Fusion of Data from Quadcopter’s Inertial Measurement Unit Using Complementary Filter

A quadcopter is a helicopter with four rotors, which is mechanically simple device, but requires complex electrical control for each motor. Control system needs accurate information about quadcopter’s attitude in order to achieve stable flight. The goal of this bachelor’s thesis was to research how this information could be obtained. Literature review revealed that most of the quadcopters, whose source-code is available, use a complementary filter or some derivative of it to fuse data from a gyroscope, an accelerometer and often also a magnetometer. These sensors combined are called an Inertial Measurement Unit. This thesis focuses on calculating angles from each sensor’s data and fusing these with a complementary filter. On the basis of literature review and measurements using a quadcopter, the proposed filter provides sufficiently accurate attitude data for flight control system. However, a simple complementary filter has one significant drawback – it works reliably only when the quadcopter is hovering or moving at a constant speed. The reason is that an accelerometer can’t be used to measure angles accurately if linear acceleration is present. This problem can be fixed using some derivative of a complementary filter like an adaptive complementary filter or a Kalman filter, which are not covered in this thesis.

Postharvest UV-B treatments increased fructose content of tomato (Solanum lycopersicon L. cv. Tayfun F1) harvested at different ripening stages

Abstract In the postharvest stage, taste and flavor are the key components of the marketability of tomato. Therefore, greater emphasis is now being placed on improving traits such as sugar content. In this study postharvest ultraviolet-B (UV-B) treatments on sugar, total soluble solids, and color of tomatoes harvested at different stages were investigated. Tomatoes harvested at turning, pink, and red stages were treated with two different doses of UV-B irradiation: UVB4 and UVB8. Color L* and hue angle values of tomatoes treated with UV-B were found to be high, which means the red color of tomatoes was improved. UVB4 treatments increased the color a* and saturation index values of tomatoes at pink and red harvest stage, although it did not affect at the turning stage. Additionally, UV-B irradiation treatments had no effect on sucrose content of the tomatoes. Fructose, glucose, and TSS content of tomatoes treated with UVB8 at red harvest stage were found to be high. Hence, the results obtained from this study are of great importance in terms of providing an increase in the amount of sugar without the need for breeding, and also consumer satisfaction.

Blue and Uv-Emitting Upconversion Nanoparticles: Synthesis and (Bio) Analytical Applications.

Rare-earth based upconverting nanoparticles (UCNPs) have attracted much attention due to their unique luminescent properties. The ability to convert multiple photons of lower energy to ones with higher energy through an upconversion (UC) process offers a wide range of applications for UCNPs. The emission intensities and wavelengths of UCNPs are important performance characteristics, which determine the appropriate applications. However, insufficient intensities still limit the use of UCNPs; especially the efficient emission of blue and ultraviolet (UV) light via upconversion remains challenging, as these events require three or more near-infrared (NIR) photons. The aim of the study was to enhance the blue and UV upconversion emission intensities of Tm3+ doped NaYF4 nanoparticles and to demonstrate their utility in in vitro diagnostics. As the distance between the sensitizer and the activator significantly affect the energy transfer efficiency, different strategies were explored to change the local symmetry around the doped lanthanides. One important strategy is the intentional co-doping of active (participate in energy transfer) or passive (do not participate in energy transfer) impurities into the host matrix. The roles of doped passive impurities (K+ and Sc3+) in enhancing the blue and UV upconversions, as well as in influencing the intense UV upconversion emission through excess sensitization (active impurity) were studied. Additionally, the effects of both active and passive impurity doping on the morphological and optical performance of UCNPs were investigated. The applicability of UV emitting UCNPs as an internal light source for glucose sensing in a dry chemistry test strip was demonstrated. The measurements were in agreement with the traditional method based on reflectance measurements using an external UV light source. The use of UCNPs in the glucose test strip offers an alternative detection method with advantages such as control signals for minimizing errors and high penetration of the NIR excitation through the blood sample, which gives more freedom for designing the optical setup. In bioimaging, the excitation of the UCNPs in the transparent IR region of the tissue permits measurements, which are free of background fluorescence and have a high signal-to-background ratio. In addition, the narrow emission bandwidth of the UCNPs enables multiplexed detections. An array-in-well immunoassay was developed using two different UC emission colours. The differentiation between different viral infections and the classification of antibody responses were achieved based on both the position and colour of the signal. The study demonstrates the potential of spectral and spatial multiplexing in the imaging based array-in-well assays.

