Nuovo modello cinetostatico della caviglia umana.

The relevance of human joint models has been shown in the literature. They can help in diagnosis, in prostheses and ortheses design and in predicting the joints’ behavior. Recently a sequential approach for the modeling of the human diarthrodial joints composed of three steps has been proposed. At each step the role of some anatomical structures is considered. Starting from a limited number of structures, the model gets more and more sophisticated until all the components, both passive (articular surfaces, ligaments and tendons) and active (muscles), are incorporated in the final model. According to this procedure, the behavior of the human ankle during passive motion (no loads applied) has been previously modeled by a one degree of freedom 5-5 fully parallel mechanism. Starting from this model, the kinetostatic model of the human ankle joint that replicates its behavior when external loads are applied is developed. The anatomical and mechanical characteristics and the role of the passive structures are considered; a multifiber model is developed and an optimization criteria based on experimental data is proposed. Finally an application of the developed model to an amputated ankle is presented, together with the results obtained from the optimization of the geometrical and mechanical Parameters. Although some improvements can be achieved, the model is satisfactorily able to replicate the behavior of the human ankle subject to the anterior drawer and the inversion clinical tests applied in the neutral position.

Synthese und Charakterisierung von Modellen für Photoschalter und elektronische Ventile

Gegenstand der vorliegenden Arbeit war die Synthese von organischen Photoschalter-Modellen auf der Basis von mesoionischen Pyrimidinium-olaten und Bis(thienylperfluorocyclopentenen), sowie die Darstellung substituierter Biphenyl-Biradikale als Modelle für Ventil-Systeme im Sinne eines neuen Schalter-Ventil-Konzeptes.Aufbauend auf meiner Arbeit über mesoionische Pyrimidinium-olate wurde ein henkelverbrücktes Ansa-Mesoion mit einem 16-gliedrigen Makrocyclus, sowie drei mehrcyclische mesoionische Systeme synthetisiert und auf ihr Schaltverhalten hin untersucht. Das Ansa-Mesoion stellt ein erstes einfaches Modell für Schalter-Ventil-Konjugate dar. Zur Darstellung der photochromen Bis(thienylethene) wurden die aus der Literatur bekannten Syntheserouten nach Irie als auch nach Feringa auf neue Strukturen angewandt und die Schalteigenschaften der Bis(thienylethene) optisch nachgewiesen. Die Anordnung der reaktiven Endgruppen in den synthetisierten Verbindungen schafft ideale Voraussetzungen für eine große konformelle Änderung, welche im Schalter-Ventil-Konjugat erwünscht ist. Durch vielfaches Durchlaufen des Schaltprozesses (> 100 Cyclen) konnte die hohe Reversibilität des Schaltvorganges belegt werden.Als Ventilmodelle wurden mit stabilen Nitroxidradikalen substituierte Biphenyle verwendet, deren primärer konformativer Freiheitsgrad durch die Drehung um die Phenyl-Phenyl-Einfachbindung gegeben ist. Experimentelle ESR-Daten und deren Vergleich mit Spektrensimulationen bestätigten die Abhängigkeit der Austauschwechselwirkung J zwischen den Radikalen vom Biphenyldiederwinkel.

Neuartige kryogene Penning-Falle für den Nachweis von Spin-Übergängen eines Protons und Bestimmung seines g-Faktors

