Optical Wireless Communication for Mobile Platforms

The past few decades have witnessed the widespread adaptation of wireless devices such as cellular phones and Wifi-connected laptops, and demand for wireless communication is expected to continue to increase. Though radio frequency (RF) communication has traditionally dominated in this application space, recent decades have seen an increasing interest in the use of optical wireless (OW) communication to supplement RF communications. In contrast to RF communication technology, OW systems offer the use of largely unregulated electromagnetic spectrum and large bandwidths for communication. They also offer the potential to be highly secure against jamming and eavesdropping. Interest in OW has become especially keen in light of the maturation of light-emitting diode (LED) technology. This maturation, and the consequent emerging ubiquity of LED technology in lighting systems, has motivated the exploration of LEDs for wireless communication purposes in a wide variety of applications. Recent interest in this field has largely focused on the potential for indoor local area networks (LANs) to be realized with increasingly common LED-based lighting systems. We envision the use of LED-based OW to serve as a supplement to RF technology in communication between mobile platforms, which may include automobiles, robots, or unmanned aerial vehicles (UAVs). OW technology may be especially useful in what are known as RF-denied environments, in which RF communication may be prohibited or undesirable. The use of OW in these settings presents major challenges. In contrast to many RF systems, OWsystems that operate at ranges beyond a few meters typically require relatively precise alignment. For example, some laser-based optical wireless communication systems require alignment precision to within small fractions of a degree. This level of alignment precision can be difficult to maintain between mobile platforms. Additionally, the use of OW systems in outdoor settings presents the challenge of interference from ambient light, which can be much brighter than any LED transmitter. This thesis addresses these challenges to the use of LED-based communication between mobile platforms. We propose and analyze a dual-link LED-based system that uses one link with a wide transmission beam and relaxed alignment constraints to support a more narrow, precisely aligned, higher-data-rate link. The use of an optical link with relaxed alignment constraints to support the alignment of a more precisely aligned link motivates our exploration of a panoramic imaging receiver for estimating the range and bearing of neighboring nodes. The precision of such a system is analyzed and an experimental system is realized. Finally, we present an experimental prototype of a self-aligning LED-based link.

Endoscopic optical coherence tomography : design and application

This thesis presents an investigation on endoscopic optical coherence tomography (OCT). As a noninvasive imaging modality, OCT emerges as an increasingly important diagnostic tool for many clinical applications. Despite of many of its merits, such as high resolution and depth resolvability, a major limitation is the relatively shallow penetration depth in tissue (about 2∼3 mm). This is mainly due to tissue scattering and absorption. To overcome this limitation, people have been developing many different endoscopic OCT systems. By utilizing a minimally invasive endoscope, the OCT probing beam can be brought to the close vicinity of the tissue of interest and bypass the scattering of intervening tissues so that it can collect the reflected light signal from desired depth and provide a clear image representing the physiological structure of the region, which can not be disclosed by traditional OCT. In this thesis, three endoscope designs have been studied. While they rely on vastly different principles, they all converge to solve this long-standing problem.

A hand-held endoscope with manual scanning is first explored. When a user is holding a hand- held endoscope to examine samples, the movement of the device provides a natural scanning. We proposed and implemented an optical tracking system to estimate and record the trajectory of the device. By registering the OCT axial scan with the spatial information obtained from the tracking system, one can use this system to simply ‘paint’ a desired volume and get any arbitrary scanning pattern by manually waving the endoscope over the region of interest. The accuracy of the tracking system was measured to be about 10 microns, which is comparable to the lateral resolution of most OCT system. Targeted phantom sample and biological samples were manually scanned and the reconstructed images verified the method.

Next, we investigated a mechanical way to steer the beam in an OCT endoscope, which is termed as Paired-angle-rotation scanning (PARS). This concept was proposed by my colleague and we further developed this technology by enhancing the longevity of the device, reducing the diameter of the probe, and shrinking down the form factor of the hand-piece. Several families of probes have been designed and fabricated with various optical performances. They have been applied to different applications, including the collector channel examination for glaucoma stent implantation, and vitreous remnant detection during live animal vitrectomy.

