http://hdl.handle.net/1974/290 2013-05-20T13:44:40Z http://hdl.handle.net/1974/8026 Title: Real-time Cycle-slip Detection and Correction for Land Vehicle Navigation using Inertial Aiding Authors: Karaim, MALEK Abstract: Processing GPS carrier-phase measurements can provide high positioning accuracy for several navigation applications. However, if not detected, cycle slips in the measured phase can strongly deteriorate the positioning accuracy. Cycle slips frequently occur in areas surrounded by trees, buildings, and other obstacles. The dynamics experienced by the GPS receiver in kinematic mode of navigation also increases the possibility of cycle slips. Detection and correction of these cycle-slips is essential for reliable navigation. One way of detecting and correcting for cycle slips is to use another system to be integrated with GPS. Inertial Navigation Systems (INS), using three-axis accelerometers and three-axis gyroscopes, is integrated with GPS to provide more reliable navigation solution. Moreover, INS was utilized in the past for GPS cycle slip detection and correction. For low cost applications, Micro-Electro-Mechanical-Systems (MEMS) accelerometers and gyroscopes are used inside INS. For land navigation, reduced inertial sensor system (RISS) utilizing two accelerometers, one gyroscope, and the vehicle odometer was suggested. MEMS-based RISS has the advantage of using less number of MEMS-based gyroscopes and accelerometers thus reducing the overall cost and avoiding the complex error characteristics associated with MEMS sensors. In this thesis, we investigate the use of MEMS – based RISS to aid GPS and detect and correct for cycle slips. The Kalman filter was employed in centralized fashion to integrate the measurements from both GPS and RISS. This thesis research also offers a new threshold selection criterion resulting in a more robust cycle slip detection and correction. The proposed method was tested in different scenarios of road tests in land vehicle. Results show accuracy iii improvement over the conventional double differenced pseudoranges-based integrated system. Moreover, the adaptive selection criterion of the detection threshold proposed in this thesis improves the detection rate, especially in the case of small-sized cycle slips. Description: Thesis (Master, Electrical & Computer Engineering) -- Queen's University, 2013-05-06 18:11:57.076 2013-05-07T04:00:00Z http://hdl.handle.net/1974/8025 Title: FABRICATION AND STUDY OF AC ELECTRO-OSMOTIC MICROPUMPS Authors: Guo, Xin Abstract: In this thesis, microelectrode arrays of micropumps have been designed, fabricated and characterized for transporting microfluid by AC electro-osmosis (ACEO). In particular, the 3D stepped electrode design which shows superior performance to others in literature is adopted for making micropumps, and the performance of such devices has been studied and explored. A novel fabrication process has also been developed in the work, realizing 3D stepped electrodes on a flexible substrate, which is suitable for biomedical use, for example glaucoma implant. There are three major contributions to ACEO pumping in the work. First, a novel design of 3D “T-shaped” discrete electrode arrays was made using PolyMUMPs® process. The breakthrough of this work was discretizing the continuous 3D stepped electrodes which were commonly seen in the past research. The “T-shaped” electrodes did not only create ACEO flows on the top surfaces of electrodes but also along the side walls between separated electrodes. Secondly, four 3D stepped electrode arrays were designed, fabricated and tested. It was found from the experiment that PolyMUMPs® ACEO electrodes usually required a higher driving voltage than gold electrodes for operation. It was also noticed that a simulation based on the modified model taking into account the surface oxide of electrodes showed a better agreement with the experimental results. It thus demonstrated the possibility that the surface oxide of electrodes had impact on fluidic pumping. This methodology could also be applied to metal electrodes with a native oxide layer such as titanium and aluminum. Thirdly, a prototype of the ACEO pump with 3D stepped electrode arrays was first time realized on a flexible substrate using Kapton polyimide sheets and packaged with PDMS encapsulants. Comprehensive experimental testing was also conducted to evaluate the mechanical properties as well as the pumping performance. The experimental findings indicated that this fabrication process was a promising method to create flexible ACEO pumps that can be used as medical implants and wearable devices. Description: Thesis (Ph.D, Mechanical and Materials Engineering) -- Queen's University, 2013-05-06 10:57:48.077 2013-05-07T04:00:00Z http://hdl.handle.net/1974/8024 Title: Disentangling the Effects of Material and Social Deprivation on Early Childhood Development in the KFL&A Public Health Planning Area Authors: Christmas, Candice Abstract: Life course literature states