domain is required for VHL-mediated NEDD8 conjugation on Cullin-2, proper formation of an extracellular fibronectin matrix, assembly with fibronectin and elongation factor-1alpha (EF-1alpha), a protein that we recently found to be associated with wild-type VHL in vivo. Exon 2-encoded residues are also needed for VHL binding to hypoxia-inducible factor alpha (HIF-alpha) and for its subsequent ubiquitination. Localization studies in HIF-1alpha-null embryonic cells suggest that exon 2-encoded beta-domain mediates transcription-dependent nuclear/cytoplasmic shuttling of VHL independently of assembly with HIF-1alpha and oxygen concentration. Therefore, we suggest that exon 2-encoded sequences of VHL are essential for VHL nuclear/cytoplasmic shuttling and for substrate HIF-alpha recognition and ubiquitination.

The aim of this diploma thesis is to develop a linear positioning stage for Ultra High Vacuum (UHV) environment. Simple prototypes of the linear positioning stage were designed and incorporated as part of a multiaxis sample manipulator for a UHV Scanning Tunneling Microscopy / Atomic Force Microscopy (STM/AFM). Different types of position encoders and linear guideways are discussed. Implementation of the homodyne interferometer as an optimization tool for a slip-stick based linear stage is described. Scalar diffraction theory is used to model the diffraction grating optical position encoder behavior.

Master’s thesis deals with design of laboratory supply with precise voltage and current measuring. At the beginning it presents properties, advantages and disadvantages of linear and switching supplies, based on these facts it chooses a linear type of regulator. The design continues with detailed description of power and control analog and digital circuits. The thesis includes description of taking control over the supply from the front panel or through computer. The last part is devoted to measurement results and to presentation of some static and dynamic parameters of the designed supply.

碩士<br>國立中央大學<br>機械工程研究所<br>91<br>The new type of Linear Encoder. The new encoder decrease the disadvantage of other linear encoder. We use new sensor to sense the magnetic field which is generated by PCB. This paper research the wave form of Electrical Linear Encoder. Hope to find the most fit of PCB and MR sensors to get the best signal to encode.

碩士<br>國立臺灣大學<br>應用力學研究所<br>90<br>In this dissertation a compact size linear diffractive laser encoder was designed and fabricated. In addition, a step-by-step alignment procedure was also accomplished. This newly developed laser encoder used a 780 nm wavelength laser diode as the light source and was composed of several sub-systems, which include a 1-x telescope, a diffractive grating scale, and a circular polarization interferometer. The circular polarization interferometer sub-system can decode the optical interference signals obtained from two twice diffracted beams, both of which has their frequency subjected to Doppler shifted due to grating scale displacement. With the compact mechanical design and the isothermal design arrived from the common base plate, this newly developed laser encoder is less sensitive to environmental disturbances. As this laser encoder retrieves the grating scale displacement information from the pitch of the grating scale and not from the laser source wavelength, it was found to be potentially less prone to have its measurement accuracy influenced by the frequency drift of the light source used. The performance of the compact diffractive laser encoder system was verified by using the HP5529A interferometer as the measurement reference.

碩士<br>國立雲林科技大學<br>機械工程系碩士班<br>94<br>COMSOL MULTIPHYSICS can use ( PDEs ) to describe various mathematical、physical engineering problem,or multiphysics problem,COMSOL MULTIPHYSICS is the CAE of using FEM to analyze problem. Rectangle fringe capacitive sensor,it is hard to derive the mathematical formula ,FEM can supply a solving method. In this paper,we use FEM analysis software─COMSOL MULTIPHYSICS to analyze the relation between capacitance and distance and can help designer to save time and cost in designing process.

碩士<br>國立雲林科技大學<br>機械工程系碩士班<br>93<br>Due to the demands of automatic industries and intelligent facilities are universal, it makes sensor systems to form a great quantity of using and captures a unique field in sciences and economies from its results. Unfortunately, it has been almost disappearing in national industries of high precision sensor systems and its demands must depend on import modes. For example, optical linear encoder which contains laser sources, optical detectors, circuits of signal processing and displays of measurements is complex and expensive, it confuses many industries with inventing. This research will introduce the key technologies in past investigations of the displacement sensor with sub-micron precision, the sensing circuit design and the signal processing algorithm to develop a capacitive linear encoder with low cost and high precision in the light of cost-saving on traditional optical linear encoder. The goal is to develop a capacitive linear encoder with the same precision of the optical linear encoder, 0.5μm, but at much lower cost.