In dieser Arbeit wird der Entwurf, der Aufbau, die Inbetriebnahme und die Charakterisierung einer neuartigen Penning-Falle im Rahmen des Experiments zur Bestimmung des g-Faktors des Protons präsentiert. Diese Falle zeichnet sich dadurch aus, dass die Magnetfeldlinien eines äußeren homogenen Magnetfeldes durch eine ferromagnetische Ringelektrode im Zentrum der Falle verzerrt werden. Der inhomogene Anteil des resultierenden Magnetfeldes, die sogenannte magnetische Flasche, lässt sich durch den Koeffizient B2 = 297(10) mT/mm2 des Terms zweiter Ordnung der Ortsabhängigkeit des Feldes quantifizieren. Eine solche ungewöhnlich starke Feldinhomogenität ist Grundvoraussetzung für den Nachweis der Spinausrichtung des Protons mittels des kontinuierlichen Stern-Gerlach-Effektes. Dieser Effekt basiert auf der im inhomogenen Magnetfeld entstehenden Kopplung des Spin-Freiheitsgrades des gefangenen Protons an eine seiner Eigenfrequenzen. Ein Spin-Übergang lässt sich so über einen Frequenzsprung detektieren. Dabei ist die nachzuweisende Änderung der Frequenz proportional zu B2 und zum im Fall des Protons extrem kleinen Verhältnis zwischen seinem magnetischen Moment nund seiner Masse. Die durch die benötigte hohe Inhomogenität des Magnetfeldes bedingten technischen Herausforderungen erfordern eine fundierte Kenntnis und Kontrolle der Eigenschaften der Penning-Falle sowie der experimentellen Bedingungen. Die in der vorliegenden Arbeit entwickelte Penning-Falle ermöglichte den erstmaligen zerstörungsfreien Nachweis von Spin-Quantensprüngen eines einzelnen gefangenen Protons, was einen Durchbruch für das Experiment zur direkten Bestimmung des g-Faktors mit der angestrebten relativen Genauigkeit von 10−9 darstellte. Mithilfe eines statistischen Verfahrens ließen sich die Larmor- und die Zyklotronfrequenz des Protons im inhomogenen Magnetfeld der Falle ermitteln. Daraus wurde der g-Faktor mit einer relativen Genauigkeit von 8,9 × 10−6 bestimmt. Die hier vorgestellten Messverfahren und der experimentelle Aufbau können auf ein äquivalentes Experiment zur Bestimmung des g-Faktors des Antiprotons zum Erreichen der gleichen Messgenauigkeit übertragen werden, womit der erste Schritt auf dem Weg zu einem neuen zwingenden Test der CPT-Symmetrie im baryonischen Sektor gemacht wäre.

Geometry-Aware Multiscale Image Registration via OBBTree-Based Polyaffine Log-Demons

Non-linear image registration is an important tool in many areas of image analysis. For instance, in morphometric studies of a population of brains, free-form deformations between images are analyzed to describe the structural anatomical variability. Such a simple deformation model is justified by the absence of an easy expressible prior about the shape changes. Applying the same algorithms used in brain imaging to orthopedic images might not be optimal due to the difference in the underlying prior on the inter-subject deformations. In particular, using an un-informed deformation prior often leads to local minima far from the expected solution. To improve robustness and promote anatomically meaningful deformations, we propose a locally affine and geometry-aware registration algorithm that automatically adapts to the data. We build upon the log-domain demons algorithm and introduce a new type of OBBTree-based regularization in the registration with a natural multiscale structure. The regularization model is composed of a hierarchy of locally affine transformations via their logarithms. Experiments on mandibles show improved accuracy and robustness when used to initialize the demons, and even similar performance by direct comparison to the demons, with a significantly lower degree of freedom. This closes the gap between polyaffine and non-rigid registration and opens new ways to statistically analyze the registration results.

