Integrated internal PIFA for UMTS operation of clamshell mobile phones

novel design of at internal PIFA integrated with an RF-shielding metal case for application in a clamshell or fielder-tvpe mobile phone is presented. The integrated PIFA has a bent and tapered radiating arm in order to easily fit in the casing of the clamshell mobile phone as an internal antenna. The integrated PlEA can also provide a wide operating bandwidth fir UM7S (1920-2170 MHz) operation. In addition, for the clamshell mobile phone in either the talk or standby condition, only a small effect on the operating bandwidth of the integrated PIFA is obtained. The experimental results of the proposed design are presented

Development of Free Space Method for Material Characterisation and GPR Study & A Case Study on Biological Samples

The thesis mainly focuses on material characterization in different environments: freely available samples taken in planar fonn, biological samples available in small quantities and buried objects.Free space method, finds many applications in the fields of industry, medicine and communication. As it is a non-contact method, it can be employed for monitoring the electrical properties of materials moving through a conveyor belt in real time. Also, measurement on such systems at high temperature is possible. NID theory can be applied to the characterization of thin films. Dielectric properties of thin films deposited on any dielectric substrate can be determined. ln chemical industry, the stages of a chemical reaction can be monitored online. Online monitoring will be more efficient as it saves time and avoids risk of sample collection.Dielectric contrast is one of the main factors, which decides the detectability of a system. lt could be noted that the two dielectric objects of same dielectric constant 3.2 (s, of plastic mine) placed in a medium of dielectric constant 2.56 (er of sand) could even be detected employing the time domain analysis of the reflected signal. This type of detection finds strategic importance as it provides solution to the problem of clearance of non-metallic mines. The demining of these mines using the conventional techniques had been proved futile. The studies on the detection of voids and leakage in pipes find many applications.The determined electrical properties of tissues can be used for numerical modeling of cells, microwave imaging, SAR test etc. All these techniques need the accurate determination of dielectric constant. ln the modem world, the use of cellular and other wireless communication systems is booming up. At the same time people are concemed about the hazardous effects of microwaves on living cells. The effect is usually studied on human phantom models. The construction of the models requires the knowledge of the dielectric parameters of the various body tissues. lt is in this context that the present study gains significance. The case study on biological samples shows that the properties of normal and infected body tissues are different. Even though the change in the dielectric properties of infected samples from that of normal one may not be a clear evidence of an ailment, it is an indication of some disorder.ln medical field, the free space method may be adapted for imaging the biological samples. This method can also be used in wireless technology. Evaluation of electrical properties and attenuation of obstacles in the path of RF waves can be done using free waves. An intelligent system for controlling the power output or frequency depending on the feed back values of the attenuation may be developed.The simulation employed in GPR can be extended for the exploration of the effects due to the factors such as the different proportion of water content in the soil, the level and roughness of the soil etc on the reflected signal. This may find applications in geological explorations. ln the detection of mines, a state-of-the art technique for scanning and imaging an active mine field can be developed using GPR. The probing antenna can be attached to a robotic arm capable of three degrees of rotation and the whole detecting system can be housed in a military vehicle. In industry, a system based on the GPR principle can be developed for monitoring liquid or gas through a pipe, as pipe with and without the sample gives different reflection responses. lt may also be implemented for the online monitoring of different stages of extraction and purification of crude petroleum in a plant.Since biological samples show fluctuation in the dielectric nature with time and other physiological conditions, more investigation in this direction should be done. The infected cells at various stages of advancement and the normal cells should be analysed. The results from these comparative studies can be utilized for the detection of the onset of such diseases. Studying the properties of infected tissues at different stages, the threshold of detectability of infected cells can be determined.

Investigatins on Broadband Planar Dipole Antennas

This thesis Entitled Investigations on Broadband planar Dipole Antennas. An antenna is a device ordinarily used for both transmitting and receiving electromagnetic energy. It is an integral part of the radio communication system and accounts for a good deal of progress that has been made in this field during the last few decades.The effect of flaring the dipole arms is studied in Section 4.1. It is observed that the flaring modifies the impedance characteristics of the dipole. In particular, the change in the reactive part of the impedance with frequency is controlled considerably. This improves the 2:1 VSWR bandwidth of the antenna. The effect of various other design parameters on the impedance bandwidth of the antenna are also studied. The important conclusion drawn is that, there is considerable improvement in the impedance bandwidth of the dipole when ground arm dimensions are larger than the main arm dimensions. Theoretical analysis of various cavity backed antennas are given in Chapter 6. The experimental values agree well with the computation. Also the theory gives a clear inside view and explains the reasons for bandwidth enhancement due to flaring and end-loading of the dipole arms. The percentage bandwidth is determined by calculating the Q of the antenna. Since the approach is for the analysis of microstrip antenna on thick grounded substrate, this method cannot be used to predict the impedance bandwidth of the antennas without cavity backup. Also, the structures analysed are simplified versions of the optimised ones. Specially, the arms overlapping is neglected in the analysis. Also, the antennas with symmetrical arms can only be analysed with this theory.

