/library/oar/handle/123456789/53947 2025-11-05T15:49:32Z 2025-11-05T15:49:32Z /library/oar/handle/123456789/72780 2021-04-06T06:40:54Z 2019-01-01T00:00:00Z

Title: An investigation of robotic swarm behaviour using decentalized control algorithms Abstract: Although the roles of single and small multi-robot systems have been widely accepted and adopted for the needs of our society, the roles of swarm robotic systems are still under investigation. Swarm robotic systems typically mimic the behaviour of groups of social insects and animals. They can bring about a number of improvements over traditional multi-robot systems due to their adaptive nature. The simple individual behaviour of each agent within a swarm, can in turn result in complex collective swarm behaviour. Having a large number of robots equipped with basic sensing and processing capabilities and following basic rules makes it attractive for applications such as search and rescue or clean-up of toxic materials. The main aim of this thesis was to conduct a review of typical swarm behaviours and investigate the algorithms that are used to replicate such behaviour in robotic systems. After conducting the literature review, two algorithms were chosen and simulated to understand the emerging behaviour. The selected robot hardware was upgraded such that the algorithms could be implemented and demonstrated. This led to a better understanding of the topic of swarm robotics wherein the results were used to evaluate the degree of effectiveness of the chosen algorithms. Description: B.ENG.ELECTRICAL&ELECTRONIC

2019-01-01T00:00:00Z /library/oar/handle/123456789/72777 2021-04-06T06:38:48Z 2019-01-01T00:00:00Z

Title: A low cost setup for underwater localisation Abstract: Underwater vehicles are used in various applications such as deep sea exploration, salvage operations and to locate underwater structures. To enable autonomous operation, a positioning system must be used to accurately determine the location of the vehicle. A GPS will not work in an underwater environment due to the large attenuation of the signals when they penetrate the water, thus a different type of technique should be used. In this dissertation, the design and implementation of an underwater distance measurement is implemented. This includes the design of a transmitter and receiver prototype board along with the design of a waterproof housing to enable underwater measurements. The preliminary testing of the system was then carried out in air, in a water tank and also in a residential pool. Description: B.ENG.ELECTRICAL&ELECTRONIC

2019-01-01T00:00:00Z /library/oar/handle/123456789/72774 2021-04-06T06:37:00Z 2019-01-01T00:00:00Z

Title: Video transmission over 10G ethernet Abstract: The set goals to be obtained in this dissertation were to design and implement a system capable of transmitting a real time digital video stream using a point-to-point 10G Ethernet link. The end deliverable went over the original objective, implementing a 40G aggregated Ethernet link - 80G capable - presented as an IP subsystem ready for integration into a larger system - the high frame rate camera developed by the MEMENTO project. An in-depth analysis of the Xilinx Communications Intellectual Property (IP) portfolio resulted in the design being a mix of readily available IP, custom developed hardware and associated software. This methodology allowed for rapid prototyping and testing of the 10G Ethernet link comprised of the 10G Ethernet MAC and 10GBASE-R PHY. Following hardware tests verifying it’s functionality, a streaming low latency Ethernet framing hardware was developed for presenting the video data to the MAC according to the IEEE802.3-2012. More testing proved the capability of transmitting and reconstructing a video stream at a sustained speed of 10Gbps, paving the way for link aggregation. Stream distribution hardware was then developed for bi-directional transfer of video data over a maximum of eight 10G Ethernet links. The aggregation hardware successfully sustained a throughput of 80Gbps when internally looped back. The final step interfaced four 10G Ethernet links to the video distribution hardware and after synchronization successfully achieved a throughput of 33.7Gbps. The limitations of the subsystem and it’s constituent components were understood through intensive iterative testing. As a result significant improvements can be implemented on the second design iteration. Description: B.ENG.ELECTRICAL&ELECTRONIC

2019-01-01T00:00:00Z /library/oar/handle/123456789/72747 2021-04-06T06:35:14Z 2019-01-01T00:00:00Z

Title: Radiation tolerance of components for picosatellite on board computers Abstract: Space has all kinds of radiation coming from the Van-Allen belts, the Sun or even background cosmic rays. At ground level, these do not pose a problem but as the altitude increases, the Earth's magnetic field gets weaker and the atmosphere gets thinner. This means that electronic devices in space receive a large radiation exposure. The On Board Computer (OBC) of a satellite has the task of supervising all systems and take decisions, which means that high reliability is required. To achieve this, triplex-redundancy is commonly used, whereby, three components performing the same task, utilize a voting system to cross check each other. Pre-radiation testing of these components is the key to reliability by providing insight into what the problems might be together with their symptoms, which can later be used to predict failure. This dissertation discusses some research into the radiation effects on electronic components, as well as designing hardware for evaluating the performance of devices undergoing radiation testing. The devices under test (DUT) included microcontrollers, memories and MOSFETs. The hardware was improved over multiple design iterations to improve reliability and extend functionality to test multiple components at one time. Latch-up protection circuitry was designed to cut off the power and isolate the DUT after exhibiting a latch-up condition for a fixed amount of time. The testing is performed to analyse the affects and symptims of radiation, in this case x-rays. Repeatability is ensured from one test to the next by varying only one parameter at a time -typically the only difference being the DUT itself. The DUT are subjected to x-ray while continually monitoring their power and storing the measurements every 10ms. Any functional errors captured during testing are stored on a text file alongside any available data like current, date, time and elapsed time since the beginning of the test. Details about the occurrence of any Latch-up event are saved on a separate text file. It is found that MRAM memory can handle much greater radiation dosage than the other memory technologies tested. Unpowered devices will survive longer in radiation. Heating electronic components will extend their life in a radiation environment, by reversing some of the deleterious effects of radiation. Description: B.ENG.ELECTRICAL&ELECTRONIC

2019-01-01T00:00:00Z