that early childhood development (ECD) can influence most aspects of health throughout the life-cycle. Canada ranked last among 25 wealthy nations in meeting ECD objectives. Fewer than 5% of children born have clinically detectable shortcomings in developmental health, increasing to 26% by school age with emerging socioeconomic associations. Understanding how social determinants of health (SDH) influence ECD at the household and neighbourhood scales would help identify conditions for optimal developmental outcomes. The effects of SDH on ECD in the Kingston, Ontario area were studied. SDH were classified via marginalization (ONMarg) and deprivation (Pampalon) indices. ECD was measured via 2006 Early Development Instrument (EDI) scores for children most at risk upon school entry (Grade One). The basic spatial unit of analysis was 2006 Census of Canada Dissemination Areas, subdivided into quintiles of deprivation (Q1 being the least deprived and Q5 the most). EDI results from each of the quintiles within the two indices were compared and then combined. The socioeconomic health gradient assumes that EDI scores will directly correlate to material and social deprivation. Social deprivation had a slightly greater impact than material deprivation on children’s developmental vulnerability, with Q5 being the most vulnerable in all competencies. Surprisingly, emotional health and social competence were significant areas of vulnerability for children in Q1 and Q2. “Village effects” – when social determinants at the neighbourhood level have protective effects on ECD despite material deprivation at the household level – were present within the Q3 and Q4 groups for the domains of social competency and emotional health. While the highest proportions of early childhood developmental vulnerability are found within the most deprived households, the largest numbers of vulnerable children are spread throughout the middle-class in a variety of neighbourhoods. Canadian policy should focus on mediating avoidable risks within this critical time to avoid future deleterious health effects and costs. Mapping the effects of SDH at the neighbourhood level generates knowledge that informs intersectoral action by policy makers to provide the supports needed to foster healthy children. Description: Thesis (Master, Geography) -- Queen's University, 2013-05-04 10:36:25.165 2013-05-07T04:00:00Z http://hdl.handle.net/1974/8022 Title: Characterization of Uranium and Rare Earth Element Mobility and Attenuation Downstream of Decommissioned Tailings Impoundments at the Bicroft Mine near Bancroft, Ontario Authors: Laidlow, Allison Abstract: Attenuation of uranium (U) and rare earth elements (REEs) has been observed in stream and wetland sediments, but the geochemical and mineralogical processes involved in sequestering these elements in natural systems are not well understood. The decommissioned Bicroft Uranium Mine near Bancroft, ON uses a modified stream and wetland system to reduce the concentrations of U and other metals in tailings pond effluent to levels below the Provincial Water Quality Objectives. The Bicroft Mine was operated from 1957 to 1963, and processed low-grade (~0.17 wt% U3O8), disseminated U hosted by pegmatite dykes in amphibolite gneiss, forming 2,284,421 tonnes of tailings, deposited into two tailings impoundments. The Bicroft site has since operated as a passively attenuating stream and wetland remediation system for 55 years, demonstrating the potential longevity and viability for long-term sequestration of U and REEs through natural attenuation. To identify U and REE hosts and their stability in the natural environment, colloids, tailings, stream and wetland sediments were analyzed using various methods, including tangential flow filtration (TFF), ICP-ES/MS, scanning electron microscopy, and synchrotron techniques (bulk and µXANES, µXRF, and µXRD). The results show that Fe- and Mn-oxyhydroxides, goethite, and birnessite are the main mineral hosts for U and REEs in both the colloids and sediments. In addition, detrital grains of U- and REE-bearing minerals were found >200 m downstream in colloids and wetland sediments, showing the potential for long range transport of colloids and particulates in the stream system. Seasonal influences on the stability of trace metals in sediments were observed, and may demonstrate the limitations of passively attenuating remediation systems as a viable method for attenuation. Changes in the redox state of the stream system were observed to influence the attenuation of U and REEs, however, changes in the redox state with depth in the wetland sediments were not observed, and showed no direct influence on the attenuation of U and REEs. The results of this study will help to develop better monitoring strategies for U tailings sites and should reduce the impacts of future U mining operations. Description: Thesis (Master, Geological Sciences & Geological Engineering) -- Queen's University, 2013-05-06 07:44:03.327 2013-05-06T04:00:00Z