Characterization of the filter media used in the dual media filter

The removal of organics from copper electrolyte solutions after solvent extraction by dual media filtration is one of the most efficient ways to ensure the clean electrolyte flow into the electrowinning. The clean electrolyte will ensure the good quality cathode plate production. Dual media filtration uses two layers of filter media for filtration as anthracite and garnet respectively. The anthracite layer will help the coalescing of the entrained organic droplets which will then float to the top of the filter, and back to the solvent extraction process. The garnet layer will catch any solids left in the electrolyte traveling through the filter media. This thesis will concentrate on characterization of five different anthracites in order to find some differences using specific surface area analysis, particle size analysis, and morphology analysis. These results are compared to the pressure loss values obtained from lab column tests and bed expansion behavior. The goal of the thesis was to find out if there were any differences in the anthracite which would make the one perform better than the other. There were no big differences found on any aspect of the particle characterization, but some found differences should be further studied in order to confirm the meaning of the porosity, surface area, intensity mean and intensity SD (Standard Deviation) on anthracites and their use in dual media filtration. The thesis work analyzed anthracite samples the way that is not found on any public literature sources, and further studies on the issue would bring more knowledge to the electrolyte process.

Empleo de estándar interno en la determinación de arsénico a nivel de trazas por espectrofotometría UV

Tesis (Maestría en Ciencias Químicas con Especialidad en Química Analítica) UANL

Síntesis y caracterización de nanopartículas PbMoO? para la degradación fotocatalítica de contaminantes orgánicos bajo irradiación UV.

Tesis (Doctor en Ingeniería de Materiales) UANL, 2012.

Efecto inductor de la tolerancia salino mediante la aplicación de radiaciones UV-B y UV-C en semillas de soya (glycine max l.), trigo (tritium aestivum l.), girasol (helianthus annuus l.) y pino piñonero (pinus maximatinezii r.)

Tesis (Doctor en Ciencias con acentuación en Manejo y Administración de Recursos Vegetales) UANL, 2014.

Etude du rôle de la réponse UV sur le contrôle de la réparation par excision de nucléotides (NER) des dommages à l’ADN : rôle des voies MAPK et de l’ADN polymérase eta

La réponse cellulaire aux ultra-violets (UV), ou réponse UV, est une réponse complexe et spécialisée dans l’adaptation et la tolérance des dommages aux UV. Celle-ci est initiée par un grand nombre d’évènements moléculaires et de signalisation nucléaire mais aussi au niveau de la membrane plasmique ou du cytoplasme. L’importance et l’influence exactes de ces évènements sur la réparation par excision de nucléotides (NER) des dommages UV à l’ADN sont encore mal comprises et doivent encore être méthodiquement démontrées. Dans cette thèse, grâce à l’utilisation d’une méthode sensible d’analyse de la réparation NER basée sur la cytométrie en flux, il est montré, dans un premier temps, que l’activité des voies MAPK (Mitogen-Activated Protein Kinases), qui sont des voies de signalisation de stress UV d’origine cytoplsamique, ne participent pas à l’efficacité de réparation NER des dommages UV dans les cellules humaines. En effet, l’abrogation de la signalisation MAPK, par inhibition pharmacologique, par utilisation de mutants dominant-négatifs ou par inhibition de leur expression endogène, ne révèlent aucun changement de la cinétique de réparation des dommages UV par excision de nucléotides. Cependant, l’utilisation de cette même méthode de réparation, mais cette fois, appliquée pour l’étude de réparation NER en fonction du cycle cellulaire, a permis de mettre en évidence la nécessité fonctionnelle de l’ADN polymérase translésionnelle eta (Pol η) dans la réparation NER des dommages UV, uniquement en phase S. Cette observation fut initialement caractérisée dans les cellules de patients affectés du syndrome variant de xérodermie pigmentaire (XP-V) puis, confirmée ensuite par l’inhibition de l’expression de Pol η endogène ou par la complémentation avec des mutants non-fonctionnels dans les cellules XP-V. Ces résultats indiquent que, contrairement à la réponse UV MAPK cytoplasmique, les évènements nucléaires comme la synthèse translésionnelle, peuvent influencer l’efficacité de réparation NER en phase S. Plus particulièrement, ces données établissent un lien possible entre la réparation NER en phase S et les niveaux de stress réplicatifs, révélé ici par la déficience fonctionnelle Pol η ou ATR. Les observations, présentées dans cette thèse, renforcent un rôle du point de contrôle S aux UV sur l’efficacité de la réparation NER et suggèrent que l’inhibition NER, observée en phase S dans les cellules XP-V, est modulée par le stress réplicatif. Un tel moyen de contrôle pourrait avoir une action plutôt protectrice pendant cette phase critique du cycle cellulaire. Mots clés: UV, translésionnelle, eta, MAPK, NER, CPD, cytométrie, phase-S, tolérance.