”Public Health Protection through Air Quality Controls”

Health is an important aspect of everybody’s life. Today, there is an increasing recognition and commitment to the pursuit of health both within government and beyond. Any attempt on the part of the " State to protect and promote people’s health, in turn, must be accompanied by effective controls on air quality, as air constitutes ‘ one of the important elements of man’s life and the consequences of air pollution covers a very wide spectrum ranging from material ---damage to personal discomfort and illness. The broad social and economic objectives adumbrated in the Directive Principles of State Policy including the commitment to improve public health underlying in Article 47 and the obligation to preserve and protect-the natural environment cast under Article 48A of the Constitution are being used as versatile weapons by the State to regulate the public health scenario. Preservation and maintenance of air quality is a significant area within the sphere of public health, where the regulatory arm of the law is not adequately touched and in this arena urgent State intervention through legislative and administrative action is called for in the well-being of the society. Judiciary also plays a pivotal role in this arena in the larger interest of the society and for the benefit of the present and future generations. The research study is an attempt to analyze how far the existing legal system, for maintaining air quality and in controlling air pollution, is effective in protecting public health. The study also analyzes the limitations of the control mechanisms. The study focuses on industrial air pollution, indoor and personal air pollution, vehicular pollution and noise pollution which are today appearing as the major public health hazards affecting the air quality. However, this is not to overlook the importance of controls required under other areas of public health.

In vitro characterization of two small nucleolytic ribozymes-the hairpin and the hammerhead ribozymes in their natural context

Hairpin Ribozyme kommen natürlich in den Minussträngen der Satelliten RNAs dreier Pflanzenviren (sTRsV, sArMV and sCYMoV) vor. In dieser Arbeit wurden mit dem Programm Mfold darin mehrere distinkte Sekundärstrukturelemente gefunden, die außerhalb des katalytischen Zentrums der Ribozyme lokalisieren. Verschiedene Varianten der drei Ribozyme wurden hergestellt und die Funktion der beobachteten peripheren Strukturelemente biochemisch untersucht. Die sTRsV Hairpin Ribozyme mit unterschiedlichen Längen in Arm C wiesen ähnliche cis-Spaltungsreaktionen auf, unabhängig von der Anzahl interner bulges in Arm C. Das gleiche Verhalten, jedoch bei schnelleren Spaltungsraten, wurde nach Entfernen der three-way junction, die 3’ von der Spaltstelle in Arm A liegt, beobachtet. Hier hat Arm C demnach keinen Einfluss auf die Katalyse, wogegen ein verlängerter Arm A die Reaktion verlangsamt. Unter den experimentellen Bedingungen war die Rückreaktion in Anwesenheit des natürlichen Arms A nicht messbar. Im Gegensatz dazu zeigten alle Varianten ohne die Arm A Erweiterung Ligationsaktivität, die am höchsten in dem Molekül mit dem längsten Arm C war, und gleichermaßen erniedrigt für zwei Varianten mit kürzerem Arm C. Keine der Reaktionen diverser sArMV Hairpin Ribozyme konnte reproduzierbar analysiert werden. Für das sCYMoV Hairpin Ribozym wurde schließlich in cis-Spaltungsreaktionen eine Zunahme der Geschwindigkeit mit Abnahme der Länge von Arm D beobachtet. Dies war der Fall in Anwesenheit der three-way junction in Arm A, nicht jedoch in ihrer Abwesenheit, wo Varianten mit unterschiedlichen Längen des Arms D ähnliche Spaltungsreaktionen aufwiesen. In Anwesenheit der three-way junction in Arm A war eine Reduzierung der Ligationsgeschwindigkeit zu beobachten, und bei ihrer Abwesenheit stieg diese mit der Länge von Arm D. Dies zeigt, dass sowohl die three-way junction in Arm A, als auch die Länge und Anzahl der bulges in Arm D die Reaktion des Hairpin Ribozyms aus sCYMoV beeinflussen, wobei sich Unterschiede in Vorwärts- und Rückreaktion auf die experimentellen Bedingungen zurückführen lassen. In zwei Serien wurde die zentrale five-way junction dieses Ribozyms durch verschiedene four-way junctions ersetzt. Die kinetischen Parameter der Selbstspaltung waren ähnlich für Varianten ohne Arm E auf, jedoch verlangsamt bei Varianten ohne Arm C. Dies zeigt, dass das sCYMoV Hairpin Ribozym auch um eine four-way junction gebildet werden kann, deren konstituierenden Helices jedoch nicht beliebig sind. In einem zweiten Projekt wurde die Konservierung von Hammerhead Ribozym-motiven, die bereits früher im Genom der Brassicacee A. thaliana gefunden worden waren, exemplarisch an zehn Mitgliedern dieser Familie untersucht. Da deren Genome nicht sequenziert sind, wurde PCR mit Primern angewandt, die für die A. thaliana Motive spezifisch waren. Damit konnten Ribozymmotive in allen untersuchten Brassicaceen außer B. nigra and B. oleracea gefunden werden. Diese gehören zu den sechs Brassica Pflanzen, für die der koreanische Botaniker U 1935 im “triangle of U” die genetische Verwandtschaft beschrieb. Darin ist B. carinata, für die Ribozymmotive gezeigt wurden, die Tochterspezies der Brassica Pflanzen ohne diese Motive. Dieser Widerspruch könnte darauf zurückzuführen sein, dass in der PCR unspezifische Primer genutzt wurden, oder aber die Motive aus B. carinata könnten ein Artefakt aus einer Luft-übertragenen Kontamination sein. Technische Schwierigkeiten in der Durchführung von Southern Blots, mit denen zwischen diesen Möglichkeiten unterschieden werden sollte, haben eine abschließende Antwort verhindert. Nach einer Optimierung der Methode sollte diese aber geeignet sein, diese Frage zu klären.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Analysis and Implementation of Robust Grasping Behaviors

