Engineering Commons^™

Modeling And Simulation Of Robot Arms With Flexible Links, John G. Danis

Theses

The design of lightweight robot arms introduces a degree of flexiblity in the individual links which renders the arm difficult to control. Solution of the control problem requires accurate and detailed mathematical models of the arm dynamics. A comprehensive survey of the current literature in this area has shown that although many such models exist, there is a great diversity in their structure, function, and applicability. The different objectives and techniques of model development which lead to this diversity are examined and summarized in this thesis. Bases for classification of the mathematical models and techniques of development are established, and …

Apap: The Arithmetic Pipeline Analysis Package, Chang-Chieh Lin

Theses

This study is aimed at the development of an interactive PC-based package for simulating data flow within an arithmetic pipeline in multiprocessor systems. The user constructs the arithmetic pipeline, specifying the functionality of each segment, the intersegment connectivity and pipeline inputs and outputs. After defining reservation tables and data, analysis is performed with the results available in tabular, simple graphic and animated graphic forms.

APAP allows the user to design hardware and analyze its functionality with-out building the circuit, an economical alternative. Even when circuits are to be built, APAP allows the user to correct logic errors before implementation, leaving …

An Analysis Of The Second-Order, Type-One Hilbert Phase-Locked Loop, Inn-Shian Lin

Theses

In this thesis, a second-order, type-one PLL ( Phase- Lock, Loop ) in which the usual lead-lag loop filter is paralleled with a Hilbert Transformer (the whole system is called HPLL) is analyzed. A motivation for the study was that earlier researchers have found improved performance if Ilse lead-lag network is paralleled by a differentiator, result mg in the so called ERPIM (Extended-Range Phase-Locked Demodulator). For the purpose of com-parison with earlier experimental and analytical results on the PLL and the ERPLD, the numerical results in this thesis ale based on the parameters of Acampora and Newton.

The basic characteristics …

Simulation Study Of The Multi-H Continuous Phase Modulation, Min-Ling Lin

Theses

Of particular interest in satellite communications are modulation techniques that have a relatively constant envelope and are power and bandwidth efficient. Attempts have been made to satisfy these requirements by using phase and frequency modulation formats. Recently, one approach has been researched which combines the modulation and encoding functions, which is referred to as multi-h continuous phase modulation. Simultaneously good power and bandwidth efficiencies can be achieved at the expense of increased complexity.

This report examines the performance of multi-h continuous phase modulation by a simulation. A multi-h phase coded modulation is generated, passed through the AWGN transmission channel. The …

High Frequency Gaussian Beams Solution Of A Plane Wave Coupling Into Cylindrical Cavity, Christine Issa Mourad

Theses

Propagation of high frequency fields as a superposition of Gaussian beams instead of geometrical ray fields has potential advantages in complicated environments because the beams do not fail in ray optic transition regions. While the Gaussian beam method can be made rigorous through self consistent stacking of displaced and tilted beams on a Gabor phase space lattice, with retention of full beam spectra, computation is facilitated when the propagation domain is covered with paraxially approximated nontilted beams. The spectral deficiencies introduced by this simplified propagation model depend on the propagation environment. They are examined here for a plane wave coupling …

Design Criteria Of Coherent Optical Fiber Communication System, Rajesh N. Patel

Theses

Design criteria of coherent optical fiber communication system were discussed and investigated. First, the different types of optical fibers (waveguides) were discussed. Then the laser sources, photo-detectors, transmitter & receiver circuits were discussed in detail.

Design criteria of conventional intensity modulated (direct detection) optical fiber communication system were discussed. Then, the design criteria and estimation of number of photons for different modulation schemes for coherent optical fiber communication system were analyzed.

Coherent optical fiber communication system's advantages and drawbacks were discussed in detail. Improvement in receiver sensitivity of coherent detection compare with conventional direct detection was investigated. Finally, some receiver …

Image Enhancement And Edge Detection Using Fuzzy Algorithm, Samir Patel

Theses

A method of image enhancement and edge detection by computer using the fuzzy set is illustrated. The algorithm involves extraction of fuzzy properties corresponding to pixels and then succesive application of fuzzy operator 'contrast intensification' along with smoothing in the fuzzy property plane before detecting its edges. The property plane is extracted from the spatial domain using S, π, and (1- π) functions and the fuzzifiers. Edge detection is achieved using KIRSH operator. A computer routine is developed and the effectiveness of the algorithm with different value of the system parameter is demonstrated on different images. The digital computer HP …

Design Of An Experimental Apparatus To Measure The Charge And Mass Of Ionized Species In A Partially Ionized Cluster Beam Deposition System, Nitin K. Shah

Theses

The objective of this research was the design and construction of an experimental apparatus to investigate the size distribution of gallium clusters that can be emitted from a heated crucible with a 1 mm nozzle. This research work involved the design and construction of a partially ionized cluster beam (PICB) deposition system which would provide low charged particle background for retarding field analysis and cluster size measurements. The apparatus also allowed control of critical parameters on which the cluster size may depend.