Control design and genetic algorithm optimization for electrostatic MEMS

This dissertation discusses structural-electrostatic modeling techniques, genetic algorithm based optimization and control design for electrostatic micro devices. First, an alternative modeling technique, the interpolated force model, for electrostatic micro devices is discussed. The method provides improved computational efficiency relative to a benchmark model, as well as improved accuracy for irregular electrode configurations relative to a common approximate model, the parallel plate approximation model. For the configuration most similar to two parallel plates, expected to be the best case scenario for the approximate model, both the parallel plate approximation model and the interpolated force model maintained less than 2.2% error in static deflection compared to the benchmark model. For the configuration expected to be the worst case scenario for the parallel plate approximation model, the interpolated force model maintained less than 2.9% error in static deflection while the parallel plate approximation model is incapable of handling the configuration. Second, genetic algorithm based optimization is shown to improve the design of an electrostatic micro sensor. The design space is enlarged from published design spaces to include the configuration of both sensing and actuation electrodes, material distribution, actuation voltage and other geometric dimensions. For a small population, the design was improved by approximately a factor of 6 over 15 generations to a fitness value of 3.2 fF. For a larger population seeded with the best configurations of the previous optimization, the design was improved by another 7% in 5 generations to a fitness value of 3.0 fF. Third, a learning control algorithm is presented that reduces the closing time of a radiofrequency microelectromechanical systems switch by minimizing bounce while maintaining robustness to fabrication variability. Electrostatic actuation of the plate causes pull-in with high impact velocities, which are difficult to control due to parameter variations from part to part. A single degree-of-freedom model was utilized to design a learning control algorithm that shapes the actuation voltage based on the open/closed state of the switch. Experiments on 3 test switches show that after 5-10 iterations, the learning algorithm lands the switch with an impact velocity not exceeding 0.2 m/s, eliminating bounce.

Simulationsgestütztes Design eines Spritzgieß-Werkzeugeinsatzes mit kontur-angepasster Kühlung

Moderne generische Fertigungsverfahren für innengekühlte Werkzeuge bieten nahezu beliebige Freiheitsgrade zur Gestaltung konturnaher Kühlkanäle. Daraus resultiert ein erhöhter Anspruch an das Werkzeugengineering und die Optimierung der Kühlleistung. Geeignete Simulationsverfahren (wie z.B. Computational Fluid Dynamics - CFD) unterstützen die optimierte Werkzeugauslegung in idealer Weise. Mit der Erstellung virtueller Teststände können Varianten effizient und kostengünstig verglichen und die Kosten für Prototypen und Nacharbeiten reduziert werden. Im Computermodell des Werkzeugs erlauben Soft-Sensoren an beliebiger Position die Überwachung temperatur-kritischer Stellen sowohl im Fluid- als auch im Solidbereich. Der hier durchgeführte Benchmark vergleicht die Performance eines optimierten Werkzeugeinsatzes mit einer konventionellen Kühlung. Die im virtuellen Prozess vorhergesagte Zykluszeitreduzierung steht in guter Übereinstimmung mit realen Experimenten an den ausgeführten Werkzeugen.

Managing Debris Flow Risks

Debris flows represent a widespread threat to villages and small towns in the Swiss Alps. For many centuries people “managed” such risks by trying to avoid hazardous areas. However, major debris flow and flood events in the last 25 years have revealed that the degree of freedom to engage in this type of risk management has substantially decreased. This became especially evident during the 1999 disasters in a number of places in Switzerland. The winter of that year was unusually wet. In February heavy snowfall triggered destructive avalanches. In May high temperatures caused heavy snowmelt, with excessive rainfall contributing more water to the already saturated soils. Landslides, debris flows and floods were triggered in many locations, including Sörenberg. Hazard prevention and disaster management have a long tradition in Switzerland, although an integrated approach to risk management is rather new. Only in recent years have methods and tools been developed to assess hazards, define protection goals, and implement disaster reduction measures. The case of Sörenberg serves as an example of how today's approaches to disaster reduction are implemented at the local level.

Intervertebral Disc Repair using Fleece-Membrane Composite Silk Material and Genipin-enhanced Fibrin Hydrogel

