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Displaying Results 1 - 25 of 790 on page 1 of 32
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‘Cheap & Cheerful’ – Demonstrating Control to 1st Year Engineering Students
(2015)
McLoone, Seamus; Maloco, John
‘Cheap & Cheerful’ – Demonstrating Control to 1st Year Engineering Students
(2015)
McLoone, Seamus; Maloco, John
Abstract:
• Illustrating the concept of system control to Electronic Engineering students is typically achieved through simulation and theory. However, we wanted a hardware demonstration ... • Existing commercial hardware products are simply too expensive and too bulky to adequately equip a typical undergraduate Engineering hardware-based laboratory … • So, we built our own !!
http://mural.maynoothuniversity.ie/6198/
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“Lessons learnt in developing a SDR Platform with USB interface”
(2008)
Sanchez Mora , Magdalena; Corley, Gerry; Farrell, Ronan
“Lessons learnt in developing a SDR Platform with USB interface”
(2008)
Sanchez Mora , Magdalena; Corley, Gerry; Farrell, Ronan
Abstract:
Building a new Software Defined Radio (SDR) system requires multidisciplinary research covering the engineering disciplines of communication systems, radio frequency, digital and analog hardware, software and digital signal processing. This paper focuses on the efforts at the low-level software development, such as device drivers, embedded source code at firmware-space and Application- Programming Interfaces (APIs) at user-space. In the early stages of constructing a SDR platform, design decisions are made regarding the interface between the SDR hardware and the PC. These decisions are of great importance and will determine the complexity of the low-level software development, its interoperability with third-party tools for waveform development and its efficiency in terms of bandwidth and configurability. This position paper reviews the experiences in using a USB interface between the PC and the SDR platform and the corresponding impact in the software development stage.
http://mural.maynoothuniversity.ie/1407/
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“Sweat-on-a-Chip”: Analysing Sweat in Real Time with Disposable Micro-devices
(2010)
Benito-Lopez, Fernando; Coyle, Shirley; Byrne, Robert; Curto, Vincenzo F.; Diamond, Dermot
“Sweat-on-a-Chip”: Analysing Sweat in Real Time with Disposable Micro-devices
(2010)
Benito-Lopez, Fernando; Coyle, Shirley; Byrne, Robert; Curto, Vincenzo F.; Diamond, Dermot
Abstract:
Here we present the fabrication and the performance of a novel, wearable, robust, flexible and disposable micro-fluidic device which incorporates miniature optical components as a detection system, for wireless monitoring in real time mode of sweat pH during an exercise session. This micro-fluidic platform is completely non-invasive, with the great advantage of providing a continuous flow of fresh sweat for continuous real time analysis, ensuring immediate feedback regarding sweat composition to an athlete and/or coach. To the best of our knowledge, this is the first wearable and wireless micro-fluidic device suitable for real time analysis and reporting of the wearer’s physiological state.
http://doras.dcu.ie/15887/
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10 GHz, Class-B, 0.5 V, 130 nm CMOS Cross-Coupled Oscillator Design Using Open-Loop Technique
(2012)
Szczepkowski, Grzegorz; Farrell, Ronan
10 GHz, Class-B, 0.5 V, 130 nm CMOS Cross-Coupled Oscillator Design Using Open-Loop Technique
(2012)
Szczepkowski, Grzegorz; Farrell, Ronan
Abstract:
The paper presents a method for design of LC cross-coupled oscillators based on open-loop technique and its practical application leading to a high frequency CMOS oscillator prototype. Thanks to the proposed approach, main circuit parameters as loaded quality factor (responsible for phase noise performance of LC oscillator) and steady-state oscillation amplitude can be extracted, without the necessity of time consuming transient simulations. The presented method is not technology specific and allows fast calculations under changing bias conditions. The proposed 130 nm CMOS prototype operates 10 GHz from 0.5 V power supply achieving SSB phase noise of -113 dBc/Hz at 1 MHz offset from the carrier. Low power consumption of 1.09 mW RMS, has been obtained by biasing the oscillator devices to operate in class-B i.e. VGS =Vth.
