Inspiration The project explores the possibility of using the car as a social communication space, providing an opportunity for users to make more new friends during their daily commute. With the popularization of mobile media, nowadays people are more and more like to communicate with people on social platforms, and virtual network social needs have been deeply rooted in people’s daily life, so how to use technology to help people walk out from this small screen is the initial motivation of the project.Everyone stays inside their vehicle and even if they are close, they rarely have the opportunity to communicate with people next to them. The car looks like a closed moving box where everyone hides inside. The project takes this as a starting point to consider how to break this status and provide users with an opportunity to express themselves and find friends on the daily commute. Therefore, the author believes that the car, as a personal mobile space, can also be turned into a social platform with the help of technology. Process During the design process, the author divides the whole project into two parts for thinking. On the one hand, the author has been thinking about how to provide a more interesting way of socializing in a limited space like a car, just like using social software, users can pay attention to the interesting people passing by and have the opportunity to have face-to-face communication. On the other hand, in the whole process, users can use a more abstract Avatar to show their characteristics or hobbies, as well as protect their privacy. The author combines these two core issues, and after the process of research, ideation, and sketch, the entire interior frame is determined on the 3D software, after which the final design is obtained. Result The final result is the ZEEKR 00+, a small two-seater electric car, which encourages users to actively express themselves on a daily car journey and make more friends in the real world. The core circular rotating structure of the cockpit can achieve the discovery, communication, and interaction process between users. With this as the core, the author also designed a series of related visual images, creating a new concept of the car as a personalized and social communication space in the future.1

In a heavy vehicle, internet connection is not reliable, primarily because the truck often travels to a remote location where network might not be available. The data generated from the sensors in a vehicle might not be sent to the internet when the connection is poor and hence it would be appropriate to store and do some basic computation on those data in the heavy vehicle itself and send it to the cloud when there is a good network connection. The process of doing computation near the place where data is generated is called Edge computing. Scania has its own Edge computation solution, which it uses for doing computations like preprocessing of sensor data, storing data etc. Scania’s solution is compared with a commercial edge computing platform called as AWS (Amazon Web Service’s) Greengrass. The comparison was in terms of Data efficiency, CPU load, and memory footprint. In the conclusion it is shown that Greengrass solution works better than the current Scania solution in terms of CPU load and memory footprint, while in data efficiency even though Scania solution is more efficient compared to Greengrass solution, it was shown that as the truck advances in terms of increasing data size the Greengrass solution might prove competitive to the Scania solution.One more topic that is explored in this thesis is Digital twin. Digital twin is the virtual form of any physical entity, it can be formed by obtaining real-time sensor values that are attached to the physical device. With the help of sensor values, a system with an approximate state of the device can be framed and which can then act as the digital twin. Digital twin can be considered as an important use case of edge computing. The digital twin is realized with the help of AWS Device shadow. / I ett tungt fordonsscenario är internetanslutningen inte tillförlitlig, främst eftersom lastbilen ofta reser på avlägsna platser nätverket kanske inte är tillgängligt. Data som genereras av sensorer kan inte skickas till internet när anslutningen är dålig och det är därför bra att ackumulera och göra en viss grundläggande beräkning av data i det tunga fordonet och skicka det till molnet när det finns en bra nätverksanslutning. Processen att göra beräkning nära den plats där data genereras kallas Edge computing. Scania har sin egen Edge Computing-lösning, som den använder för att göra beräkningar som förbehandling av sensordata, lagring av data etc. Jämförelsen skulle vara vad gäller data efficiency, CPU load och memory consumption. I slutsatsen visar det sig att Greengrass-lösningen fungerar bättre än den nuvarande Scania-lösningen när det gäller CPU-belastning och minnesfotavtryck, medan det i data-effektivitet trots att Scania-lösningen är effektivare jämfört med Greengrass-lösningen visades att när lastbilen går vidare i Villkor för att öka datastorleken kan Greengrass-lösningen vara konkurrenskraftig för Scania-lösningen. För att realisera Edge computing används en mjukvara som heter Amazon Web Service (AWS) Greengrass.Ett annat ämne som utforskas i denna avhandling är digital twin. Digital twin är den virtuella formen av någon fysisk enhet, den kan bildas genom att erhålla realtidssensorvärden som är anslutna till den fysiska enheten. Med hjälp av sensorns värden kan ett system med ungefärligt tillstånd av enheten inramas och som sedan kan fungera som digital twin. Digital twin kan betraktas som ett viktigt användningsfall vid kantkalkylering. Den digital twin realiseras med hjälp av AWS Device Shadow.