Introduction: Treating low back pain (LBP) has become an increasing challenge, as it is one of the main factors causing pain and is accompanied by high costs for the individual and the society. LBP can be caused by trauma of the intervertebral disc (IVD) or IVD degeneration. In the case of disc herniation the inner gelatinous part of the IVD, called nucleus pulposus, is pressed through the fibrous, annulus fibrosus that forms the outer part of the IVD. Today’s gold standard for treatment is extensive surgery as removal of the IVD and fusion of the vertebrae. In order to find a more gentle way to treat LBP and restore the native IVD we use a novel silk fleece-membrane composite from genetically modified silk worms whose silk contains a growth factor (GDF-6) that is associated with pushing stem cells towards a disc like phenotype (1). By combining it with a genipin-enhanced fibrin hydrogel we tested its suitability in organ culture on prior injured bovine IVD in our custom built two-degree of freedom bioreactor to mimic natural loading conditions. Material & Methods: Bovine IVDs of 12-17 months old animals were isolated by first removing all surrounding tissue followed by cutting out the IVDs as previously described (2). Culturing of discs occurred in high glucose Dulbecco's Modified Eagle Medium (HG-DMEM) supplemented with 5% serum as previously described (2). On the next day injury was induced using a 2mm biopsy punch (Polymed, Switzerland). The formed cavity was filled with (0.4%) genipin-enhanced human based fibrin hydrogel (35-55mg/mL human fibrinogen, Baxter, Austria) and sealed with a silk fleece-membrane composite (Spintec Engineering, Germany). Different culture conditions were applied: free swelling, static diurnal load of 0.2MPa for 8h/d and complex loading at 0.2MPa compression combined with ± 2° torsion at 0.2Hz for 8h/d (2). After 14 days of culture cell activity was determined with resazurin assay. Additionally, glycosaminoglycan (dimethyl-methylene blue), DNA (Hoechst) and collagen content (hydroxy- proline) were determined. Finally, real-time qPCR of major IVD marker and inflammation genes was performed to judge integrity of IVDs. Results: The fibrin hydrogel is able to keep the silk seal in place throughout the 14 days of in organ culture under all conditions. Additionally, cell activity showed optimistic results and we could not confirm negative effects of the repaired discs regarding overexpression of inflammation markers. Conclusions: The genipin-enhanced fibrin hydrogel in combination with the silk fleece- membrane composite seems to be a promising approach for IVD repair. Currently we assess the capability of GDF-6 incorporated in our silk composites on human mesenchymal stem cells and later on in organ culture. References 1. Clarke LE, McConnell JC, Sherratt MJ, Derby B, Richardson SM, Hoyland JA. Growth differentiation factor 6 and transforming growth factor-beta differentially mediate mesenchymal stem cell differentiation, composition and micromechanical properties of nucleus pulposus constructs. Arthritis Res Ther 2014, Mar 12;16(2):R67. 2. Chan SC, Gantenbein-Ritter B. Preparation of intact bovine tail intervertebral discs for organ culture. J Vis Exp 2012, Feb 2;60(60):e3490. Acknowledgements. This work is funded by the Gebert Rüf Foundation, project number GRS-028/13.

Towards hand biometrics in mobile devices

The increasing demand of security oriented to mobile applications has raised the attention to biometrics, as a proper and suitable solution for providing secure environment to mobile devices. With this aim, this document presents a biometric system based on hand geometry oriented to mobile devices, involving a high degree of freedom in terms of illumination, hand rotation and distance to camera. The user takes a picture of their own hand in the free space, without requiring any flat surface to locate the hand, and without removals of rings, bracelets or watches. The proposed biometric system relies on an accurate segmentation procedure, able to isolate hands from any background; a feature extraction, invariant to orientation, illumination, distance to camera and background; and a user classification, based on k-Nearest Neighbor approach, able to provide an accurate results on individual identification. The proposed method has been evaluated with two own databases collected with a HTC mobile. First database contains 120 individuals, with 20 acquisitions of both hands. Second database is a synthetic database, containing 408000 images of hand samples in different backgrounds: tiles, grass, water, sand, soil and the like. The system is able to identify individuals properly with False Reject Rate of 5.78% and False Acceptance Rate of 0.089%, using 60 features (15 features per finger)

Novel Inductor‐less Conversion Strategy Based on Multiphase Transformer‐Coupled Converters: Analysis, Design and Applications