Lastly a novel non-moving scanning method has been devised. This approach is based on the EO effect of a KTN crystal. With Ohmic contact of the electrodes, the KTN crystal can exhibit a special mode of EO effect, termed as space-charge-controlled electro-optic effect, where the carrier electron will be injected into the material via the Ohmic contact. By applying a high voltage across the material, a linear phase profile can be built under this mode, which in turn deflects the light beam passing through. We constructed a relay telescope to adapt the KTN deflector into a bench top OCT scanning system. One of major technical challenges for this system is the strong chromatic dispersion of KTN crystal within the wavelength band of OCT system. We investigated its impact on the acquired OCT images and proposed a new approach to estimate and compensate the actual dispersion. Comparing with traditional methods, the new method is more computational efficient and accurate. Some biological samples were scanned by this KTN based system. The acquired images justified the feasibility of the usage of this system into a endoscopy setting. My research above all aims to provide solutions to implement an OCT endoscope. As technology evolves from manual, to mechanical, and to electrical approaches, different solutions are presented. Since all have their own advantages and disadvantages, one has to determine the actual requirements and select the best fit for a specific application.

Desenvolvimento de um sistema misto de pasta à base de geopolímero e cimento portland para correção de perda de circulação

The materials engineering includes processes and products involving several areas of engineering, allowing them to prepare materials that fulfill the needs of various new products. In this case, this work aims to study a system composed of cement paste and geopolymers, which can contribute to solving an engineering problem that directly involves the exploitation of oil wells subject to loss of circulation. To correct it, has been already proposed the use of granular materials, fibers, reducing the drilling fluid or cement paste density and even surface and downhole mixed systems. In this work, we proposed the development of a slurry mixed system, the first was a cement-based slurry and the second a geopolymer-based slurry. The cement-based slurry was formulated with low density and extenders, 12.0 ppg (1.438 g/cm ³), showing great thixotropic characteristics. It was added nano silica at concentrations of 0.5, 1.0 and 1.5 gps (66.88, 133.76 and 200.64 L/m3) and CaCl2 at concentrations of 0.5, 1, 0 and 1.5%. The second system is a geopolymer-based paste formulated from molar ratios of 3.5 (nSiO2/nAl2O3), 0.27 (nK2O/nSiO2), 1.07 (nK2O/nAl2O3) and 13.99 (nH2O/nK2O). Finally, we performed a mixture of these two systems, for their application for correction of circulation lost. To characterize the raw materials, XRD, XRF, FTIR analysis and titration were performed. The both systems were characterized in tests based on API RP10B. Compressive strength tests were conducted after curing for 24 hours, 7 and 28 days at 58 °C on the cement-based system and the geopolymer-based system. From the mixtures have been performed mixability tests and micro structural characterizations (XRD, SEM and TG). The results showed that the nano silica, when combined with CaCl2 modified the rheological properties of the cement slurry and from the concentration of 1.5 gpc (200.64 L / m³) it was possible to obtain stable systems. The system mixture caused a change in the microstructure of the material by favoring the rate of geopolymer formation to hinder the C3S phase hydration, thus, the production of CSH phases and Portlandite were harmed. Through the mixability tests it can be concluded that the system, due to reduced setting time of the mixture, can be applied to plug lost circulation zones when mixed downhole

An investigation of two real time machine learning techniques that could enhance the adaptability of game AI agents

Developers strive to create innovative Artificial Intelligence (AI) behaviour in their games as a key selling point. Machine Learning is an area of AI that looks at how applications and agents can be programmed to learn their own behaviour without the need to manually design and implement each aspect of it. Machine learning methods have been utilised infrequently within games and are usually trained to learn offline before the game is released to the players. In order to investigate new ways AI could be applied innovatively to games it is wise to explore how machine learning methods could be utilised in real-time as the game is played, so as to allow AI agents to learn directly from the player or their environment. Two machine learning methods were implemented into a simple 2D Fighter test game to allow the agents to fully showcase their learned behaviour as the game is played. The methods chosen were: Q-Learning and an NGram based system. It was found that N-Grams and QLearning could significantly benefit game developers as they facilitate fast, realistic learning at run-time.