碩士<br>國立雲林科技大學<br>機械工程系<br>108<br>Linear encoder is widely used in the machinery industry. The detection unit of the linear encoder emerges the position signals through the relative displacement behavior the scale and the scanning reticle. However, the deformation of the machine and the linear encoder due to temperature drift results in an important influence on the precision machine. Traditionally, the thermal expansion effects are only investigated as static and steady state. However, for high-precision machine or measurement, the dynamic response of temperature drift must be discussed. The influence of thermal noise is also one of the important purposes in this study. Therefore, the Fabry-Perot interferometer to measure the change of the thermal expansion of the platform. Then utilized the result of the linear encoder and that of Fabry-Perot interferometer are compared to determine the relationship between the deformations and temperature drift. In order to inspect the deformation of the platform, three double-resonant cavity structures are designed in this study. Through the combination of different resonant cavity distances and different positions, the thermal expansion influence of platform can be obtained. That the displacements of the linear encoder with the platform at the positive limit, the middle and the negative limit are different, so that the linear encoder is affected by the temperature and the mechanism. There are different changes in different locations.

碩士<br>國立中央大學<br>機械工程研究所<br>92<br>The idea of an electrical linear encoder made in a brand-new way is to supply the industry with a low cost and high precision linear encoder. This paper has in mind from the principle of the electrical linear encoder— Biot and Savart’s Law, and starts from the principle of magneto-resistivity sensors—magneto-resistivity effect. Under the present frame of experiment, it not only finished redesigning the magneto-resistivity sensor’s circuit board, but also changed the mode of driving electrical linear encoder from the mode of pulse current to that of constant current. Successfully, it improved the resulting output waveform so that an electrical linear encoder takes one step ahead to achieve the dream of the industry standard’s application. In addition, this paper finished simulating the electrical linear encoder’s distribution of the magnetic flux, and analyzing some factors which have effects on the electrical linear encoder’s distribution of the magnetic flux as the later design references.

博士<br>國立臺灣科技大學<br>機械工程系<br>106<br>This thesis is discussing fabricating and analyzing optical encoder. Two femtosecond lasers have been used for fabricating optimal and precise reflecting grating on the Invar alloy. Several gratings were made with different laser parameters in two regimes: constant repetition rates and constant average laser power. The efficiency of diffraction gratings is measured in an off-plane configuration by determining the power of diffracted points, image processing of Talbot image and also the pitch of gratings has been measured by an improved Littrow configuration setup. It has been shown that Talbot image setup has capability to be an online NDT test machine for grating in the optical encoder fabrication line. The method of improving Littrow pitch measuring setup could remove the error of installation up to 0.03º. An optical path has been introduced for making interference between orders of diffraction grating and according to this optical path, M-encoder has been designed and fabricated. The result of measurement in different traveling distances and in different installation situations has been showed that the total error of fabricating grating, installing error, environment, signal processing and circuits is less than ±195nm /100mm. The installation tolerance and size of M-encoder is compatible to the other encoders in the market.

碩士<br>國立交通大學<br>電子研究所<br>84<br>In wireless communication systems, a robust, low complexity and low bitrate speech coding algorithm is essential for voice applications. Vector-Sum excited linear predictive coding (VSELP) is one of the coding algorithms that can meet the requirement. We study the North American IS-54/136 VSELP speech coding algorithm and consider ways of encoder improvement in the sense of reducing complexity or improving speech quality. In terms of complexity reduction, several techniques are presented for longterm predictor search, excitation codebook search and gain quantization, which occupy more than 90% of encoding complexity. These methods respectively reduce roughly 6% to 20% of encoding complexity at moderateSSNR loss and can be applied to the encoder simultaneously. In terms of quality improvement, a tree-structured codebook search is considered. Roughly 0.3-1 dB SSNR improvement can be achieved by tree-search coding. We also present a technique which can significantly reduce tree-coding complexity. Moreover, we analyze simulation results to obtain rule-of-thumbformulas for determination of the various tree parameters under different complexity and performance conditions.

碩士<br>國立虎尾科技大學<br>光電與材料科技研究所<br>96<br>In this study, a three-degrees-of-freedom laser encoder was developed. The measuring principles of linear displacement measurement was based on the diffractive method and polarization interference method. The angle measuring method was the autocollimation method. These optical paths of these two methods are designed in a single optical system. The resolution of linear displacement is 13.1 nm and the angular resolution is 0.11 arcsec.The HP laser interferometer and an autocollimator were used to verify our proposed system. The accuracy of linear displacements is 160 nm and the accuracy of angular measurement is 0.41 arcsec.

碩士<br>國立虎尾科技大學<br>光電與材料科技研究所<br>94<br>Encoders are widely used as the positioning sensors. If the encoders and moving axis not to match, it were produced ABBA error. Three-degree-of-Freedom Laser Linear Encoder based on diffraction and interference is presented. The displacement field is measured using a polarization interference technique and the angle is measured using a near-axis optical theorem. We have developed a laser linear encoder that can detect displacements relative to an external grating scale with residual error of 200 nm and can detect angle error relative to quadrant detectors measure with residual error of 0.4 arsec.

