Open Access

Traditional motion capture systems provide accurate biomechanical data but are expensive and still to a degree limited to laboratory environments. Recent advances in wearable technology offer a more accessible alternative, enabling real-time monitoring of kinematics and kinetics in sports performance settings. However, challenges remain regarding sensor accuracy, data integration across modalities, and the ability to provide reliable feedback during training. This thesis offers an alternative to address these limitations by developing a compact, low-cost, multi-sensor body-worn system for real-time biomechanical analysis in boxing. The system integrates four wireless inertial measurement units (IMUs): one Bosch BNO055 with onboard sensor fusion and three STMicroelectronics LSM6DS3 units, mounted at both wrists and both ankles, capturing acceleration, angular velocity, and orientation data simultaneously via Bluetooth Low Energy. Sensor fusion, signal processing, and machine learning techniques were applied for motion detection, punch segmentation, and preliminary motion classification. Data was collected from a single participant performing boxing movements under real-world conditions, both with a punching bag and without. Experimental results demonstrate distinct inertial signatures between different motion types. Hooks producing the highest angular velocity, uppercuts showing characteristic upward acceleration, and jabs exhibiting the fastest onset with lowest peak magnitude. With additional labelled data, these signatures are expected to support reliable automated classification. Future work includes expanding the dataset, increasing sampling rates through firmware batching, and validating the system against optical motion capture. By presenting a complete, open data pipeline from embedded firmware through a mobile application to a Python analysis backend, at a hardware cost of €132, this work contributes a reproducible, cost-effective alternative to both expensive laboratory systems and closed commercial boxing trackers.

The persistent challenges of high energy use, soil compaction, and limited automation in agriculture have led to the development of the Cable Farming® system. This system uses overhead cables to move field implements, removing the need for heavy self-propelled machines. This bachelor’s thesis focuses on the design and manufacturing of a working 1:16 scale model of a plough car for the Cable Farming® system, following the Verein Deutscher Ingenieure Guideline 2221 (VDI 2221). The work began by analysing the functional requirements of the plough car and defining a clear technical specification. Different concepts were developed and compared before selecting the most suitable solution. Detailed two-dimensional drawings were then created for fabrication and assembly. The model was manufactured using polylactic acid (PLA) via Fused Deposition Modelling (FDM) 3D printing, combined with standard servo motors, bearings, and a simple control system for actuation and guidance. The final result is a built plough car model with a central swivel joint, a guided motion system using a circular C-profile rail, four tail wheels, and a reversible plough mechanism. Bench testing showed smooth rotation and stable motion without mechanical interference. Sand tests produced clear furrow lines and confirmed that the plough can reverse its direction by 180°. The lifting and lowering mechanism was demonstrated, but it did not penetrate the soil effectively during testing. Overall, the model shows the basic kinematic behaviour of a reversible plough car within the Cable Farming® system and provides a useful physical platform for testing and further development. It helps to evaluate the concept at a smaller scale and highlights areas that can be improved before moving to a full-scale system.

This thesis aims to build a system that will navigate the sun and move the photovoltaic toward sun’s direction. The work will be divided into two parts, the first part is to craft the physical structure by comparing with other products in the market and build a unique design for the system. The use of lathe machine, drilling machine and other equipment in the workshop will be supervised. This thesis will also build a light sensor acted as a solar tracker by using light dependent resistors since purchasing a solar tracking will go over budget limit. The realistic system should include the worm gear, therefore, trying to implement the worm gear into the prototype if it is possible to do it. The second part is to implement the program to track the sun. By defining the selected electrical and mechanical components to keep the budget in control. The result will be then discussed and commented the solutions in case if there are problem that make the system not working. Ending the project by defining the development log for future work.

This thesis evaluates a pivoting triangular tracked wheel (TTW) as an innovative, compact, and easily manufacturable mobility concept for stair engagement in autonomous mobile robots. Motivated by the need for a simple and low cost mechanism capable of negotiating steps, the work follows the VDI 2221 development process to design and implement a proof of concept robot using off the shelf components and 3D printed parts. The system combines tracked locomotion with a pivoting triangular wheel whose mobility modes are selected through a servo actuated dog clutch. The prototype integrates an ultrasonic sensor, an inertial measurement unit, and a current sensor used to detect clutch engagement. A deterministic state machine–based control strategy coordinates approach detection, pivoting, and climbing attempts. Experimental testing showed that the robot consistently detected the stair, pivoted the TTW into position, and established stable contact with the step edge, confirming the validity of the geometric and kinematic principles behind the pivoting mechanism. However, the prototype was unable to climb: under load, the TTW frame rotated within the track, producing a planetary gear like behavior that prevented torque transfer into upward motion. These findings demonstrate that while the TTW concept is effective for stair engagement, its current mechanical configuration diverts the forces required for climbing into unintended rotational motion. The prototype thus clarifies the practical limits of the present design and provides a structured foundation for future refinement of low cost hybrid wheel mechanisms for stair negotiation.

This thesis presents a Computational Fluid Dynamics (CFD) study of a rolling fluid bladeless SETUR turbine operating under low-head hydraulic conditions. A transient nu merical framework using dynamic meshing and constrained rigid-body motion is developed to capture the interaction between unsteady flow and rotor dynamics. The simulations reproduced key physical features such as drag inversion, and time-dependent torque gener ation. Parametric studies showed that the rigid-body mass and center-of-gravity definition mainly influence start-up behaviour and numerical stability, while the torque-generation mechanism remains similar. For the hemispherical rotor, a maximum mechanical power of approximately 4.2 W was predicted, which is close to the Bernoulli-based theoretical estimate under ideal conditions. Turbine performance was found to be highly sensitive to mass flow rate, with negligible power at 0.5 kg/s and a higher power output at 0.75 kg/s compared to 0.97 kg/s, indicating possible flow restriction effects in the narrow rotor–stator gap. A geometric comparison showed that the hemispherical rotor produced higher power than the tested frustum configuration within the stable operating range, highlighting the need for further geometric optimisation and experimental validation.