Design and Development of a Remotely Operated Underwater Multi-Robot Manipulator Controller

For the scientific and commercial utilization of Ocean resources, the role of intelligent underwater robotic systems are of great importance. Scientific activities like Marine Bio-technology, Hydrographic mapping, and commercial applications like Marine mining, Ocean energy, fishing, aquaculture, cable laying and pipe lining are a few utilization of ocean resources. As most of the deep undersea exploration are beyond the reachability of divers and also as the use of operator controlled and teleoperated Remotely Operated Vehicles (ROVs) and Diver Transport Vehicles (DTVs) turn out to be highly inefficient, it is essential to have a fully automated system capable providing stable control and communication links for the unstructured undersea environment.

Towards the development of a new wavelet for ECG classification

In this paper an attempt has been made to determine the number of Premature Ventricular Contraction (PVC) cycles accurately from a given Electrocardiogram (ECG) using a wavelet constructed from multiple Gaussian functions. It is difficult to assess the ECGs of patients who are continuously monitored over a long period of time. Hence the proposed method of classification will be helpful to doctors to determine the severity of PVC in a patient. Principal Component Analysis (PCA) and a simple classifier have been used in addition to the specially developed wavelet transform. The proposed wavelet has been designed using multiple Gaussian functions which when summed up looks similar to that of a normal ECG. The number of Gaussians used depends on the number of peaks present in a normal ECG. The developed wavelet satisfied all the properties of a traditional continuous wavelet. The new wavelet was optimized using genetic algorithm (GA). ECG records from Massachusetts Institute of Technology-Beth Israel Hospital (MIT-BIH) database have been used for validation. Out of the 8694 ECG cycles used for evaluation, the classification algorithm responded with an accuracy of 97.77%. In order to compare the performance of the new wavelet, classification was also performed using the standard wavelets like morlet, meyer, bior3.9, db5, db3, sym3 and haar. The new wavelet outperforms the rest

Theoretical investigations of an annular elliptical ring microstrip antenna using Green‘s function technique

Analytical expressions for the Green’s function of an annular elliptical ring microstrip antenna (AERMA) are developed and reported. The modal, radiation and input impedance characteristics of the TM, modes are determined from these expressions. The resonant frequencies of odd modes are greater than that of the even modes for all TMnl modes (n = 1, 2, 3, ...) udke elliptical microstrip structures. The radiation pattern and input imedance curves of TMI2 mode on comparison with available experimental result shows good agreement whch provides an independent validation to this technique. The performance of the AERMA is then investigated as a function of thickness and substrate dielectric permittivity.

Development of Directionally Adaptive Techniques for Single Image Super-Resolution

Super Resolution problem is an inverse problem and refers to the process of producing a High resolution (HR) image, making use of one or more Low Resolution (LR) observations. It includes up sampling the image, thereby, increasing the maximum spatial frequency and removing degradations that arise during the image capture namely aliasing and blurring. The work presented in this thesis is based on learning based single image super-resolution. In learning based super-resolution algorithms, a training set or database of available HR images are used to construct the HR image of an image captured using a LR camera. In the training set, images are stored as patches or coefficients of feature representations like wavelet transform, DCT, etc. Single frame image super-resolution can be used in applications where database of HR images are available. The advantage of this method is that by skilfully creating a database of suitable training images, one can improve the quality of the super-resolved image. A new super resolution method based on wavelet transform is developed and it is better than conventional wavelet transform based methods and standard interpolation methods. Super-resolution techniques based on skewed anisotropic transform called directionlet transform are developed to convert a low resolution image which is of small size into a high resolution image of large size. Super-resolution algorithm not only increases the size, but also reduces the degradations occurred during the process of capturing image. This method outperforms the standard interpolation methods and the wavelet methods, both visually and in terms of SNR values. Artifacts like aliasing and ringing effects are also eliminated in this method. The super-resolution methods are implemented using, both critically sampled and over sampled directionlets. The conventional directionlet transform is computationally complex. Hence lifting scheme is used for implementation of directionlets. The new single image super-resolution method based on lifting scheme reduces computational complexity and thereby reduces computation time. The quality of the super resolved image depends on the type of wavelet basis used. A study is conducted to find the effect of different wavelets on the single image super-resolution method. Finally this new method implemented on grey images is extended to colour images and noisy images

The contribution of representative poets in the development of modern Hindi criticism on poetry

HINDI

Design and Development of Compact Chipless RFID Tags with High Data Encoding Capacity

The main objective of this thesis is to develop a compact chipless RFID tag with high data encoding capacity. The design and development of chipless RFID tag based on multiresonator and multiscatterer methods are presented first. An RFID tag using using SIR capable of 79bits is proposed. The thesis also deals with some of the properties of SIR like harmonic separation, independent control on resonant modes and the capability to change the electrical length. A chipless RFID reader working in a frequency band of 2.36GHz to 2.54GHz has been designed to show the feasibility of the RFID system. For a practical system, a new approach based on UWB Impulse Radar (UWB IR) technology is employed and the decoding methods from noisy backscattered signal are successfully demonstrated. The thesis also proposes a simple calibration procedure, which is able to decode the backscattered signal up to a distance of 80cm with 1mW output power.