There are many the requirements that modern power converters should fulfill. Most of the applications where these converters are used, demand smaller converters with high efficiency, improved power density and a fast dynamic response. For instance, loads like microprocessors demand aggressive current steps with very high slew rates (100A/mus and higher); besides, during these load steps, the supply voltage of the microprocessor should be kept within tight limits in order to ensure its correct performance. The accomplishment of these requirements is not an easy task; complex solutions like advanced topologies - such as multiphase converters- as well as advanced control strategies are often needed. Besides, it is also necessary to operate the converter at high switching frequencies and to use capacitors with high capacitance and low ESR. Improving the dynamic response of power converters does not rely only on the control strategy but also the power topology should be suited to enable a fast dynamic response. Moreover, in later years, a fast dynamic response does not only mean accomplishing fast load steps but output voltage steps are gaining importance as well. At least, two applications that require fast voltage changes can be named: Low power microprocessors. In these devices, the voltage supply is changed according to the workload and the operating frequency of the microprocessor is changed at the same time. An important reduction in voltage dependent losses can be achieved with such changes. This technique is known as Dynamic Voltage Scaling (DVS). Another application where important energy savings can be achieved by means of changing the supply voltage are Radio Frequency Power Amplifiers. For example, RF architectures based on ‘Envelope Tracking’ and ‘Envelope Elimination and Restoration’ techniques can take advantage of voltage supply modulation and accomplish important energy savings in the power amplifier. However, in order to achieve these efficiency improvements, a power converter with high efficiency and high enough bandwidth (hundreds of kHz or even tens of MHz) is necessary in order to ensure an adequate supply voltage. The main objective of this Thesis is to improve the dynamic response of DC-DC converters from the point of view of the power topology. And the term dynamic response refers both to the load steps and the voltage steps; it is also interesting to modulate the output voltage of the converter with a specific bandwidth. In order to accomplish this, the question of what is it that limits the dynamic response of power converters should be answered. Analyzing this question leads to the conclusion that the dynamic response is limited by the power topology and specifically, by the filter inductance of the converter which is found in series between the input and the output of the converter. The series inductance is the one that determines the gain of the converter and provides the regulation capability. Although the energy stored in the filter inductance enables the regulation and the capability of filtering the output voltage, it imposes a limitation which is the concern of this Thesis. The series inductance stores energy and prevents the current from changing in a fast way, limiting the slew rate of the current through this inductor. Different solutions are proposed in the literature in order to reduce the limit imposed by the filter inductor. Many publications proposing new topologies and improvements to known topologies can be found in the literature. Also, complex control strategies are proposed with the objective of improving the dynamic response in power converters. In the proposed topologies, the energy stored in the series inductor is reduced; examples of these topologies are Multiphase converters, Buck converter operating at very high frequency or adding a low impedance path in parallel with the series inductance. Control techniques proposed in the literature, focus on adjusting the output voltage as fast as allowed by the power stage; examples of these control techniques are: hysteresis control, V 2 control, and minimum time control. In some of the proposed topologies, a reduction in the value of the series inductance is achieved and with this, the energy stored in this magnetic element is reduced; less stored energy means a faster dynamic response. However, in some cases (as in the high frequency Buck converter), the dynamic response is improved at the cost of worsening the efficiency. In this Thesis, a drastic solution is proposed: to completely eliminate the series inductance of the converter. This is a more radical solution when compared to those proposed in the literature. If the series inductance is eliminated, the regulation capability of the converter is limited which can make it difficult to use the topology in one-converter solutions; however, this topology is suitable for power architectures where the energy conversion is done by more than one converter. When the series inductor is eliminated from the converter, the current slew rate is no longer limited and it can be said that the dynamic response of the converter is independent from the switching frequency. This is the main advantage of eliminating the series inductor. The main objective, is to propose an energy conversion strategy that is done without series inductance. Without series inductance, no energy is stored between the input and the output of the converter and the dynamic response would be instantaneous if all the devices were ideal. If the energy transfer from the input to the output of the converter is done instantaneously when a load step occurs, conceptually it would not be necessary to store energy at the output of the converter (no output capacitor COUT would be needed) and if the input source is ideal, the input capacitor CIN would not be necessary. This last feature (no CIN with ideal VIN) is common to all power converters. However, when the concept is actually implemented, parasitic inductances such as leakage inductance of the transformer and the parasitic inductance of the PCB, cannot be avoided because they are inherent to the implementation of the converter. These parasitic elements do not affect significantly to the proposed concept. In this Thesis, it is proposed to operate the converter without series inductance in order to improve the dynamic response of the converter; however, on the other side, the continuous regulation capability of the converter is lost. It is said continuous because, as it will be explained throughout the Thesis, it is indeed possible to achieve discrete regulation; a converter without filter inductance and without energy stored in the magnetic element, is capable to achieve a limited number of output voltages. The changes between these output voltage levels are achieved in a fast way. The proposed energy conversion strategy is implemented by means of a multiphase converter where the coupling of the phases is done by discrete two-winding transformers instead of coupledinductors since transformers are, ideally, no energy storing elements. This idea is the main contribution of this Thesis. The feasibility of this energy conversion strategy is first analyzed and then verified by simulation and by the implementation of experimental prototypes. Once the strategy is proved valid, different options to implement the magnetic structure are analyzed. Three different discrete transformer arrangements are studied and implemented. A converter based on this energy conversion strategy would be designed with a different approach than the one used to design classic converters since an additional design degree of freedom is available. The switching frequency can be chosen according to the design specifications without penalizing the dynamic response or the efficiency. Low operating frequencies can be chosen in order to favor the efficiency; on the other hand, high operating frequencies (MHz) can be chosen in order to favor the size of the converter. For this reason, a particular design procedure is proposed for the ‘inductorless’ conversion strategy. Finally, applications where the features of the proposed conversion strategy (high efficiency with fast dynamic response) are advantageus, are proposed. For example, in two-stage power architectures where a high efficiency converter is needed as the first stage and there is a second stage that provides the fine regulation. Another example are RF power amplifiers where the voltage is modulated following an envelope reference in order to save power; in this application, a high efficiency converter, capable of achieving fast voltage steps is required. The main contributions of this Thesis are the following: The proposal of a conversion strategy that is done, ideally, without storing energy in the magnetic element. The validation and the implementation of the proposed energy conversion strategy. The study of different magnetic structures based on discrete transformers for the implementation of the proposed energy conversion strategy. To elaborate and validate a design procedure. To identify and validate applications for the proposed energy conversion strategy. It is important to remark that this work is done in collaboration with Intel. The particular features of the proposed conversion strategy enable the possibility of solving the problems related to microprocessor powering in a different way. For example, the high efficiency achieved with the proposed conversion strategy enables it as a good candidate to be used for power conditioning, as a first stage in a two-stage power architecture for powering microprocessors.