http://mural.maynoothuniversity.ie/3959/
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12 MHz to 5800 MHz Fully Integrated, Dual Path Tuned, Low Jitter, LC-PLL Frequency Synthesizer
(2012)
Keady, Aidan; Szczepkowski, Grzegorz; Farrell, Ronan
12 MHz to 5800 MHz Fully Integrated, Dual Path Tuned, Low Jitter, LC-PLL Frequency Synthesizer
(2012)
Keady, Aidan; Szczepkowski, Grzegorz; Farrell, Ronan
Abstract:
This paper presents a realised prototype of fully integrated CMOS LC-PLL frequency syn- thesizer. The circuit delivers a wide range of clock signals between 12 MHz and 5800 MHz, with average long term jitter of only 4 ps. The primary application of the presented circuit includes high speed series data transmission links. Low power consumption of the complete synthesizer (including bias circuitry), in the range of 50mW from dual 1.2 V/3.3 V supply, is in line with energy efficient solutions for modern elec- tronic systems. The circuit is developed using a standard RF UMC 130 nm CMOS process reducing design time and necessity for customisation of its components. Full integration of RC loop filter is obtained us- ing dual path tuning scheme, involving two separate charge pumps, two filter paths and specially modified LC-VCO architecture. Total synthesizer area including PLL circuitry with set of programmable frequency divider, output RF drivers, two separate VCO circuits and all auxili...
http://mural.maynoothuniversity.ie/3956/
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24-Hour Electrical Load Data - A Time Series or a Set of Independent Points?
(2001)
Fay, Damien; Ringwood, John; Condon, Marissa; Kelly, Michael
24-Hour Electrical Load Data - A Time Series or a Set of Independent Points?
(2001)
Fay, Damien; Ringwood, John; Condon, Marissa; Kelly, Michael
Abstract:
The paper investigates whether a time series or a set of independent points is a more appropriate description of 24-hour Irish electrical load data. A set of independent points means that the load at each hour of the day is independent from the load at any other hour. The data is first split into 24 series, one for each hour of the day i.e. a 1am 2am 3am series etc. These are called parallel series. The linear cross-correlation's of the parallel series are used to indicate independence. While the loads at 9am and 6pm to 8pm appear independent the remaining loads are highly inter-correlated. This suggests that 24-hour electrical load data has a dual nature. Two techniques are used to test this hypothesis. The first technique models each parallel series using neural networks. This technique is found to be computationally expensive. The second technique uses a hybrid technique called the Multi Time Scale (MTS) technique. This models 24-hour electrical load data as a time series th...
http://mural.maynoothuniversity.ie/1967/
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350 mV, 0.5 mW, 5 GHz, 130 nm CMOS Class-C VCO Design Using Open Loop Analysis
(2012)
Szczepkowski, Grzegorz; Farrell, Ronan
350 mV, 0.5 mW, 5 GHz, 130 nm CMOS Class-C VCO Design Using Open Loop Analysis
(2012)
Szczepkowski, Grzegorz; Farrell, Ronan
Abstract:
This paper presents a design method of LC cross-coupled oscillators using a large signal S-parameter open loop approach instead of typical negative resistance methodology presented in the liter- ature. The open loop technique allows extraction of loaded quality factor of the complete oscillator circuit and observe how oscillation conditions change with increasing oscillator signal amplitude. As a result, highly non-linear modes of oscillator operation (class-C in this case), can be analysed without necessity of conducting time consuming transient simulations. The presented method is not technology specific and allows fast calculations under changing bias conditions. The simulated class-C 130 nm CMOS oscillator operates at 5 GHz from a reduced power supply of 350 mV, achieving average SSB phase noise better than -115 dBc/Hz at 1 MHz offset from the carrier, using a relatively low loaded quality factor (QL ≈ 10) LC resonator. The presented VCO has tuning range of 280 MHz to compensate...
http://mural.maynoothuniversity.ie/3954/
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380 MHz Low-Power Sharp-Rejection Active-RC LPF for IEEE 802.15.4a UWB WPAN
(2009)
Tuan-Phan, Anh; Farrell, Ronan; Gug-Lee, Sang; Lee, Jeongseon
380 MHz Low-Power Sharp-Rejection Active-RC LPF for IEEE 802.15.4a UWB WPAN
(2009)
Tuan-Phan, Anh; Farrell, Ronan; Gug-Lee, Sang; Lee, Jeongseon
Abstract:
This paper describes a wide-band sharp-rejection active-RC low pass filter (LPF) for pulse-based UWB IEEE 802.15.4a WPA, applications. Sharp rejection is attributed to the combination of different AC characteristic of three biquads in series. A simple operational amplifier (Op-amp) is adopted to ensure high frequency performance for the designed filter. The LPF is designed in 0.13μm TSMC CMOS process. The cutoff frequency is 380MHz with about 50% of the tuning range from 300-500MHz. The rejection is 40 dB at 600 MHz. The passband ripple is less than 1.5dB and the filter consumes 4.6mA from 1.2V supply. Core chip size is 580 x 700μm2.