In recent years, Internet enabled objects (Internet of Things) and their augmentation through virtual reality has become both technically possible and increasingly advanced. This paper explores how interaction between physical IoTs and their virtual and digital twins can be advanced. Three virtual reality games focusing on three different interactions were created. One game focused on rotating, another on pushing and pulling, and a third on lifting and dropping. All games revolved around the use of real tracked cardboard boxes which were represented in the games by a virtual box in the same relative position and rotation to the player, allowing participants to manipulate the virtual boxes by manipulating the physical boxes. 14 participants were asked to play the games and were afterwards interviewed in regards to the games, their interactions with them, their enjoyability and their thoughts regarding them and the concept in general. The results were acquired from game performance, the reflections of the participants, and the subsequent analysis of recorded audio and video. The study presents the difficulties, challenges and opportunities of such a system, while also providing insight into lessons learned from the creation of the system and the games. The main contributions of the paper are the lessons learned in creating the games and experiences in addition to a few specific areas of interest for future research on the area, namely the importance of ergonomic consideration and affordance evaluation. / De senaste åren har föremål kopplade till Internet (Internet of Things eller Sakernas Internet) och deras augmentering genom virtuell verklighet både blivit möjligt och mer tekniskt avancerat. Denna rapport utforskar hur interaktioner mellan fysiska IoT föremål och deras virtuella och digitala tvillingar kan förbättras. Tre VR-spel med fokus på tre olika interaktioner utvecklades. Ett av spelen fokuserade på rotation, ett annat på rörelsen fram och tillbaka, och det tredje på rörelsen upp och ner. Alla spel involverade användandet av riktiga kartonglådor som representerades i spelet av en virtuell låda i samma position och rotation i relation till spelaren, vilket lät spelaren manipulera de virtuella lådorna genom att manipulera de fysiska lådorna. 14 deltagare ombads spela spelen och intervjuades i efterhand angående spelen, interaktionerna, underhållningsvärdet och deras tankar kring konceptet. Resultaten kom från deltagarnas prestationer i spelen, deras reflektioner och efterföljande analys av inspelad audio och video. Studien presenterar svårigheter, utmaningar och möjligheter hos det beskrivna systemet och delar med sig av insikter från skapandeprocessen av systemet och spelen. Studiens huvudsakliga bidrag är de nämnda insikterna från skapandeprocessen samt ett par specifika intresseområden för framtida forskning: vikten av hänsyn till ergonomi och utvärdering av affordans.

Smart manufacturing – smart factories creating smart products – is a topic which has arisen in the academic as well as business community. This thesis covers smart manufacturing in the context of lifecycle management. The thesis investigated how the standard Product Life Cycle Support (PLCS) could be used to support smart manufacturing and mainly how to develop the underlying system and information infrastructure. Standards, reports and specifications for smart manufacturing were investigated. Several information models were created from these publications which could be used for implementing a proposed solution for the infrastructure.The implementation concerned a use case in the ongoing research project DigIn, and used the developed models to implement a proposed solution in the product lifecycle management software ShareAspace. This was done in order to evaluate how to use the functionality of PLCS and ShareAspace to utilize the solution to support smart manufacturing and update the digital twin. In parallel to this thesis, a sub-project part of the DigIn project was conducted which connected the database to other software in the system as well as to the factory shop floor. The solution used the plant service bus Kafka and REST APIs in order to establish the connection. The functionality of the system regarding the specified required functionality in the publications was then investigated.The solution was found to meet most of the requirements of the publications regarding, among others, lifecycle management, service oriented architecture, non-hierarchical structures and communication capabilities. / Smart tillverkning – smarta fabriker som skapar smarta produkter – är ett ämne som inom det akademiska och affärsmässiga området förekommer alltmer frekvent. Denna uppsats behandlar smart tillverkning i kontexten av Product Life Cycle Support (PLCS). Uppsatsen undersökte hur PLCS kunde utnyttjas för att möjliggöra smart tillverkning, med huvudsakligt fokus på möjliggörandet av den bakomliggande system- och informationsinfrastrukturen för smart tillverkning. Standarder, rapporter och specifikationer för smart tillverkning undersöktes. Flertalet informationsmodeller skapades utifrån dessa publikationer vilka kunde användas för att implementera ett förslag för infrastrukturen.Implementationen hade sin bas i det pågående forskningsprojektet DigIn, och använde de utvecklade modellerna för att implementera en föreslagen lösning i produktlivscykel-mjukvaran ShareAspace. Detta gjordes för att utvärdera hur funktionaliteten i ShareAspace och PLCS skulle kunna användas för att stödja smart tillverkning och uppdatera den digitala tvillingen. Parallellt med denna implementation genomfördes i DigIn ett projekt vilka kopplade samman databasen med annan mjukvara i systemet samt fabriksgolvet. Lösningen använde en Plant Service Bus (Kafka) och REST APIer för att koppla samman dessa. Funktionaliteten av systemet rörande specificerade krav som återfanns i publikationerna undersöktes sedan.Lösningen fanns möta de flesta av de krav som lades fram i de undersökta publikationerna rörande, bland annat, livscykelshantering, tjänsteorienterad arkitektur, icke-hierarkiska strukturer samt kommunikationsmöjligheter.