Modelling the generation of customised poetry in Jess

The present paper presents an application that composes formal poetry in Spanish in a semiautomatic interactive fashion. JASPER is a forward reasoning rule-based system that obtains from the user an intended message, the desired metric, a choice of vocabulary, and a corpus of verses; and, by intelligent adaptation of selected examples from this corpus using the given words, carries out a prose-to-poetry translation of the given message. In the composition process, JASPER combines natural language generation and a set of construction heuristics obtained from formal literature on Spanish poetry.

L'Intégration d'un Module d'Étude Internet Dans la Classe de Comptabilité: Perceptions des Élèves et les Résultats Académiques

Implemented in the context of Business Administration students enrolled in a college level three year technology program, this research investigated students’ perceptions and academic results concurrent with the implementation of an online web module designed to facilitate student self-study. The students involved in this research were enrolled in a program that, while offering a broad education in business disciplines, specialized in the field of accounting. As a result, students were enrolled in academically rigorous accounting courses in each of the six semesters of the program. The weighting of these accounting courses imposes a significant self-study component – typically matching or exceeding the time spent in class. In this context many of the students enrolled in the Business Administration Program have faced difficulties completing the self-study component of the course effectively as demonstrated in low homework completion rates, low homework grade averages and ultimately low success rates in the courses. In an attempt to address this situation this research studied the implementation of a web-based self-study module. Through this module students could access a number of learning tools that were designed to facilitate the self-study process under the premise that more effective self-study learning tools will help remove obstacles and provide more timely confirmation of learning during student self-study efforts. This research collected data from a single cohort of students drawn from the first three sequential accounting courses of the Business Administration Program. The web-based self-study module was implemented in the third of the three sequential accounting courses. The first two of these courses implemented a traditional manual self-study environment. Data collected from the three accounting courses included homework completion rates, homework, exam and final grades for the respective courses. In addition the web-study module allowed the automatic reporting of student usage of a number of specific online learning tools. To complement the academic data, students were surveyed to gain insight into their perceptions of the effectiveness of the web-based system. The research provided a number of interesting insights. First among these was a confirmation of the importance of the self-study process in the academic achievement of the learners. Regardless of the self-study environment, manual or web-enhanced, a significant positive correlation existed between the students’ self-study results, demonstrated in both homework completion rates and homework averages and the corresponding final grades. These results confirm the importance of self-study found generally in the prevailing academic literature regarding students enrolled in higher education. In addition, the web-enhanced learning environment implemented during the third accounting course coincided with significantly higher homework completion rates and corresponding homework averages: homework completion rates in particular increased from a combined average of 63% in the first two accounting courses to 93% in the web-enhanced context of the third accounting course. Moreover, the homework completion rates of the web-enhanced course were evenly distributed across the cohort of students. A quartile-based analysis was subsequently completed. Quartiles were constructed by ranking the students according to their combined average homework completion rates from the first two manual self-study courses, Accounting I and II. The quartile-based homework completion rates for the manual self-study courses Accounting I and II were subsequently compared to the results these same quartiles of students achieved in the web-based self-study within Accounting III. While the first two courses demonstrated significantly uneven homework completion rates across the quartiles ranging from 31% to 91% homework completion rates, the differences among the four quartiles within the web-enhanced module, with an average homework completion rate of 93%, were statistically insignificant. Congruent with the positive academic results observed in the third, web-enhanced course, through the corresponding survey, students expressed a strong attitude in favor of the online self-study environment. This research was designed to add to the existing research that studies the implementation of learning in an online setting. Specifically, the research was designed to explore a middle ground of online learning – a web-enhanced course – a context that supplements the classroom experience rather than replacing it. The web-enhanced accounting course demonstrated impressive favorable results, both academically and in terms of students' perception of the system; these results suggest that a web-enhanced environment can provide learning tools that facilitate the self-study process while providing a structured learning environment that can help developing learners reach their potential.

Salud sexual, SALUD REPRODUCTIVA Y ABORTO: ¿QUÉ DERECHOS?