http://mural.maynoothuniversity.ie/1458/
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9.1 dBm IIP3 36 dB Gain Controllable LNA for WCDMA in 0.13-m CMOS
(2009)
Tuan-Phan, Anh; Farrell, Ronan; Gug-Lee, Sang
9.1 dBm IIP3 36 dB Gain Controllable LNA for WCDMA in 0.13-m CMOS
(2009)
Tuan-Phan, Anh; Farrell, Ronan; Gug-Lee, Sang
Abstract:
This article presents a low-power, high-linearity cascodetype low noise amplifier (LNA) with 36 dB of variable gain for the WIDE Code Division Multiple Access systems. By enhancing the substrate resistance of a common gate transistor along with adopting multiple-gate technique, the linearity is significantly improved. Shunt-current steering is adopted for smooth gain control. Step gain mode is used to further increase the gain control range. The main common source transistor is disabled in attenuation mode, saving unwanted power consumption. Measurements show maximum gain of 12.3 dB with S11 of 19.5 dB, and S22 of 14 dB. The total gain control range is 36 dB. NF is measured as 2 dB and two-tone test shows 9.1 dBm of IIP3. Implemented in 0.13-m CMOS technology, the LNA consumes only 1.6 mA at maximum gain mode and only 0.2 mA in attenuation mode from 1.2 V supply. Its die size is 0.3 mm2. © 2009 Wiley Periodicals, Inc. Microwave Opt Technol Lett 51: 1385–1388, 2009; Published online ...
http://mural.maynoothuniversity.ie/1460/
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A 12-Channel, real-time near-infrared spectroscopy instrument for brain-computer interface applications
(2008)
Soraghan , C.; Matthews, F.; Markham, Charles; Pearlmutter, Barak A.; O'Neill, R.;...
A 12-Channel, real-time near-infrared spectroscopy instrument for brain-computer interface applications
(2008)
Soraghan , C.; Matthews, F.; Markham, Charles; Pearlmutter, Barak A.; O'Neill, R.; Ward, Tomas E.
Abstract:
A continuous wave near-infrared spectroscopy (NIRS) instrument for brain-computer interface (BCI) applications is presented. In the literature, experiments have been carried out on subjects with such motor degenerative diseases as amyotrophic lateral sclerosis, which have demonstrated the suitability of NIRS to access intentional functional activity, which could be used in a BCI as a communication aid. Specifically, a real-time, multiple channel NIRS tool is needed to realise access to even a few different mental states, for reasonable baud rates. The 12-channel instrument described here has a spatial resolution of 30mm, employing a flexible software demodulation scheme. Temporal resolution of ~100ms is maintained since typical topographic imaging is not needed, since we are only interested in exploiting the vascular response for BCI control. A simple experiment demonstrates the ability of the system to report on haemodynamics during single trial mental arithmetic tasks. Multiple tr...
http://mural.maynoothuniversity.ie/1441/
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A 1V folded common-gate CMOS LNA for full UWB band
(2009)
Tuan-Phan, Anh; Farrell, Ronan
A 1V folded common-gate CMOS LNA for full UWB band
(2009)
Tuan-Phan, Anh; Farrell, Ronan
Abstract:
This paper presents a low voltage 2.8-11.2GHz CMOS broadband low noise amplifier (LNA) using folded common-gate (CG) topology. The broadband input matching is achieved by adopting CG topology. Bandwidth extension is proposed by inserting an inductor to create a broadband band-pass characteristic with a choke inductor. A folded topology is employed to reduce the supply voltage and thus power consumption. A source follower jointly acts as the buffer stage for broadband output impedance matching and feed-forward path for gain enhancement. Maximum power gain is 11.2dB and the NF ranges from 2.58 to 4dB over the full band. The LNA achieves an average IIP3 of -6.5dBm while consumes only 4.6mW.The proposed broadband LNA is designed in 0.18-µm CMOS process from 1V supply.