This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed nmodel of the hand, we establish the geometric conditions necessary for achieving form closure grasps of cylindrical objects. We then define and show how to construct the grasping pre-image for quasi-static (friction dominated) and zero-G (inertia dominated) motions for sensorless and sensor-driven grasps with and without arm motions. While the approach does not rely on detailed modeling, it is computationally inexpensive, reliable, and easy to implement. Example behaviors were successfully implemented on the Salisbury hand and on a planar 2-fingered, 4 degree-of-freedom hand.

The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control

This thesis details the development of a model of a seven degree of freedom manipulator for position control. Then, it goes on to discuss the design and construction of a the PHD, a robot built to serve two purposes: first, to perform research on joint torque control schemes, and second, to determine the important dynamic characteristics of the Harmonic Drive. The PHD, is a planar, three degree of freedom arm with torque sensors integral to each joint. Preliminary testing has shown that a simple linear spring model of the Harmonic Drive's flexibility is suitable in many situations.

Modeling, Estimation, and Control of Robot-Soil Interactions

This thesis presents the development of hardware, theory, and experimental methods to enable a robotic manipulator arm to interact with soils and estimate soil properties from interaction forces. Unlike the majority of robotic systems interacting with soil, our objective is parameter estimation, not excavation. To this end, we design our manipulator with a flat plate for easy modeling of interactions. By using a flat plate, we take advantage of the wealth of research on the similar problem of earth pressure on retaining walls. There are a number of existing earth pressure models. These models typically provide estimates of force which are in uncertain relation to the true force. A recent technique, known as numerical limit analysis, provides upper and lower bounds on the true force. Predictions from the numerical limit analysis technique are shown to be in good agreement with other accepted models. Experimental methods for plate insertion, soil-tool interface friction estimation, and control of applied forces on the soil are presented. In addition, a novel graphical technique for inverting the soil models is developed, which is an improvement over standard nonlinear optimization. This graphical technique utilizes the uncertainties associated with each set of force measurements to obtain all possible parameters which could have produced the measured forces. The system is tested on three cohesionless soils, two in a loose state and one in a loose and dense state. The results are compared with friction angles obtained from direct shear tests. The results highlight a number of key points. Common assumptions are made in soil modeling. Most notably, the Mohr-Coulomb failure law and perfectly plastic behavior. In the direct shear tests, a marked dependence of friction angle on the normal stress at low stresses is found. This has ramifications for any study of friction done at low stresses. In addition, gradual failures are often observed for vertical tools and tools inclined away from the direction of motion. After accounting for the change in friction angle at low stresses, the results show good agreement with the direct shear values.