Tres iglesias sajonas fortificadas en Transilvania, Rumanía: Hosman, Pelişor y Moşna

Saxon colonization in Transylvania occurred from 12th Century with the establishment of the populations with certain degree of freedom and autonomy. External threats over this territory obliged to the fortification of their churches, mainly between 15th and 16th Centuries with the advance of Turkish Empire. The fortification of the churches consists on the building of walls with gates and flanking towers, and also with the incorporation of several defensive elements over the apses. Most outstanding characteristics of this fortified system are the homogeneity in typology, construction and polyorcetic, without detracting of the singularity of each one of the more of 150 conserved churches. The article presents an actual state of the art. Also, it develops the main historical elements and it explains the architectonic typology and the constructive characteristics. At last, defensive elements are analyzed from the comparative and deep study through three proper examples: the churches of Hosman, Pelisor and Mosna. La colonización sajona de Transilvania se produjo a partir del siglo XII con el asentamiento de poblaciones con cierto grado de libertad y autonomía. Las amenazas externas sobre este territorio obligaron a la fortificación de sus iglesias, principalmente entre los siglos XV y XVI ante el avance del imperio turco. La fortificación de las iglesias consta de la construcción de murallas con puertas y torres de flanqueo, además de la incorporación de diversos elementos poliorcéticos sobre las cabeceras de las iglesias. Las características más relevantes de este sistema fortificado es la homogeneidad tipológica, constructiva y poliorcética sin menoscabo de la singularidad de cada una de las más de 150 iglesias conservadas. El artículo presenta un estado de la cuestión actualizado, además de desarrollar los elementos históricos más relevantes, explicar la tipología arquitectónica y las característica constructivas y analizar los elementos poliorcéticos desde el estudio comparado y profundo de tres ejemplos característicos: las iglesias de Hosman, Pelisor y Mosna.