http://mural.maynoothuniversity.ie/3685/
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A 5-component mathematical model for salt-induced hypertension in Dahl-S and Dahl-R rats
(2011)
McLoone, Violeta I.; Ringwood, John; Van Vliet, Bruce
A 5-component mathematical model for salt-induced hypertension in Dahl-S and Dahl-R rats
(2011)
McLoone, Violeta I.; Ringwood, John; Van Vliet, Bruce
Abstract:
Salt-induced hypertension has been demonstrated in a variety of species including rats, monkeys, chimpanzees and humans. Until recently, the multiple phases of this blood pressure increase due to high salt intake had not been closely studied. This work builds upon a recent study, which developed a grey-boxmulti-component model of salt-induced hypertension in the Dahl-S rat. The previous 3-component model has been extended here to include additional model dynamics to improve the model fit and add new important elements to the model response. The model was optimised using numerical techniques with experimental data from 4 different protocols with Dahl-S, Dahl-R and FF2 hybrid rats. Results show a marked improvement over the previous model and confirm the merit of the 5-component model structure. A comparison between the model dynamics for different rat strains has also been included
http://mural.maynoothuniversity.ie/3862/
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A 5-component model for salt-induced hypertension
(2009)
McLoone, Violeta I.; Ringwood, John; Van Vliet, Bruce
A 5-component model for salt-induced hypertension
(2009)
McLoone, Violeta I.; Ringwood, John; Van Vliet, Bruce
Abstract:
Salt-induced hypertension has been widely studied in rats, monkeys, chimpanzees and humans. Until recently, the multiple phases of this blood pressure increase to high salt intake had not been closely studied. This work builds upon a recent study, which developed a grey-box multicomponent model of salt-induced hypertension in the Dahl-S rat. The previous 3-component model has been extended here to include additional model dynamics to improve the model fit and add new important elements to the model response. The model was optimised using numerical techniques with experimental data from 4 different protocols with Dahl-S and hybrid rats. Results show a marked improvement over the previous model and confirm the merit of the 5-component model structure.
http://mural.maynoothuniversity.ie/2128/
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A 90nm, Low Power VCO with Reduced KVCO and Sub−band Spacing Variation
(2011)
Collins, Diarmuid; Keady, Aidan; Szczepkowski, Grzegorz; Farrell, Ronan
A 90nm, Low Power VCO with Reduced KVCO and Sub−band Spacing Variation
(2011)
Collins, Diarmuid; Keady, Aidan; Szczepkowski, Grzegorz; Farrell, Ronan
Abstract:
In this paper we present the design of a low power VCO with reduced variations in VCO gain (KVCO) and subband spacing resolution (fres). The proposed VCO is designed using a 90nm CMOS process to cover a tuning range of 23%. Variations in KVCO and fres are reduced by factors of 6 and 17 respectively over a conventional sub-banded VCO, designed using the same process, to meet the same tuning range. This makes the proposed VCO more suited to stable PLL operation with its reduced KVCO requirements resulting in an improvement in phase noise performance over the conventional VCO by 2 dB. Due to the reduced loading on the VCO tank achieved by the presented design, power consumption is kept extremely low at 850 μW from a 1 V supply
http://mural.maynoothuniversity.ie/3676/
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A Built-In-Test Circuit for Functional Verification & PVT Variations Monitoring of CMOS RF Circuits
(2006)
Zhang, Guoyan; Sánchez Mora, Magdalena; Farrell, Ronan
A Built-In-Test Circuit for Functional Verification & PVT Variations Monitoring of CMOS RF Circuits
(2006)
Zhang, Guoyan; Sánchez Mora, Magdalena; Farrell, Ronan
Abstract:
Built-In-Test (BIT) for Radio Frequency (RF) integrated circuits can reduce the testing cost, especially with the increase of integration level and operating frequency. A fully integrated CMOS BIT detection circuit is presented in this work. This BIT detection circuit is rectifier-based and low threshold voltage diode-connected MOS transistor with substrate positively-biased is used to improve the detecting sensitivity. As an example, a 2.4GHz LNA is used, the high frequency small signal gain is extracted and the gain fluctuation due to Process, supply Voltage and Temperature (PVT) variations is also investigated. The simulation results show that this BIT detection circuit can realize on-chip functional verification of RF circuits and also monitor the influence of PVT variations on the performance of the circuit without affecting the high frequency performance of the measured RF circuits.