Compact asymmetric coplanar waveguide filter

The design and implementation of a novel asymmetric coplanar waveguide (ACPW ) band rejection filter using defected ground structure ( DGS) is presented . The proposed ACPW DGS technology provides band gap characteristics with only one cell in the lateral ground plane . The equivalent circuit model of the proposed DGS unit section is described . Measurements of ACPW DGS showed good agreement with simulation and the proposed model

Investigations on Eco-friendly Natural Insecticides

Instead of developing easily degradable, and low-priced insecticides, we are going after highly sophisticated chemicals. Here, an attempt is being made to develop safer formulations of insecticides of botanical origin. Different parts of the plants were chosen based on their use in countryside and villages The dried plant materials were extracted with petroleum ether, and were applied on Tribolium castaneum. The results were statistically analysed. The active principles from Croton tigilium and Leea sambucina, the most potential plants, were isolated using Column Chromatography, TLC, and Hydrolysis. The isolated principles were analysed spectroscopically ( UV-Vis., IR, NMR, and MS ) to identify their chemical nature. The active principles from Leea and Croton were identified as a cholisterate derivative and a phorbol derivative respectively. In order to ascertain the environmental combatibility of the principles, degradation by soil bacteria was studied. The isolated principles were made into three type of formulations using stabilizers .The formulations were applied on Snake gourd semilooper, Pulse beetle, and mosquito larvae. Also the biocidal activity of the formulations was studied. Both Leea derivative and Croton derivative could be formulated effectively and were effective against a variety of pests. They are eco-friendly, as there is no artificial chemicals involved.

NIR to UV absorption spectra and the optical constants of phthalocyanines in glassy medium

Optical absorption studies of phthalocyanines (Pc-s) in borate glass matrix have been reported for the first time. Measurements have been done corresponding to photon energies between 1.1 and 6.2 eV for free base, manganese, iron, nickel, molybdenum, cobalt and copper phthalocyanines. Several new discrete transitions are observed in the UV–vis region of the spectra in addition to a strong continuum component of absorption in the IR region. Values of some of the important optical constants viz. absorption coefficient (α), molar extinction coefficient (ε), absorption cross-section (σa), band width (Δλ), electric dipole strength (q2) and oscillator strength (f) for the relevant electronic transitions are also presented. All the data reported for Pc-s in the new matrix have been compared with those corresponding to solution, vapor and thin film media.

Microstrip band rejection filter using open loop resonator

Design of a compact microstrip band reject filter is proposed. The device consists of an Open Loop Rectangular Resonator (OLRR) coupled to a microstrip line. The transmission line has a U-bend which enhances the coupling with the OLRR element and reduces the size of the filter. The filter can be made tunable by mounting variable capacitance to the system. Simulated and experimental results are presented.

SRR loaded waveguide band rejection filter with adjustable bandwidth

The use of a split-ring resonator (SRR)-loaded waveguide for the design of a band-rejection filter with adjustable bandwidth is reported. The width of the stopband can be adjusted by suitably positioning the SRR array in the waveguide. The rejection band can be made very narrow by placing the array at the electric-field minimum. The stopband attenuation depends on the number of unit cells in the array.

Performance analysis of FIR digital filter design: RNS versus traditional

Residue Number System (RNS) based Finite Impulse Response (FIR) digital filters and traditional FIR filters. This research is motivated by the importance of an efficient filter implementation for digital signal processing. The comparison is done in terms of speed and area requirement for various filter specifications. RNS based FIR filters operate more than three times faster and consumes only about 60% of the area than traditional filter when number of filter taps is more than 32. The area for RNS filter is increasing at a lesser rate than that for traditional resulting in lower power consumption. RNS is a nonweighted number system without carry propogation between different residue digits.This enables simultaneous parallel processing on all the digits resulting in high speed addition and multiplication in the RNS domain

RNS based programmable multi-mode decimation filter for WCDMA and WiMAX

The recent trends envisage multi-standard architectures as a promising solution for the future wireless transceivers to attain higher system capacities and data rates. The computationally intensive decimation filter plays an important role in channel selection for multi-mode systems. An efficient reconfigurable implementation is a key to achieve low power consumption. To this end, this paper presents a dual-mode Residue Number System (RNS) based decimation filter which can be programmed for WCDMA and 802.16e standards. Decimation is done using multistage, multirate finite impulse response (FIR) filters. These FIR filters implemented in RNS domain offers high speed because of its carry free operation on smaller residues in parallel channels. Also, the FIR filters exhibit programmability to a selected standard by reconfiguring the hardware architecture. The total area is increased only by 24% to include WiMAX compared to a single mode WCDMA transceiver. In each mode, the unused parts of the overall architecture is powered down and bypassed to attain power saving. The performance of the proposed decimation filter in terms of critical path delay and area are tabulated.