Logic cells as basic structures to add/drop WDM information signals

Nowadays, in order to take advantage of fiber optic bandwidth, any optical communications system tends to be WDM. The way to extract a channel, characterized by a wavelength, from the optical fiber is to filter the specific wavelength. This gives the systems a low degree of freedom due to the fact of the static character of most of the employed devices. In this paper we will present a different way to extract channels from an optical fiber with WDM transmission. The employed method is based on an Optically Programmable Logic Cells (OPLC) previously published by us, for other applications as a chaotic generator or as basic element for optical computing. In this paper we will describe the configuration of the OPLC to be employed as a dropping device. It acts as a filter because it will extract the data carried by a concrete wavelength. It does depend, internally, on the wavelength. We will show how the intensity of the signal is able to select the chosen information from the line. It will be also demonstrated that a new idea of redundant information it is the way of selecting the concrete wavelength. As a matter of fact this idea is apparently the only way to use the OPLC as a dropping device. Moreover, based on these concepts, a similar way to route signals to different routes is reported. The basis is the use of photonic switching configurations, namely Batcher or Bayan structures, where the unit switching cells are the above indicated OPLCs.

A scalable evolvable hardware processing array

Evolvable hardware (EH) is an interesting alternative to conventional digital circuit design, since autonomous generation of solutions for a given task permits self-adaptivity of the system to changing environments, and they present inherent fault tolerance when evolution is intrinsically performed. Systems based on FPGAs that use Dynamic and Partial Reconfiguration (DPR) for evolving the circuit are an example. Also, thanks to DPR, these systems can be provided with scalability, a feature that allows a system to change the number of allocated resources at run-time in order to vary some feature, such as performance. The combination of both aspects leads to scalable evolvable hardware (SEH), which changes in size as an extra degree of freedom when trying to achieve the optimal solution by means of evolution. The main contributions of this paper are an architecture of a scalable and evolvable hardware processing array system, some preliminary evolution strategies which take scalability into consideration, and to show in the experimental results the benefits of combined evolution and scalability. A digital image filtering application is used as use case.

Extracting energy from Vortex-Induced Vibrations: A parametric study

Here, Vortex-Induced Vibrations (VIVs) of a circular cylinder are analyzed as a potential source for energy harvesting. To this end, VIV is described by a one-degree-of-freedom model where fluid forces are introduced from experimental data from forced vibration tests. The influence of some influencing parameters, like the mass ratio m∗ or the mechanical damping ζ in the energy conversion factor is investigated. The analysis reveals that: (i) the maximum efficiency ηM is principally influenced by the mass-damping parameter m∗ζ and there is an optimum value of m∗ζ where ηM presents a maximum; (ii) the range of reduced velocities with significant efficiency is mainly governed by m∗, and (iii) it seems that encouraging high efficiency values can be achieved for high Reynolds numbers.