http://mural.maynoothuniversity.ie/603/
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A causal model for linear RF systems developed from frequency-domain measured data
(2005)
Condon, Marissa; Ivanov, Rossen; Brennan, Conor
A causal model for linear RF systems developed from frequency-domain measured data
(2005)
Condon, Marissa; Ivanov, Rossen; Brennan, Conor
Abstract:
With the ever-growing complexity of interconnect networks, models developed from measured data or data from 3-D electromagnetic simulators are increasingly becoming essential. It is to this end that the current contribution is directed. In particular, it focuses on the development of a model via a Fourier series expansion (FSE) approach. Its primary advantage is that the response in the time domain can be explicitly obtained in a simple form for an arbitrary input using only a set of FSE coefficients. Also, it guarantees causality without requiring a numerical implementation of a Hilbert transform. The end result is a causal and stable time-domain representation of a system that may subsequently be used in a time-domain simulator such as SPICE.
http://doras.dcu.ie/15484/
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A class of globally stabilising controllers for the control of wave energy devices for potable water production
(2012)
Lekka, Angeliki; Turner, Mathew C.; Ringwood, John
A class of globally stabilising controllers for the control of wave energy devices for potable water production
(2012)
Lekka, Angeliki; Turner, Mathew C.; Ringwood, John
Abstract:
This paper provides a stability analysis for a system that captures wave energy in order to produce potable water. The system, introduced in [1], is a Wave Energy Converter (WEC) of the point-absorber type coupled to a hydraulic Power Take-Off (PTO) that converts wave energy into pressure. Previous work has used a partial state-feedback controller with integral action and feed-forward to provide good nominal control behaviour. Although open-loop stability was proven in [1], no guarantees of closed-loop stability were given; in this paper we provide such guarantees for a class of controllers, of which the controller proposed in [1] is a special case.
http://mural.maynoothuniversity.ie/4412/
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A CMOS Camera-Based Pulse Oximetry Imaging System
(2005)
Humphries, K.; Ward, Tomas E.; Markham, Charles
A CMOS Camera-Based Pulse Oximetry Imaging System
(2005)
Humphries, K.; Ward, Tomas E.; Markham, Charles
Abstract:
In this paper a CMOS camera-based system for non-contact pulse oximetry imaging in transmission mode is described. Attention is drawn to the current uses of conventional pulse oximetry and the potential application of pulse oximetry imaging to developing objective wound assessment systems
http://mural.maynoothuniversity.ie/1301/
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A CMOS camera-based system for clinical photoplethysmographic applications
(2005)
Humphreys, Kenneth; Markham, Charles; Ward, Tomas E.
A CMOS camera-based system for clinical photoplethysmographic applications
(2005)
Humphreys, Kenneth; Markham, Charles; Ward, Tomas E.
Abstract:
In this work an-image based photoplethysmography (PPG) system is developed and tested against a conventional fingerbased system as commonly used in clinical practise. A PPG is essentially an optical instrument consisting of a near infrared (NIR) source and detector that is capable of tracking blood flow changes in body tissue. When used with a number of wavelengths in the NIR band blood oxygenation changes as well as other blood chemical signatures can be ascertained yielding a very useful device in the clinical realm. Conventionally such a device requires direct contact with the tissue under investigation which eliminates the possibility of its use for applications like wound management where the tissue oxygenation measurement could be extremely useful. To circumnavigate this shortcoming we have developed a CMOS camera-based system, which can successfully extract the PPG signal without contact with the tissue under investigation. A comparison of our results with conventional techni...
http://mural.maynoothuniversity.ie/1368/
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A CMOS camera-based system for non-contact pulse oximetry imaging
(2006)
Humphreys, K.; Gradziel, Marcin; Markham, Charles; Ward, Tomas E.
A CMOS camera-based system for non-contact pulse oximetry imaging
(2006)
Humphreys, K.; Gradziel, Marcin; Markham, Charles; Ward, Tomas E.
Abstract:
In this paper a non-contact pulse oximetry imaging system is described. The system utilises a CMOS digital camera and near infrared (NIR) light emitting diodes operating in a reflection mode to simultaneously capture photoplethysmograph (PPG) signals at two wavelengths. The Modified Beer-Lambert Law is used to extrapolate tissue oxygenation from the PPG signals. Attention is drawn to the system’s potential in applications such as the assessment and management of wounds.
http://mural.maynoothuniversity.ie/1271/
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A code excited linear predictive coder: using a moments algorithm
(1993)
Meehan, David
A code excited linear predictive coder: using a moments algorithm
(1993)
Meehan, David
Abstract:
A speech coding algorithm was developed which was based on a new method of selecting the excitation signal from a codebook of residual error sequences. The residual error sequences in the codebook were generated from 512 frames of real speech signals. L.P.C. inverse filtering was used to obtain the residual signal. Each residual error signal was assigned an index. The index was generated using a moments algorithm. These indices were stored on a Graded Binary Tree. A Binary Search was then used to select the correct index. The use of a Graded Binary Tree in the coding algorithm reduced the search time. The algorithm faithfully reproduced the original speech when the test residual error signal was chosen from the training data. When the test residual error signal was outside the training data, synthetic speech of a recognisable quality was produced. Finally, the fundamentals of speech coders are discussed in detail and various developments are suggested.