ResumenEl aborto es un tema debatido desde hace décadas. En España, se ha aprobado recientemente la LO 2/2010, de salud sexual y reproductiva y de la interrupción voluntaria del embarazo, que implica un importante cambio en la regulación del aborto: establece un sistema de aborto a petición de la embarazada en un plazo, manteniendo determinadas indicaciones durante más tiempo. El presente artículo analiza el contenido de la salud sexual y reproductiva, los derechos de la mujer y la protección del no nacido en el Derecho Internacional, así como la jurisprudencia constitucional española y la diferencia sustancial del sistema de plazos respecto al de supuestos, la ética médica al respecto y las exigencias del consentimiento informado. Finalmente, se aborda el problema del consentimiento de los menores a la unión sexual y al aborto.AbstractAbortion is an issue that has been discussed for decades. In Spain, the Law on sexual and reproductive health and the voluntary interruption of pregnancy (LO 2/2010) has been recently passed. It implies an important change in abortion legislation: it states an abortion upon request of the pregnant woman during a predetermined period of time, while maintaining certain regulations for a long time. This article analyzes the content of sexual and reproductive health, women’s rights and the protection of the unborn under International Law, as well as the constitutional Spanish jurisprudence; the essential difference of the term-based system in regards to the assumptions system, medical ethics on this matter and the requirements of the informed consent. Lastly, the article deals with the problem of the minors’ consent to sexual union and abortion.

Calibration of the detector flight models for the HERMES and SPIRIT nanosatellite missions

The High Energy Rapid Modular Ensemble of Satellites (HERMES) is a new mission concept involving the development of a constellation of six CubeSats in low Earth orbit with new miniaturized instruments that host a hybrid Silicon Drift Detector/GAGG:Ce based system for X-ray and γ-ray detection, aiming to monitor high-energy cosmic transients, such as Gamma Ray Bursts and the electromagnetic counterparts of gravitational wave events. The HERMES constellation will also operate together with the Australian-Italian SpIRIT mission, which will house a HERMES-like detector. The HERMES pathfinder mini-constellation, consisting of six satellites plus SpIRIT, is likely to be launched in 2023. The HERMES detectors are based on the heritage of the Italian ReDSoX collaboration, with joint design and production by INFN-Trieste and Fondazione Bruno Kessler, and the involvement of several Italian research institutes and universities. An application-specific, low-noise, low-power integrated circuit (ASIC) called LYRA was conceived and designed for the HERMES readout electronics. My thesis project focuses on the ground calibrations of the first HERMES and SpIRIT flight detectors, with a performance assessment and characterization of the detectors. The first part of this work addresses measurements and experimental tests on laboratory prototypes of the HERMES detectors and their front-end electronics, while the second part is based on the design of the experimental setup for flight detector calibrations and related functional tests for data acquisition, as well as the development of the calibration software. In more detail, the calibration parameters (such as the gain of each detector channel) are determined using measurements with radioactive sources, performed at different operating temperatures between -20°C and +20°C by placing the detector in a suitable climate chamber. The final part of the thesis involves the analysis of the calibration data and a discussion of the results.

Gusci temporanei e ricomponibili: Utilizzo di un sistema multi-agente per la generazione di un sistema costruttivo a tasselli planari per superfici a doppia curvatura

Lo scopo della ricerca è quello di sviluppare un metodo di design che integri gli apporti delle diverse discipline di architettura, ingegneria e fabbricazione all’interno del progetto, utilizzando come caso di studio l’uso di una tettonica ad elementi planari in legno per la costruzione di superfici a guscio da utilizzare come padiglioni temporanei. La maniera in cui ci si propone di raggiungere tale scopo è tramite l’utilizzo di un agent based system che funge da mediatore tra i vari obbiettivi che si vogliono considerare, in questo caso tra parametri estetici, legati alla geometria scelta, e di fabbricazione. Si sceglie di applicare questo sistema allo studio di una struttura a guscio, che grazie alla sua naturale rigidezza integra forma e capacità strutturale, tramite una tassellazione planare della superficie stessa. Il sistema studiato si basa sull’algoritmo di circle relaxation, che viene integrato tramite dei comportamenti che tengano conto della curvatura della superficie in questione e altri comportamenti scelti appositamente per agevolare il processo di tassellazione tramite tangent plane intersection. La scelta di studiare elementi planari è finalizzata ad una maggiore facilità di fabbricazione ed assemblaggio prevedendo l’uso di macchine a controllo numerico per la fabbricazione e un assemblaggio interamente a secco e che non necessita di impalcature . Il risultato proposto è quello quindi di un padiglione costituito da elementi planari ricomponibili in legno, con particolare attenzione alla facilità e velocità di montaggio degli stessi, utile per possibili strutture temporanee e/o di emergenza.