The promise of PICB is based on the formation of clusters of adatoms, their ionization and their acceleration …

Rf Characterization Of A Directly Modulated Ingaasp Buried Heterostructure Laser Diode, Charlotte Alvarez

Theses

The use of fiber optics for the transmission of microwave signals had its beginnings in 1984. Applications were limited to the lower microwave frequency regions. Technology in this field is advancing rapidly due to the high demand driven by the telecommunications community for high speed digital applications. Extensive research and development efforts are underway by both the component manufacturers and the subsystem end user. Most of the near term applications of microwaves in fiber optics are in weapon systems and communication systems for military and other government agencies.

The high frequency modulation characteristics of Lytel's InGaAsP 1300 nm buried heterostructure …

Design Of Bridge Inter-Connecting Token Ring & Token Bus Local Area Networks, Kasinath Anupindi

Theses

A Bridge interconnecting two Local Area Networks has been modelled. The two interconnected networks are the Token Ring and the Token Bus LANs. Concepts of Queueing theory have been employed in the design. Initially it is assumed that the buffer size at the Bridge is infinite. Further it is assumed that the arrival rate of the messages is Markovian and the service rate is General, Le it is an M/G/1 system. Expressions for the average waiting time at the Bridge and the size of the buffers is computed. Graphs for various parameters have been plotted. Based on these graphs the …

A 3-D Tactile Sensor With Digital Output, Sin-Shou Cho

Theses

This thesis details the design of a new tactile sensor for general-purpose robot manipulators. Such manipulators, designed to be functionally equivalent to the human hand, will require sensor arrays that fulfill several requirements : (1) many sensor elements to minimize tactile imaging time, (2) close spacing of small sensing elements for fine spatial discrimination, (3) ability to be molded to a convex fingertip surface for taction on concave surfaces, (4) tolerance to over-scale forces without damage. In addition to the above, which are considered requirements, several other characteristics are desirable. Foremost is the ability to sense shear forces, which provide …

Implementation Of The Voice Processing System, Yang-Young Dan

Theses

The Voice Processing System is implemented by using XILINX Advanced Computer Aided Design Technology. It is also used as an interface to the 8052 AH-BASIC single hoard computer system.

The Voice Processing System ( VPS ) comprises three major parts:

1. Voice Detection Circuit

2. System Clock Generation & Synchronization

3. Signal Processing and Storing Circuit

The analog voice sip!gnals are the inputs to the first part of VPS. The digitalized voice is the output of this system.

In order to get precise output, the first part plays the roles of noise cancellation, zero crossing processing, and recognition.

For the …

Stepping Motor Control And Position Monitoring, Pei-Kuan Feng

Theses

Stepping motors provide precise digital control of speed, without speed detector feedback. A stepping motor can produce a large torque for a relatively small displacement, without a shaft-position sensor or special compensation. This provides accurate control of motor position. This thesis describes the development of stepping motor torque characteristics and the different approaches stepping motor phase current waveform detection. It is shown that one of the most useful indicators of rotor position is the initial rate of current rise. The Hybrid, Permanent-magnet and Variable-reluctance step motors have been applied in the drive circuits. The open-loop control circuits are implemented to …

The Tapered Dielectric Rod-Conical Antenna, Nicholas I. Georghiades

Theses

The problem of the linearly tapered dielectric rod/conical antenna, excited by the HEI1 hybrid mode in a metallic circular waveguide , is rigorously studied. A theoretical model, and numerical investigation for the radiation characteristics of such an antenna are presented. The model is based on the combination of classical analysis of the Electromagnetic Fields within the dielectric rod, Local Mode Theory, and the Equivalence Principle for the determination of equivalent current distributions.

The far-zone radiation field is considered to be the summation of the fields produced by two radiative components in the dielectric rod/conical structure: The "aperture" of the uniform …

Microcomputer-Controlled Respiratory Rate Monitor, David John Hartmann

Theses

In order to measure the metabolic change in an animal due to the administration of anti-obesity drugs, an instrument was constructed which will allow the continuous sampling of twelve individual animals residing in enclosed chambers. The instrument is based on the principle of Indirect Calorimetry, which measures metabolic rate by sampling the inlet and outlet concentrations of respiratory gases (oxygen and carbon dioxide) of the chamber. The system is controlled by an IBM PC which will control six chambers or twelve chambers simultaneously.