Design and Development of Fiber Grating Based Chemical and Bio-Sensors

International School of Photonics

Design and Development of Spectral Signature Based Chipless RFID Tags

The main objective of this thesis is to design and develop spectral signature based chipless RFID tags Multiresonators are essential component of spectral signature based chipless tags. To enhance the data coding capacity in spectral signature based tags require large number of resonances in a limited bandwidth. The frequency of the resonators have to be close to each other. To achieve this condition, the quality factor of each resonance needs to be high. The thesis discusses about various types of multiresonators, their practical implementation and how they can be used in design. Encoding of data into spectral domain is another challenge in chipless tag design. Here, the technique used is the presence or absence encoding technique. The presence of a resonance is used to encode Logic 1 and absence of a speci c resonance is used to encode Logic 0. Di erent types of multiresonators such as open stub multiresonators, coupled bunch hairpin resonators and shorted slot ground ring resonator are proposed in this thesis.

Development of hybrid UV VCSEL with organic active material and dielectric DBR mirrors for medical, sensoric and data storage applications

Lasers play an important role for medical, sensoric and data storage devices. This thesis is focused on design, technology development, fabrication and characterization of hybrid ultraviolet Vertical-Cavity Surface-Emitting Lasers (UV VCSEL) with organic laser-active material and inorganic distributed Bragg reflectors (DBR). Multilayer structures with different layer thicknesses, refractive indices and absorption coefficients of the inorganic materials were studied using theoretical model calculations. During the simulations the structure parameters such as materials and thicknesses have been varied. This procedure was repeated several times during the design optimization process including also the feedback from technology and characterization. Two types of VCSEL devices were investigated. The first is an index coupled structure consisting of bottom and top DBR dielectric mirrors. In the space in between them is the cavity, which includes active region and defines the spectral gain profile. In this configuration the maximum electrical field is concentrated in the cavity and can destroy the chemical structure of the active material. The second type of laser is a so called complex coupled VCSEL. In this structure the active material is placed not only in the cavity but also in parts of the DBR structure. The simulations show that such a distribution of the active material reduces the required pumping power for reaching lasing threshold. High efficiency is achieved by substituting the dielectric material with high refractive index for the periods closer to the cavity. The inorganic materials for the DBR mirrors have been deposited by Plasma- Enhanced Chemical Vapor Deposition (PECVD) and Dual Ion Beam Sputtering (DIBS) machines. Extended optimizations of the technological processes have been performed. All the processes are carried out in a clean room Class 1 and Class 10000. The optical properties and the thicknesses of the layers are measured in-situ by spectroscopic ellipsometry and spectroscopic reflectometry. The surface roughness is analyzed by atomic force microscopy (AFM) and images of the devices are taken with scanning electron microscope (SEM). The silicon dioxide (SiO2) and silicon nitride (Si3N4) layers deposited by the PECVD machine show defects of the material structure and have higher absorption in the ultra violet range compared to ion beam deposition (IBD). This results in low reflectivity of the DBR mirrors and also reduces the optical properties of the VCSEL devices. However PECVD has the advantage that the stress in the layers can be tuned and compensated, in contrast to IBD at the moment. A sputtering machine Ionsys 1000 produced by Roth&Rau company, is used for the deposition of silicon dioxide (SiO2), silicon nitride (Si3N4), aluminum oxide (Al2O3) and zirconium dioxide (ZrO2). The chamber is equipped with main (sputter) and assisted ion sources. The dielectric materials were optimized by introducing additional oxygen and nitrogen into the chamber. DBR mirrors with different material combinations were deposited. The measured optical properties of the fabricated multilayer structures show an excellent agreement with the results of theoretical model calculations. The layers deposited by puttering show high compressive stress. As an active region a novel organic material with spiro-linked molecules is used. Two different materials have been evaporated by utilizing a dye evaporation machine in the clean room of the department Makromolekulare Chemie und Molekulare Materialien (mmCmm). The Spiro-Octopus-1 organic material has a maximum emission at the wavelength λemission = 395 nm and the Spiro-Pphenal has a maximum emission at the wavelength λemission = 418 nm. Both of them have high refractive index and can be combined with low refractive index materials like silicon dioxide (SiO2). The sputtering method shows excellent optical quality of the deposited materials and high reflection of the multilayer structures. The bottom DBR mirrors for all VCSEL devices were deposited by the DIBS machine, whereas the top DBR mirror deposited either by PECVD or by combination of PECVD and DIBS. The fabricated VCSEL structures were optically pumped by nitrogen laser at wavelength λpumping = 337 nm. The emission was measured by spectrometer. A radiation of the VCSEL structure at wavelength 392 nm and 420 nm is observed.