Cyber-physical systems (CPSs) are used in several industries, such as healthcare, automotive, manufacturing, and more. The fact that CPSs often contain components integrated via communication networks means that malicious actors can exploit vulnerabilities in these components through cyber attacks. CRYSTAL Framework has been shown in previous research to be able to detect cyber attacks on CPSs. However, this has only been proven in simulation. Our research builds upon these previous research as we aim to prove that CRYSTAL Framework is a viable method for monitoring real systems to detect abnormal behaviours.  The Tiny Twin is an abstract behavioral model that defines normal running behaviour of a system, which can then be used by to compare the current state of a monitored system to detect possible attacks and abnormal behaviours. We built a monitor that integrates such a Tiny Twin, working by passively listening on input and output of components in a monitored system. We designed and implemented two different scenarios, a security alarm system and a temperature control system (TCS), to test the CRYSTAL Framework. In testing both implemented scenarios our monitor successfully detected all but one attacks during runtime by comparing the system's current state with the expected state as defined in the Tiny Twin.

The project set out to construct a proof of concept for surface deformation in the Unity Engine using available assets and tools compatible with the Unity Engine, and via the proof of concept investigate which factors in a mesh deformation simulation that affects performance in terms of frames per second, memory usage and usability the most. This while looking into suitable data structures in the Unity Engine for handling expected data in a physics simulation of a surface deformation, such that of mining or scraping a cave wall. The project aims to answer these questions via testing and trail and error, performing tests while recording data which is plotted and discussed. To save time and start testing faster the usage of a premium assets called Digger Pro is used, allowing for quick set up of mesh manipulation inf both editor and play mode. Testing shows that one of the major factor for performance degradation is mesh resolu-tion, as it directly contributes to an increase in data points that needs to be kept track of and calculated. The Unity Engine and Digger PRO man-ages fairly well to stay above the targeted 30 frames per second limit even with medium level settings for meshes, all while maintaining acceptable memory usage levels. All this ties into the idea of an increased usage of digital twins in many different scenarios, and therefore the scientific community’s view on digital twins main challenges are summarized and discussed, hoping to shed further light on the current status of digital twin technology.