Vision-Based Tracking, Odometry and Control for UAV Autonomy

El principal objetivo de este trabajo es proporcionar una solución en tiempo real basada en visión estéreo o monocular precisa y robusta para que un vehículo aéreo no tripulado (UAV) sea autónomo en varios tipos de aplicaciones UAV, especialmente en entornos abarrotados sin señal GPS. Este trabajo principalmente consiste en tres temas de investigación de UAV basados en técnicas de visión por computador: (I) visual tracking, proporciona soluciones efectivas para localizar visualmente objetos de interés estáticos o en movimiento durante el tiempo que dura el vuelo del UAV mediante una aproximación adaptativa online y una estrategia de múltiple resolución, de este modo superamos los problemas generados por las diferentes situaciones desafiantes, tales como cambios significativos de aspecto, iluminación del entorno variante, fondo del tracking embarullado, oclusión parcial o total de objetos, variaciones rápidas de posición y vibraciones mecánicas a bordo. La solución ha sido utilizada en aterrizajes autónomos, inspección de plataformas mar adentro o tracking de aviones en pleno vuelo para su detección y evasión; (II) odometría visual: proporciona una solución eficiente al UAV para estimar la posición con 6 grados de libertad (6D) usando únicamente la entrada de una cámara estéreo a bordo del UAV. Un método Semi-Global Blocking Matching (SGBM) eficiente basado en una estrategia grueso-a-fino ha sido implementada para una rápida y profunda estimación del plano. Además, la solución toma provecho eficazmente de la información 2D y 3D para estimar la posición 6D, resolviendo de esta manera la limitación de un punto de referencia fijo en la cámara estéreo. Una robusta aproximación volumétrica de mapping basada en el framework Octomap ha sido utilizada para reconstruir entornos cerrados y al aire libre bastante abarrotados en 3D con memoria y errores correlacionados espacialmente o temporalmente; (III) visual control, ofrece soluciones de control prácticas para la navegación de un UAV usando Fuzzy Logic Controller (FLC) con la estimación visual. Y el framework de Cross-Entropy Optimization (CEO) ha sido usado para optimizar el factor de escala y la función de pertenencia en FLC. Todas las soluciones basadas en visión en este trabajo han sido probadas en test reales. Y los conjuntos de datos de imágenes reales grabados en estos test o disponibles para la comunidad pública han sido utilizados para evaluar el rendimiento de estas soluciones basadas en visión con ground truth. Además, las soluciones de visión presentadas han sido comparadas con algoritmos de visión del estado del arte. Los test reales y los resultados de evaluación muestran que las soluciones basadas en visión proporcionadas han obtenido rendimientos en tiempo real precisos y robustos, o han alcanzado un mejor rendimiento que aquellos algoritmos del estado del arte. La estimación basada en visión ha ganado un rol muy importante en controlar un UAV típico para alcanzar autonomía en aplicaciones UAV. ABSTRACT The main objective of this dissertation is providing real-time accurate robust monocular or stereo vision-based solution for Unmanned Aerial Vehicle (UAV) to achieve the autonomy in various types of UAV applications, especially in GPS-denied dynamic cluttered environments. This dissertation mainly consists of three UAV research topics based on computer vision technique: (I) visual tracking, it supplys effective solutions to visually locate interesting static or moving object over time during UAV flight with on-line adaptivity approach and multiple-resolution strategy, thereby overcoming the problems generated by the different challenging situations, such as significant appearance change, variant surrounding illumination, cluttered tracking background, partial or full object occlusion, rapid pose variation and onboard mechanical vibration. The solutions have been utilized in autonomous landing, offshore floating platform inspection and midair aircraft tracking for sense-and-avoid; (II) visual odometry: it provides the efficient solution for UAV to estimate the 6 Degree-of-freedom (6D) pose using only the input of stereo camera onboard UAV. An efficient Semi-Global Blocking Matching (SGBM) method based on a coarse-to-fine strategy has been implemented for fast depth map estimation. In addition, the solution effectively takes advantage of both 2D and 3D information to estimate the 6D pose, thereby solving the limitation of a fixed small baseline in the stereo camera. A robust volumetric occupancy mapping approach based on the Octomap framework has been utilized to reconstruct indoor and outdoor large-scale cluttered environments in 3D with less temporally or spatially correlated measurement errors and memory; (III) visual control, it offers practical control solutions to navigate UAV using Fuzzy Logic Controller (FLC) with the visual estimation. And the Cross-Entropy Optimization (CEO) framework has been used to optimize the scaling factor and the membership function in FLC. All the vision-based solutions in this dissertation have been tested in real tests. And the real image datasets recorded from these tests or available from public community have been utilized to evaluate the performance of these vision-based solutions with ground truth. Additionally, the presented vision solutions have compared with the state-of-art visual algorithms. Real tests and evaluation results show that the provided vision-based solutions have obtained real-time accurate robust performances, or gained better performance than those state-of-art visual algorithms. The vision-based estimation has played a critically important role for controlling a typical UAV to achieve autonomy in the UAV application.