碩士<br>國立臺灣科技大學<br>機械工程系<br>107<br>An innovative four-degree-of-freedom common path linear encoder with the ability to simultaneously measure both in and out of plane displacements and rotations is proposed in this study. This linear encoder combines the advantages of interferometry, grating interferometry, beam splitting techniques and common optical path design to develop a system with high sensitivity, high stability, high tolerance, precise displacement measurement and self-correction capability, and has been successfully miniaturized. The four-degree-of-freedom common path linear encoder has the advantages of simple configuration, quick set up and low cost. In addition, only one set of prism and grating is needed to obtain both in-plane and out-of-plane displacement information. The system is designed around the core of a common optical path configuration, focusing mainly on the angle of the prism. This causes the laser light source entering the prism to split into a transmission P beam and a refracted R beam. The P and R beam are then incident onto the optical scale (grating) at an oblique angle and diffracted, causing the diffracted P and R beams to overlap forming interference. When the grating is displaced in and in-plane or out-of-plane direction, the phase change of the interference signal received by a photodetector can be used to obtain the grating displacement value. To further enhance the measurement capability of this system, beam splitting was utilized to form two detection points on the grating, allowing the linear encoder system to measure displacement and rotation simultaneously, while compensating for measurement alignment errors, and give the system the ability to self-correct. The experimental results show that the resolution of the displacement and rotation angle of the four-degree-of-freedom common path linear optical scale can reach 10 nm and 200 nrad, respectively. The repetition rate can reach 3.6 nm and 71 nrad, and the stability is within 30 minutes. Under the condition of better than 30 nm and 1000 nrad, the speed limit can reach 8800 μm/s. It has excellent measurement performance and potential of commercial development, and can be widely used in various occasions where precision measurement is required.

碩士<br>國立勤益科技大學<br>電機工程系<br>107<br>Owing to the benefits of programmable and parallel processing of the field programmable gate arrays (FPGAs), they have been widely used to the realization of digital controllers and motor drive systems. In this study, we adopt the FPGA chip to realize the Linear Shaft Motor (LSM) drive system which includes the position control, speed control and current vector control. Linear shaft motor is a special motor which has the magnet as the shaft, and stator coils are on the forcer. Thus, it reveals a small mechanical time. In addition, the electrical side can be looked as a general three-phase AC system which can be powered by inverter, and field oriented control (FOC) technique can be applied to the system. The designed system needs high performance calculation ability about position/speed control and FOC-based current control loops. In this experiment, a comparison of speed control is made for the MT estimation algorithm and the general pulse difference speed estimation algorithm. The mathematical model of linear shaft motor drive system is first built and simulated by MATLAB/Simulink, and the correctness and performance of the hardware circuits are simulated and verified. After that, simulated model for both the MT method and pulse different plus moving average method are built, and their performance are practical implemented with the trapezoidal speed profile commands to evaluate the performances.

碩士<br>國立陽明大學<br>遺傳學研究所<br>90<br>The terminal regions of the linear Streptomyces chromosomes are highly unstable, undergoing spontaneous large deletions of up to 2 Mb. Several deletion mutants of S. lividans contained circularized chromosomes, and could not be transformed by the linear plasmid SLP2. This suggested that these deletions contained at least one gene involved in the maintenance of the linear plasmids (designated lpm for linear plasmid maintenance). Because linear Streptomyces plasmids have 5’ covalently bound terminal protein, it is believed that chromosally encoded terminal protein gene (tpgL) might play a vital role in linear plasmid maintenance. Since the Lpm+ and Lpm- strains were tpgL+ and tpgL- , respectively, complementation test was performed to determine if tpgL was lpm. Insertion of a 4.5-kb fragment contains tpgL inserted into the chromosome or a mini-linear plasmid restored the Lpm+ phenotype to Lpm- host, this indicates that the 4.5-kb fragment contains the lpm function.

No<br>Abstract: Error control techniques are designed to ensure reliable data transfer over unreliable communication channels that are frequently subjected to channel errors. In this paper, the effect of applying a convolution code to the Scattered Random Network Coding (SRNC) scheme over a multi-hop wireless channel was studied. An interleaver was implemented for bit scattering in the SRNC with the purpose of dividing the encoded data into protected blocks and vulnerable blocks to achieve error diversity in one modulation symbol while randomising errored bits in both blocks. By combining the interleaver with the convolution encoder, the network decoder in the receiver would have enough number of correctly received network coded blocks to perform the decoding process efficiently. Extensive simulations were carried out to study the performance of three systems: 1) SRNC with convolutional encoding, 2) SRNC; and 3) A system without convolutional encoding nor interleaving. Simulation results in terms of block error rate for a 2-hop wireless transmission scenario over an Additive White Gaussian Noise (AWGN) channel were presented. Results showed that the system with interleaving and convolutional code achieved better performance with coding gain of at least 1.29 dB and 2.08 dB on average when the block error rate is 0.01 when compared with system II and system III respectively.