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This paper presents a study of the movements of a humanoid head-and-neck robot called Eddie. Eddie has a musculo-skeletal structure similar to that found in human necks enabling it to perform head movements that are comparable with human head movements. This study compares the movements of Eddie with those of a more conventional robotic neck structure and with those of a human head. Results show that Eddie’s movements are perceived as significantly more natural and by trend more lifelike than the conventional head’s. No differences were found with respect to the impression of humanlikeness, consciousness, and elegance.

Diabetes is the body’s inability to control blood glucose levels and diabetes is a chronic disease, which is a major threat to public health. Traditionally, the measurement of glucose was achieved using invasive (skin piercing) methods which causes pain and damage to skin. A non-invasive device to test blood glucose level will avoid these drawbacks and minimise the complications of diabetes. The main aim of the project is to investigate the relationship between varying concentrations of glucose in a water solution (to simulate blood) and the signal level within a resonant microwave cavity, which is the key to the development of a non-invasive blood glucose monitoring system. This thesis outlines the mechanical design, electronic and software design, involved in the development of such a system. In this project, the RSSI (received signal strength indicator) measurement is used to measure the signal levels within a microwave cavity. This was taken from a one of a pair of HC-05 Bluetooth modules, one operating as a transmitter, and one operating as a receiver. The results of experiments confirmed a significant correlation between RSSI and glucose concentration – and thus, the success of the system. As well as proving itself to be a viable non-invasive blood glucose measurement system, additional features of this system were low cost, and expandability.

Electrical Impedance Tomography (EIT) is a non-invasive, portable and low-cost medical imaging technique. Different current patterns are injected to the surface of a conductive body and the corresponding voltages are measured also on the boundary. These mea-surements are the data used to infer the interior conductivity distribution of the object. However, it is well known that the reconstruction process is extremely ill-posed due to the low sensitivity of the boundary voltages to changes in the interior conductivity distribution. The reconstructed images also suffer from poor spatial resolution. In tomographic systems, the spatial resolution is related to the number of applied current patterns and to the number and positions of electrodes which are placed at the surface of the object under examination. Two mammographic sensors were recently developed at the University of Mainz in collaboration with Oxford Brookes University. These prototypes consist of a planar sensing head of circular geometry with twelve large outer (active) electrodes arranged on a ring of radius 4.4cm where the external currents are injected and a set of, respectively thirty six and fifty four point-like high-impedance inner (passive) electrodes arranged in a hexagonal pattern where the induced voltages are measured. Two 2D reconstruction methods were proposed for these devices, one based on resistor network models and another one which uses an integral equation formulation. The novelty of the device and hence of these imaging techniques consists exactly in the distinct use of active and passive electrodes. The 2D images of the conductivity distribution of the interior tissue of the breast provide only information about the existence and location of the tumour. In this thesis different circular designs for the sensing head of this EIT device were analysed. The 2D resistor network approach was adapted to the different data collection geometries and the sensitivity of the reconstructions with respect t

Where robots interact directly with humans on a ‘one-to-one’ basis, it is often quite important for them to be emotionally acceptable, hence the growing interesting in humanoid robots. In some applications it is important that these robots do not just resemble a human being in appearance, but also move like a human being too, to make them emotionally acceptable – hence the interest in biomimetic humanoid robotics. The research described in this thesis is concerned with the design, analysis and evaluation of a biomimetic humanoid robotic head. It is biomimetic in terms of physical design - which is based around a simulated cervical spine, and actuation, which is achieved using pneumatic air muscles (PAMS). The primary purpose of the research, however, and the main original contribution, was to create a humanoid robotic head capable of mimicking complex non-purely rotational human head movements. These include a sliding front-to-back, lateral movement, and a sliding, side-to-side lateral movement. A number of different approaches were considered and evaluated, before finalising the design. As there are no generally accepted metrics in the literature regarding the full range of human head movements, the best benchmarks for comparison are the angular ranges and speeds of humans in terms on pitch (nod), roll (tilt) and yaw (rotate) were used for comparison, and these they were considered desired ranges for the robot. These measured up well in comparison in terms of angular speed and some aspects of range of human necks. Additionally, the lateral movements were measured during the nod, tilt and rotate movements, and established the ability of the robot to perform the complex lateral movements seen in humans, thus proving the benefits of the cervical spine approach. Finally, the emotional acceptance of the robot movements was evaluated against another (commercially made) robot and a human. This was a blind test, in that the (human) evaluators had no way of knowing whether

