Robotics and Computer Engineering - Master's theses

Selle kollektsiooni püsiv URIhttps://hdl.handle.net/10062/42116

Sirvi

Sirvi Robotics and Computer Engineering - Master's theses Autor "Abels, Artur" järgi

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  • Pisipilt
    listelement.badge.dso-type Kirje ,
    Kapillaarelektroforeesil põhineva narkootiliste ainete tuvastusseadme DrugHunteri püsivara arendus
    (Tartu Ülikool, 2020) Raedov, Juhan; Abels, Artur; Mazina-Šinkar, Jekaterina; Tartu Ülikool. Loodus- ja täppisteaduste valdkond; Tartu Ülikool. Tehnoloogiainstituut
    Kohapeal kasutatavad narkojoobe testid ei tuvasta täpseid narkootilisi ühendeid ning nende kogust süljeproovist. Neist puudustest üle saamiseks arendati portatiivne kapillaarelektroforeesil põhinev mõõteseade DrugHunter. Teiste kapillaarelektroforeesi seadmetega võrreldes on valminud seade kompaktsem ja spetsialiseeritud narkootikumide tuvastamiseks. DrugHunter on kõrgelt automatiseeritud – pärast vajalike kemikaalide ja süljeproovi sisestamist töötab seade iseseisvalt ja kuvab mõõtetulemuse. Magistritöö raames valmis suur osa DrugHunteri püsivarast ja tarkvarast ning kontrolliti seadme elektroonika toimimist. Püsivara arendati seadme mahtuvuslikele vedelikunivoo anduritele, viaalide karussellile ja termostabiliseerimise alamsüsteemile. Loodi seadme alamsüsteemidevaheline suhtlusprotokoll ja seadme pardaarvuti tarkvarale riistvara abstraktsioonikiht. Kontrollalgoritmid loodi näiteks Peltier’ elemendi, harjavaba alalisvoolumootori ning samm-mootoriga peristaltilise pumba jaoks. In English: Currently available on-the-spot means to test drug consumption lack the capability to identify the exact narcotic substances and amounts in a sample of saliva. DrugHunter, a portable device using capillary electrophoresis, was developed to remedy these shortcomings. Contrary to other capillary electrophoresis devices, DrugHunter is more compact and is specialized for narcotic substance measurements. This device is highly automated – after inserting the necessary chemicals and a sample of saliva, it autonomously conducts measurements and displays the analysis’ result. During this master’s thesis, large parts of DrugHunter’s firmware and software were developed, including testing of the device’s electronics. Firmware was developed for capacitive liquid level sensors, vial carousel and thermal stabilization subsystem. Communication protocols and a hardware abstraction layer for the onboard computer software were developed. A non-exclusive list of devices which’s control algorithms are discussed in the thesis include a Peltier element, a brushless DC electric motor and a peristaltic pump driven by a stepper motor.
  • Pisipilt
    listelement.badge.dso-type Kirje ,
    System Architecture and Component Evaluation for ESTCube-2 Electrical Power System
    (Tartu Ülikool, 2016) Ilbis, Erik; Pajusalu, Mihkel; Abels, Artur; Tartu Ülikool. Loodus- ja täppisteaduste valdkond; Tartu Ülikool. Tehnoloogiainstituut
    This thesis is focused on the architecture of the electrical power system (EPS) and implementations of the various subsystems within the EPS for ESTCube-2 nanosatellite. The main goals are to establish a high level system architecture compatible with the rest of the satellite and investigate solutions for the battery management and protection (BMPS) and the voltage conversion and power distribution systems (VCPDS). In this work, an overview is given of the ESTCube-2 mission and the satellite’s architecture. Based on the satellite architecture, requirements are set for the EPS subsystems to be investigated. For the BMPS, two hot-swap controller based solutions are investigated, prototyped and tested. For the VCPDS, two load switch designs are evaluated, six different voltage converters are characterized and solutions for the power distribution system are proposed. Based on the testing results, recommendations are made for the final implementation.