Emulation is a technology, historically mostly used for virtual commissioning of automated industrial systems, and operator training. Trends show that new areas for deployment are being investigated. One way to broaden the scope of emulation technology is to increase emulation detail level. The University of Skövde conduct research within emulation technology, and are developing a higher detail level emulation platform performing  on component level. For transparent and systematic development of component models on this level, an open, extensible, and flexible data model for emulation models of industrial components is wanted. This thesis is contributing to this endeavour by developing a first draft of such a data model. A demonstration is also conducted by implementing a few components into the developing emulation environment, using XML as file format. An iterative "design and creation" methodology was used to develop and implement an object oriented data model. A selected set of industrial components were used to develop and demonstrate the data model, and the final result is visually represented as a class diagram together with explanatory documentation. Using the methodology and data modelling strategy used in this thesis, systematic and transparent development of emulation models on component level is possible in an extensible and flexible manner. / Emulering är en teknologi som historiskt mestadels använts vid virtuel idrifttagning av industriella automatiserade system samt vid operatörsträning. Trender visar att nya användningsområden utforskas. Ett sätt att vidga användningsområdet för emulering är att öka dess detaljnivå. Högskolan i Skövde utför forskning inom emulering och utvecklar en emuleringsplattform med utökad detaljnivå, även kallad komponentnivån. För att kunna arbeta systematiskt med utvecklandet av emuleringsmodeller för denna nivå önskas en öppen, skalbar, och flexibel datamodell för emuleringsmodeller. Detta examensarbete bidrar till detta genom att utveckla ett första utkast av en sådan data modell. Datamodellen demonstreras genom implementation inom den utvecklandes emuleringsmiljön, med hjälp av filformatet XML. En iterativ "design and creation" metodologi användes för att utveckla och implementera datamodellen. Ett set av industriella komponenter användes i utvecklingen och implementationen av datamodellen. Projektets resultat presenteras som ett klassdiagram tillsammans med förklarande dokumentation. Används projektes metodologi och datamodellerings-strategi kan man med fördel arbeta transparant och systematiskt med utveckling av emuleringsmodeller för anginven nivå. / TWIN

The idiom by Thomas Fuller fantasizes the fact that seeing is believing, but the feeling is the truth. This ideology has fired the vision and innovation of the Mulsemedia, multiple-sensorial media, and Internet of Skills (IoS) which enable the exchange of control, skills, and expertise anytime/everywhere across the Internet. With the emergence of the new generation of mobile network (5G), Tactile Internet, as well as the deployment of Industry 4.0 and Health 4.0, multimedia systems are moving towards immersed haptic enabled human-machine interaction systems such as the Digital Twin (DT). Specifically, Industry 4.0 will be using DT and robots on a large scale. This will increase human-machine and interaction to a great extent. There will be multimodal communications used to interact with digital twins and robots, specially haptics. Hence, tactile internet will replace the conventional internet today. In fact, a DT system can also be extended in Health 4.0 domain to act as a COVID-19 early warning system. Tracking a person’s temperature and other symptom data in real-time can signal if as well as when it’s time to see a doctor or take a COVID test. Link to a COVID tracing app, the digital twin might help get more information about the virus relative to the person itself. Since there are currently no well-recognized models to evaluate the performance of these systems, to address this research lacuna, we proposed a Quality-of-Experience (QoE) model for DT systems containing multi-levels of subjective, objective, and physiopsychological influencing factors. The model is itemized through a fully detailed taxonomy that deduces the perceived user’s emotional and physical states during and after consuming spatial, temporal, proximal, and abstracted multi-modality media between humans and machines. Further, the taxonomy was modelled using the best practice of machine learning methods to show how QoE for digital twin applications can be inferred and predicted from interactions and biosignals in this class of applications. Furthermore, the taxonomy was applied to two use cases. The first one addresses the objective quality optimization for transmission in a large scale immersed haptic virtual reality over the Internet while the second one aims to objectively infer an important DT QoE physiological aspect i.e, fatigue.

The master's thesis deals with a robotic palletizing controlled by PLC. The first part provides examples of palletizing machines. The second part shows how ABB robot is controlled by B&R Automation PLC. The third part introduces selected approaches for automated pallet pattern generation. The fourth part designs library that allows pallet patterns to be generated using B&R Automation PLC. Fifth part covers creation of virtual palleziting cell, which is used to test library for automated pallet pattern generation.

The goal of my master‘s thesis is to create a digital twin of a testbed Barman. The Barman is a school model of autonomous mixed drinks production line that demonstrates the principles of Industry 4.0. In the theoretical part of the thesis, the choice of a suitable tool for virtualization is discussed. The Tecnomatix Process Simulate and the Mechatronic Concept Designer module integrated in the NX platform is compared. The practical part of the work is divided into two phases. The first phase was about looking for a way to integrate the robotic SCARA manipulator. The second phase was focused on the virtualization of the cell Shaker in the latter of the tools mentioned before. This work is designed as a guide for creating and verifying the concept of a digital twin.