Exercise is beneficial for all individuals; it lowers blood pressure, keeps the heart healthy and increases insulin sensitivity. Recent studies have shown the power that regular exercise has to improve metabolic health, which in turn works to prevent and to reverse the onset of the widespread epidemics of type 2 diabetes (T2DM). However, diabetics taking insulin are required to meticulously plan exercise around meals and intake of insulin as they face an increased risk of hypoglycaemia from physical activity, which can discourage them from taking part. This thesis describes the use of systems of ordinary differential equations to model the effects of exercise on the glucose regulatory system, for both healthy and diabetic individuals. A particular focus is given to the role of glucagon, whose role is often neglected in glucoregulatory models, and its ability to enhance hepatic glucose production and so to prevent hypoglycaemia. Models of glucose-insulin-glucagon dynamics are first developed to describe an Intravenous glucose tolerance test (IVGTT), as the processes involved are simpler than in exercise and already widely modelled for glucose and insulin, thus is a good basis for validating the incorporation of glucagon. Mathematical models are used as tools within biological applications as they allow for an investigation into the dynamics that are involved in complex regulatory processes. The mathematical models in this thesis serve as accurate tools to predict blood glucose levels during exercise for both a non-diabetic and type 1 diabetic individual (T1DM) and emphasise exercise as a key element in the prevention of T2DM. By mathematically modelling the system and the mechanisms that occur to maintain glucose homeostasis an insight is gained into what the principal factors are for the greatest increase in insulin sensitivity and for the reduction in the likelihood of either hypoglycaemic or hyperglycaemic episodes. This may lead to recommendations for exercise pl

The goal of this research was to develop an algorithmic system capable of predicting the directional trend of the S&P 500 financial index. The approach I have taken was inspired by the biology of the human retina. Extensive research has been published attempting to predict different financial markets using historical data, testing on an in-sample and trend basis with many employing sophisticated mathematical techniques. In reviewing and evaluating these in-sample methodologies, it became evident that this approach was unable to achieve sufficiently reliable prediction performance for commercial exploitation. For these reasons, I moved to an out-of-sample strategy and am able to predict tomorrow’s (t+1) directional trend of the S&P 500 at 55.1%. The key elements that underpin my bio-inspired out-of-sample system are: Identification of 51 financial market data (FMD) inputs, including other indices, currency pairs, swap rates, that affect the 500 component companies of the S&P 500. The use of an extensive historical data set, comprising the actual daily closing prices of the chosen 51 FMD inputs and S&P 500. The ability to compute this large data set in a time frame of less than 24 hours. The data set was fed into a linear regression algorithm to determine the predicted value of tomorrow’s (t+1) S&P 500 closing price. This process was initially carried out in MatLab which proved the concept of my approach, but (3) above was not met. In order to successfully meet the requirement of handling such a large data set to complete the prediction target on time, I decided to adopt a novel graphics processing unit (GPU) based computational architecture. Through extensive optimisation of my GPU engine, I was able to achieve a sufficient speed up of 150x to meet (3). In achieving my optimum directional trend of 55.1%, an extensive range of tests exploring a number of trade offs were carried out using an 8 year data set. The results I have obtained will form the basis of a commerci

The research described in this thesis is concerned with analysis and design of "HighTransconductance RF MOSFET Voltage-to-Current (V-I) Converters". Various V-I converter circuits published in the past have been reviewed by the author in order to understand the different techniques employed to improve transconductance (Gt), linear operating range and total harmonic distortion (THO). Throughout this research, the emphasis has been to improve the above mentioned parameters. All the V-I converter circuits reported have been simulated using PSPICE and the results compared with the values obtained by theoretical analysis. Some of the results of this work have been already reported by the author in the technical literature. (See Chapter 9, at the end of this thesis, where reference to two publications by the author is given.) It was essential to obtain accurate CMOS device parameters values, such as Early Voltage, transconductance parameter ratios!! (gm/gds), X (gmbl'gm) and inter-electrode capacitances, to facilitate the design the prQcess. This was achieved using an extensive set of simulations for the transistor operating under different bias conditions. Furthermore, a measurement technique, thought to be novel, for the direct determination of the transconductance ratios!! and X is proposed. In the next part of the work several types of current mirror are compared against the standard current mirrors, using analytical and simulation methods. Furthermore several MOSFET V-I converter designs were critically reviewed to understand the various existing techniques and their limitations. Two novel techniques, Drain-Source Feedback Circuits (DSFCs) and Drain-Gate Feedback Circuits (OGFCs) ere implemented with a new temperature-compensation scheme, designed to operate well in an industrial environment (-40°C - +8S°C). It is found that the best types of V -I converters were the DSFCs which, offer a more accurate value of Gt (3.386mS) and the THO less than -S7dB for a differenti