World Hunger, Malnutrition and Brain Development of Children

Hunger is still a major problem faced by people in the world especially in some areas in developing countries, and this condition is a cause of undernutrition. Insufficient nutrition during the early stages of life may adversely influence brain development. It was observed from my own research conducted in Bogor, Indonesia, that children with severe acute malnutrition (SAM, body mass index or BMI for age z score < -3) (N=54) had significantly (p<0.05) lower memory ability score (46.22±1.38) compared to normal children (BMI for age z score -2 ≤ z ≤ 1) (N=91) (51.56±1.24). Further, children with Moderate Acute Malnutrition (MAM, BMI for age z score -3 ≤ z <-2) tended to (p<0.1) have lower memory ability (50.08±1.58) than the normal children. On the other hand, overnutrition among children also might impair the brain function. The study revealed that children who are overweight (BMI for age z score 1 < z ≤ 2) (N=8) significantly (p<0.05) had lower memory ability score (46.13±4.50) compared to the normal children. This study also revealed that obese children (BMI for age z score > 2) (N=6) tended to (p<0.1) have lower memory ability score (50.33±5.64) than the normal children. It is therefore very important to maintain children at a normal BMI, not being undernourished (SAM and MAM categories) on one side and not being overnourished (overweight and obesity categories) on the other side in order to optimise their brain development. This could be achieved through providing children with an adequate and balanced nutrient supply via food.

Childhood experience and the development of reproductive strategies

Resumen tomado de la publicaci??n

Compilation of documents for the development of a state of art of the investigation of perdurability

A través del estudio y la investigación basados en bibliografía de diversas nacionalidades que data desde la década de los setenta hasta la actualidad, ha sido posible analizar la tendencia académica de las investigaciones acerca la Perdurabilidad. Esta recolección de estudios es una fuente de información para todos aquellos que deseen tener un entendimiento más profundo acerca de la teoría que sostiene el concepto de Perdurabilidad. A lo largo de esta investigación, el lector encontrará un conjunto de varios autores de distintas nacionalidades que abordaron el tema de la Perdurabilidad bajo alguna de sus concepciones (longevidad, resistencia, supervivencia); lo que permite tener una visión más amplia acerca de la importancia de ciertos estudios de acuerdo a su origen y contexto cultural. Es importante resaltar que esta investigación es netamente teórica con el propósito de aclarar el concepto de Perdurabilidad y facilitar futuras investigaciones acerca de este tema

Development of designed site-directed pseudopeptide-peptido-mimetic immunogens as novel minimal subunit-vaccine candidates for malaria

Synthetic vaccines constitute the most promising tools for controlling and preventing infectious diseases. When synthetic immunogens are designed from the pathogen native sequences, these are normally poorly immunogenic and do not induce protection, as demonstrated in our research. After attempting many synthetic strategies for improving the immunogenicity properties of these sequences, the approach consisting of identifying high binding motifs present in those, and then performing specific changes on amino-acids belonging to such motifs, has proven to be a workable strategy. In addition, other strategies consisting of chemically introducing non-natural constraints to the backbone topology of the molecule and modifying the a-carbon asymmetry are becoming valuable tools to be considered in this pursuit. Non-natural structural constraints to the peptide backbone can be achieved by introducing peptide bond isosters such as reduced amides, partially retro or retro-inverso modifications or even including urea motifs. The second can be obtained by strategically replacing L-amino-acids with their enantiomeric forms for obtaining both structurally site-directed designed immunogens as potential vaccine candidates and their Ig structural molecular images, both having immunotherapeutic effects for preventing and controlling malaria.

The influence of parents' speech on the development of spoken language in German-speaking children with cochlear implants. 'La influencia del habla de los padres en el desarrollo del lenguaje en niños germanohablantes con implante coclear'.

Resumen en español

Cognitive processes associated with the professional development of Mathematics teacher. 'Procesos cognitivos asociados al desarrollo profesional del profesor de Matem??ticas'

Resumen basado en el de la publicaci??n