http://doras.dcu.ie/19070/
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A Comparative Study in the Use of Brachial Photoplethysmography and the QRS Complex as Timing References in Determination of Pulse Transit Time
(2001)
Maguire, M.; Ward, Tomas E.; Markham, Charles; O'Shea, D.; Kevin, L.
A Comparative Study in the Use of Brachial Photoplethysmography and the QRS Complex as Timing References in Determination of Pulse Transit Time
(2001)
Maguire, M.; Ward, Tomas E.; Markham, Charles; O'Shea, D.; Kevin, L.
Abstract:
For more than a century, there has been interest in pulse wave velocity and pulse transit time as a possible metric for blood pressure and other cardiovascular parameters. The most common approach in noninvash:e measurement of these metries has been to measure the time delay between the QRS complex on the electrocardiograph and the detection of the finger photoplethysmograph. This paper introduces a new technique for measuring the brachial photoplethysmograph and argues that this forms a better timing reference than the QRS complex.
http://mural.maynoothuniversity.ie/1363/
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A comparison of classical scheduling approaches in power-constrained block-test scheduling
(2000)
Muresan, Valentin; Wang, Xiaojun; Muresan, Valentina; Vladutiu, M.
A comparison of classical scheduling approaches in power-constrained block-test scheduling
(2000)
Muresan, Valentin; Wang, Xiaojun; Muresan, Valentina; Vladutiu, M.
Abstract:
Classical scheduling approaches are applied here to overcome the problem of unequal-length block-test scheduling under power dissipation constraints. List scheduling-like approaches are proposed first as greedy algorithms to tackle the fore mentioned problem. Then, distribution-graph based approaches are described in order to achieve balanced test concurrency and test power dissipation. An extended tree growing technique is also used in combination with these classical approaches in order to improve the test concurrency having assigned power dissipation limits. A comparison between the results of the test scheduling experiments highlights the advantages and disadvantages of applying different classical scheduling algorithms to the power-constrained test scheduling problem
http://doras.dcu.ie/15537/
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A comparison of linear and neural parallel time series models for short-term load forecasting in the Republic of Ireland
(2000)
Fay, Damien; Ringwood, John; Condon, Marissa; Kelly, Michael
A comparison of linear and neural parallel time series models for short-term load forecasting in the Republic of Ireland
(2000)
Fay, Damien; Ringwood, John; Condon, Marissa; Kelly, Michael
Abstract:
This paper presents a comparison between parallel linear and parallel neural network models. Parallel models consist of 24 separate models, one for each hour of the day. Each parallel model decomposes the load into a linear Auto- Regressive (AR) part and a residual. Exogenous linear and neural network model performance is compared in predicting this residual. Three days or 72 hours of current and delayed weather variables are available as exogenous inputs for the residual models. Input selection comprises of testing the bootstrapped performance of a linear model. The inputs are ordered using 4 methods derived from a mix of the T-ratio of the linear coefficients and Principal Component Analysis (PCA). The neural network models are found to give superior results due to the non-linear AR nature of the residual
http://mural.maynoothuniversity.ie/1913/
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A comprehensive study of robot control algorithms
(1991)
Gibbs, Patrick J
A comprehensive study of robot control algorithms
(1991)
Gibbs, Patrick J
Abstract:
The PUMA 560 Industrial Manipulator is presently controlled using a PID control strategy Robot manipulators are highly coupled, nonlinear mechanical systems designed to perform specific tasks. It is the function of any control algorithm to compute the input voltages or torques needed to follow a desired trajectory. The PID controller is detuned, so as to cater for variations in system behaviour. Thus, the performance of such a control algorithm is poor over the entire operating range of the robot and the need for more complex control strategies is clear. The research presented m this thesis derives a third order comprehensive dynamic model for the three primary robot joints, using the Euler-Lagrange formulation for the equations of motion. A simulation package is designed to model this dynamic system. Next, a wide range of different techniques are investigated in a simulation environment, to observe their performance on the computer model. These control algorithms range from Fixed ...
http://doras.dcu.ie/18749/
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