From First Contact to Close Encounters: A Developmentally Deep Perceptual System for a Humanoid Robot

This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those competences out of raw physical experiences. It shows that a robotic platform can build up and maintain a system for object localization, segmentation, and recognition, starting from very little. What the robot starts with is a direct solution to achieving figure/ground separation: it simply 'pokes around' in a region of visual ambiguity and watches what happens. If the arm passes through an area, that area is recognized as free space. If the arm collides with an object, causing it to move, the robot can use that motion to segment the object from the background. Once the robot can acquire reliable segmented views of objects, it learns from them, and from then on recognizes and segments those objects without further contact. Both low-level and high-level visual features can also be learned in this way, and examples are presented for both: orientation detection and affordance recognition, respectively. The motivation for this work is simple. Training on large corpora of annotated real-world data has proven crucial for creating robust solutions to perceptual problems such as speech recognition and face detection. But the powerful tools used during training of such systems are typically stripped away at deployment. Ideally they should remain, particularly for unstable tasks such as object detection, where the set of objects needed in a task tomorrow might be different from the set of objects needed today. The key limiting factor is access to training data, but as this thesis shows, that need not be a problem on a robotic platform that can actively probe its environment, and carry out experiments to resolve ambiguity. This work is an instance of a general approach to learning a new perceptual judgment: find special situations in which the perceptual judgment is easy and study these situations to find correlated features that can be observed more generally.

A system to evaluate the accuracy of a visual mosaicking methodology

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system

Entorn de suport al diagnòstic d'estenosi de caròtida

L’objectiu d’aquest projecte és ampliar la plataforma Starviewer integrant els mòduls necessaris per donar suport al diagnòstic de l’estenosi de caròtida permetent interpretar de forma més fàcil les imatges Angiografia per Ressonància Magnètica (ARM). La plataforma Starviewer és un entorn informàtic que integra funcionalitats bàsiques i avançades pel processament i la visualització d’imatges mèdiques. Està desenvolupat pel Grup d’Informàtica Gràfica de la Universitat de Girona i l’Institut de Diagnòstic per la Imatge (IDI) de l’hospital Dr. Josep Trueta. Una de les limitacions de la plataforma és el no suportar el tractament de lesions del sistema vascular. Per això ens proposem a corregir-ho i ampliar les seves extensions per a poder diagnosticar l’estenosi de caròtida

Análisis de las estrategias emprendidas en materia de política exterior de India en la década de los noventa y la incidencia que han tenido éstas en la construcción de un escenario de seguridad con China y Pakistán

India, China y Pakistán hacen parte de un subsistema estratégico de seguridad. Los constantes e históricos roces fronterizos, la falta de diálogo político entre las unidades y la creciente carrera armamentista, son factores detonantes de la crisis que enfrentan estos Estados, lo que no les ha permitido una verdadera integración a pesar de los considerables esfuerzos diplomáticos, políticos y económicos. India por su parte, ha buscado incrementar su poder en el Sur de Asia como un actor influyente y dinamizador de las relaciones bilaterales con respecto a su zona geográfica de influencia principalmente en la década de los noventa, pero ha enfrentado históricos roces en zonas fronterizas que se encuentran sin resolver, adicional a ello la nación se ha enfrentado a un fenómeno que mitiga su capacidad de acción y ejecución que es el terrorismo y la insurgencia en la región. Todo lo anterior es analizado bajo la Teoría del Realismo Ofensivo de John J. Mearsheimer

Una escola oberta a les fam??lies i a l'entorn. 'Una escuela abierta a las familias y a su entorno'

Resumen tomado del autor

Estimulacion magnetica trascraneal en el desempeno motor en enfermedades del sistema nervioso central: Revision Sistematica

Introducción: El uso de la estimulación cerebral no invasiva en procesos de rehabilitación es de gran interés, por cuanto con mediación tecnológica se generan nuevas posibilidades de recuperación motora, a partir de la activación de la corteza cerebral. El objetivo del estudio es establecer la evidencia del uso terapéutico de la EMT, relacionado con el desempeño motor de pacientes con enfermedades del sistema nervioso central. Metodología: Se realizó una revisión sistemática de la literatura. Se incluyeron 10 estudios en el análisis cualitativo que incluyó la evaluación de calidad con la escala de Jadad y del riesgo de sesgo con la herramienta Cochrane. Fueron excluidos 1613 estudios. Se aplicó el protocolo del estudio para la extracción, revisión y validez de los estudios incluidos. Resultados: La evidencia disponible muestra resultados positivos del uso terapéutico de la EMT en el desempeño motor en aspectos como la aceleración, la fuerza de pinza y de agarre, la estabilidad y la fuerza muscular, así como una mejor velocidad de la marcha y una disminución en la frecuencia y severidad de los espasmos. Discusión: La EMT puede constituir una estrategia terapéutica para mejorar el desempeño motor en pacientes con ECV, Lesión Medular y enfermedad de Parkinson, que requiere más investigación por la heterogeneidad de los diseños y medidas de descenlace utilizados, así como por la alta variabilidad interindividual que hace complejo estandarizar los protocolos de su uso terapéutico.