The aim of this research programme was to design and develop a novel CMOS current conveyor, to improve areas such as bandwidth, slew rate, gain, and Powe- Supply Reject Ratio (PSRR). The current conveyor can be used in low frequency applications such as LED drivers for mobile phones and televisions, and high frequency applications such as mixers for up/down converters used in anything from radios to mobile phones. The initial part of the research looked into improving the Power Supply Rejection Ration (PSRR) of the current follower (mirror) by increasing its output impedance. Several types of current mirror were compared using analytical and simulation methods, using a new generic low frequency transistor model which was used to highlight the differences in impedance between BJT and CMOS current mirrors. It was found that the best type of mirror was the regulated cascode current mirror which offered the largest value of output impedance when built from CMOS transistors. Work then moved onto the voltage follower. By initially using a typical CMOS source follower, it was found that the voltage gain suffered from low values transconductance, drain/source resistance, and a larger than expected value of source resistance, which was extracted from simulation and was found to be around 300- 350Q. The best design was a two stage un-buffered amplifier which offered the best Power Supply Rejection (PSRR) voltage gain and bandwidth. Several different types of current conveyor (CCII+) were simulated and the results were compared. It was found that the best types of current conveyor were the cascode type conveyors which offered a voltage gain error of less than 1%. The regulated cascode type current conveyor offered the highest figure of PSRR that of around 60dB. Finally the new cascode type current conveyors were used to build examples of current feedback operational amplifiers (CFOAs), and the cascode type CCIl+ offered a voltage gain error of less than I%, largest bandwidth a

The research described in this thesis is concerned with the analysis, design and development of a novel temperature insensitive Current Controlled Current Source (CCCS), in bipolar technology, in order to provide accurate amplification of a Proportional To Absolute Temperature (PTAT) reference current. The output current of the CCCS is intended for application as the bias current for a bipolar Low Noise Amplifier (LNA) in order to minimise gain variations with temperature across the industrial temperature range (-40·C to 8S·C). The thesis begins with an explanation of key parameters concerned with LNA design and a target specification is defined. In Chapter 2, a conventional LNA, with constant with temperature bias current, is developed following a methodical approach based on conventional techniques. This meets the previously defined specification at room temperature but exhibits large gain variations with changes in temperature. The analysis and simulation results of this conventional LNA serve as a benchmark for comparison with later designs. In order to minimise any gain variations with temperature of a bipolar amplifier it is well known that the applied bias current should be PT AT. Thus, a thorough analysis and comparative review of traditional and novel PTAT reference current generator circuits is conducted in Chapters 3 and 4. Based on these findings the PTAT generator exhibiting best performance in terms of output current accuracy and insensitivity to power supply variations is presented. However, this circuit cannot accurately produce large rnA level currents necessary for LNA bias applications so that sufficient linearity of the LNA is maintained. Thus, a need for some form of accurate CCCS or Voltage Controlled Current Source (VCCS), which should be temperature insensitive in order to preserve the desired temperature coefficient of the reference current/voltage, is highlighted. Traditional VCCS/CCCS designs are investigated in Chapter 5. Limitations of t

The aim of this research programme was to design and develop a novel bipolar junction transistor Current Feedback Operational Amplifier (CFOA) with a good Common-Mode Rejection Ratio (CMRR), suitable for radio frequency (RF) applications. This research focused on investigation of the established CFOA with the emphases of improving CMRR, bandwidth, Voltage-Offset and Slew-rate performance. The majority of the results of this work have been reported by the author in references [11 to [6]. Initially a thorough analysis of the conventional CFOA was undertaken to provide an in depth understanding of the amplifier's operation, and this work revealed that the main shortcomings of the CFOA are in the design of the input stage. This initial study focussed on establishing reasons for the poor DC offset-voltage performance and CMRR and confirmed that these designs have inherently poor performance in these two elements. The analysis was carried out using both theoretical modelling and computer simulation. Using this analysis of the conventional CFOA as a benchmark, various novel circuit techniques were investigated. Several new input circuits for the CFOA were proposed with respect to improving the three previously mentioned key characteristics, viz., CMRR, offset voltage, and slew-rate. The first technique explored is based on floating the entire input stage of the CFOA which yielded significant improvements in CMRR, Offset-Voltage and bandwidth, and the results of this workwere published in [11, [2], and P). Based on these initial findings a second major development was undertaken. This time a bootstrapping technique was employed to key sections of the input stage, leading to new, simplified input circuit topology. This development leads to low DC offset voltage, wide bandwidth and high CNIRR, as well as improved gain accuracy, and was published by the author in [4,5]. A logical approach to the different input stage architectures examined by the author resulted in identificat