The system assesses the metabolic rate of the animal by calculating the Respiratory Quotient (RQ) and the …

A Computer-Based Microwave Interferometer Instrumentation System As A Non-Invasive Cardiopulmonary Monitor, Chin-Yee Eric Ho

Theses

The system comprises a microwave interferometer as a computer-based non-invasive cardiopulmonary monitor. The microwave interferometer records the mechanical vibration of the chest wall. The objective is to determine whether the signals may have diagnostic value and to evaluate the instrument as a non-invasive and non-contacting cardiopulmonary monitor.

With the help of a computer it is possible to analyze the mechanical vibration of the chest wall produced by the heart and thereby detect, and possibly categorize, cardiac abnormalities. This system is able to process two channels, the first signal from microwave interferometer records chest wall vibrations and the second signal is …

Reliability Of Packaging In Microcircuits, Zia Iqbal

Theses

The semiconductor industry is faced with the problems of how to increase the level of reliability of semiconductor parts being used in the electronic systems which have had their lifetimes extended through new and better system design.

This paper deals with the reliability of packaging constructions commonly used in large scale integration / integrated circuits and will present the failure mechanisms and failure modes which can arise when proper processing is used. In addition, the materials used in each construction and how they affect reliabilty will be analyzed.

It is not the intention of this paper to present any new, …

Schema Based Wiring Tool : A Computer Network And Cad Design System, Jia Jing Zhang

Theses

For the purpose of building a SBC-8052-Basic micro-controller based instrument system, a new SCHEMA II Computer Aided Design system for IBM-PC is used to enhance circuits design routine, and it is described here. The new features of this CAD are discussed, and the design example of a new version of the SBC-8052-Basic micro-controller is given here in detail.

Since the wiring board system is adopted as tool of the laboratory development and controlled by the QL microcomputer, and since SCHEMA II CAD, on the other hand, is used on the IBM-PC-AT, communication between the two microcomputers is accomplished, and the …

A Silicon Photodiode Array For Soft X-Ray Sensing, Chih-Te Hu

Theses

An array of 30 x 30 sensing cells including logic within each cell and a self-scan address circuit are described. A unique scintillation technique is used to increase the threshold sensitivity 60dB for X-ray photon sensing beyond that obtainable with conventional photodiode sensors. Simulations for the sensing cell and some additional logic elements are based on SPICE version 2G5 and HILO 3. Worst case analysis includes variations in threshold voltage V_TP and V_TN for the CMOS circuit components. The final CMOS chip dimension using MOSIS 1.2 micron rules is 10mm x 10mm base on the 80 …

Investigation Of Different Cmos Dram Sense Amplifier Configurations In Vlsi, Bihju Chiu

Theses

Sense amplifiers are particularly difficult circuits to design. In this work, only CMOS sense amplifiers are considered. There are typically two configurations of CMOS sense amplifiers: the cross-connected flip flop configuration and the current-mirror configuration. They are widely used nowadays with various modifications. These improved configurations are simulated and optimized with SPICE package, and their relative performances are also compared in this thesis.

An Investigation Of Electrical And Optical Properties Of Reactively Sputtered Silicon Nitride And Amorphous Hydrogenated Silicon Thin Films, Tae Hoon Kim

Theses

Thin films of silicon nitride and amorphous hydrogenated silicon were prepared by radio frequency reactive sputter deposition and their properties optimized for their use as low temperature passivation coatings for optoelectronic devices. The effect of various sputter deposition parameters on the conduction and optical properties were studied. Infrared spectrophotometry and ellipsometry were used to determined the optical properties of the films whereas the electrical properties were determined from current-voltage measurements of MIS capacitors.

Typical parameters of a sputter deposition run for the best Si₃N₄ films were: base pressure, 1-2x10^-6 torr; sputtering pressure, 5 mtorr; nitrogen partial …

Design Of A Fiber Optic Oxygen Sensor Based On Immobilized Hemoglobin, Mendu Govind Raj

Theses

The fiber optic Oxygen sensor consists of a thin layer of immobilized deoxyhemoglobin at the common end of a bifurcated fiber. Immobilization is done using the alginate gel procedure. The immobilized reagent is separated from the standard oxygen sample by the gel with or without semi-permeable membrane, and the entire configuration is enclosed in an oxygen free sample cell. Light from a tungsten-halogen lamp, filtered through a 405nm filter is passed through one arm of a bifurcated fiber to the sample cell. The reflected intensity (a highly polished aluminum foil or a plate is placed at the bottom of the …

Data Flow Dependency Generator, Chin-Piao Chan

Theses

Data flow is a new approach to parallel computing. The concept is to enable the execution of an instruction whenever its operands become available. The only constraints in a data flow machine are the data flow dependencies between instructions.