Implementazione di banca dati di immagini per lo sviluppo di algoritmi per la navigazione aerea automatica

Lo scopo di questo studio è l’implementazione di un sistema di navigazione autonomo in grado di calcolare la traiettoria di un mezzo aereo, noti che siano a priori dei punti di posizione detti waypoint. A partire da questa traiettoria, è possibile ottenere la sua rappresentazione in un codice che mette a disposizione immagini satellitari e ricavare le viste del terreno sorvolato in una serie di punti calcolati, in modo da garantire in ogni sequenza la presenza di elementi comuni rispetto a quella precedente. Lo scopo della realizzazione di questa banca dati è rendere possibili futuri sviluppi di algoritmi di navigazione basati su deep learning e reti neurali. Le immagini virtuali ottenute del terreno saranno in futuro applicate alla navigazione autonoma per agricoltura di precisione mediante droni. Per lo studio condotto è stato simulato un generico velivolo, con o senza pilota, dotato di una videocamera fissata su una sospensione cardanica a tre assi (gimbal). La tesi, dunque, introduce ai più comuni metodi di determinazione della posizione dei velivoli e alle più recenti soluzioni basate su algoritmi di Deep Learning e sistemi vision-based con reti neurali e segue in un approfondimento sul metodo di conversione degli angoli e sulla teoria matematica che ne sta alla base. Successivamente, analizza nel dettaglio il processo di simulazione della navigazione autonoma e della determinazione della traiettoria in ambiente software Matlab e Simulink, procedendo nell’analisi di alcuni casi di studio in ambienti realistici. L’elaborato si conclude con un breve riepilogo di quanto svolto e con alcune considerazioni sugli sviluppi futuri.

Behaviours implemented using a vision system based on coded light projection

In a search for new sensor systems and new methods for underwater vehicle positioning based on visual observation, this paper presents a computer vision system based on coded light projection. 3D information is taken from an underwater scene. This information is used to test obstacle avoidance behaviour. In addition, the main ideas for achieving stabilisation of the vehicle in front of an object are presented

Behaviours implemented using a vision system based on coded light projection

In a search for new sensor systems and new methods for underwater vehicle positioning based on visual observation, this paper presents a computer vision system based on coded light projection. 3D information is taken from an underwater scene. This information is used to test obstacle avoidance behaviour. In addition, the main ideas for achieving stabilisation of the vehicle in front of an object are presented

A CAD-based computer vision system

A vision system for recognizing rigid and articulated three-dimensional objects in two-dimensional images is described. Geometrical models are extracted from a commercial computer aided design package. The models are then augmented with appearance and functional information which improves the system's hypothesis generation, hypothesis verification, and pose refinement. Significant advantages over existing CAD-based vision systems, which utilize only information available in the CAD system, are realized. Examples show the system recognizing, locating, and tracking a variety of objects in a robot work-cell and in natural scenes.

A C80 DSP-based active vision system for real-time tracking

[EN]Active Vision Systems can be considered as dynamical systems which close the loop around artificial visual perception, controlling camera parameters, motion and also controlling processing to simplify, accelerate and do more robust visual perception. Research and Development in Active Vision Systems [Aloi87], [Bajc88] is a main area of interest in Computer Vision, mainly by its potential application in different scenarios where real-time performance is needed such as robot navigation, surveillance, visual inspection, among many others. Several systems have been developed during last years using robotic-heads for this purpose...