In this thesis, a simulation package called the Data Flow Dependency Generator is developed. This package is designed to express the idea of data flow computations, the data flow dependencies and the use of multiprocessors.

Given a number of processors, a number of time units for each operation and a program, the Data Flow Dependency Generator finds the data dependencies between …

Effects Of Peripheral And Microwave-Core Heating On Survival In Hemorrhagic Shock In Rats, Ashraf Sabry El-Assuooty

Theses

In a model of rats resuscitated from hemorrhagic shock,where 11 of 12 animals were alive up to 4 hours after shock, there was an average drop of 10°C in core body temperature. Survival and morbidity was much impaired when the shocked animals were externally heated with an infrared lamp to maintain a core body temperature of 35°C. Since the increased intrashock mortality is possibly due to the circulatory changes induced by peripheral heating, an attempt was made to determine the effects of heating the animal at its core. Twelve rats were shocked in the same fashion, however the body core …

Ibm/Xt-Based Automatic Monitoring Instrumentation System For Eating Behavior Studies In Rats, Binghong Gui

Theses

An auto-feeding system based on the IBM-XT microcomputer has been designed for use in the anti-obesity research program in the Pharmacology Department at Hoffmann-La Roche Inc. By using this system, experimental rats can be automatically fed, some which have been given anti-obesity drugs and some which have not. The system can also collect data, such as eating times and food intake, which are used for studying the rat's eating behavior.

The system is designed to control thirty six cages with one experimental rat in each cage and it performs three functions:

1 ) To automatically dispense a preset quantity of …

The Application Of Zero-Sum Games To Low Sensitivity Optimal Control, Jun Huang

Theses

This thesis deals with the synthesis of low sensitivity optimal control systems. Zero-Sum games are applied to the first order linear differential equation system. The goal is to obtain an optimal control of the system performance, and at the same time, reduce the sensitivity of the performance index and sensitivity trajectory.

In this thesis, the quadratic index of performance is selected in the argumented system which is combined/ the system equation with the sensitivity equation. Two control variables U & V are selected to maximize and minimize the system, in order to obtain the optimal value of the system.

Two …

Gallium Arsenide Standard Cell Cad Database For Digital Design, Nanchou Liu

Theses

This thesis develops a selected design database of gallium arsenide logic cells for automated design. Uniformly applied 1 um gate length physical layout rules are used for the design database with a standard cell design methodology.

Schottky Diode FET Logic (SDFL) technology with double level metallization was selected following a consideration of alternative gallium arsenide MESFET logic types. The SDFL approach is judged to provide improved noise margin, production yield, density, and lower power dissipation.

A cell library with 60 um cell height has been implemented with double entry for each cell input/output. Each cel1 has been simulated with SPICE …

Contrast Sensitivity Measurement Via Evoked Potential, Ken-Gen Lu

Theses

This work is concerned with the use of the visual Evoked Response (VER) to determine Contrast Sensitivity in humans. For this purpose, a system has been developed where signals, obtained from scalp electrodes, and stimulated by visual grating patterns, are recorded digitized and processed on a personal computer (IBM compatible). Processing includes signal averaging and digital filtering. The system provides storage, retrieval and graphic representation of data as well as the capability to transfer data to other computer systems. Data processing includes parameter estimation of suitable signal models, which provide effective data compression of the signal into a finite set …

Asics Application On Voice Processing Interface Design- Qegg Multiplier, Gwo-Jen Luar

Theses

Application Specific Integrated Circuits (ASIC) is a high density VLSI design that including the lower cost, higher performance, small size, and increased reliability. The ASIC, XILINX's LCA is applied on the signal processing ahead of computer I/O interface, specially for the quantitative Electroglottograph. This thesis covers the logic design, simulation test, realization, and stand alone test.

Interface To 8052ah-Basic Microcontroller For A Multichannel Priority Interrupt System, Chen-Tung Mo

Theses

This thesis presents the design and development of a system with the capability to detect up to forty channels of signals generated from different analog sources and to process them under the control of a microcomputer.

The present work offers the design and implementation of a hardware interface unit in a multichannel real-time data acquisition system as well as the application software program to operate it. This kind of system can be widely used in process control, musical instrument interfacing, and machine automation.

This interface unit follows the general instrumentation architecture in both signal processing and logic control. The software …