This thesis describes a project to create a hardware based 3D interior scanner. This was based on a previous project that created a scanner optimised for interior conditions, using structured light triangulation. The original project referred to as the Mark-I scanner, performed its control and processing on a PC and the primary goal of this project was to re-implement this system using hardware, making the scanner more portable and simpler to use. The Mark-I system required a specialised camera which had an unusually high noise associated with it, so a secondary goal was to investigate whether this camera could be replaced with a superior model or this noise corrected. A Mark-II scanner system was created using FPGA processing and control implemented in the VHDL language. This read from a CMOS camera, controlled the system's motor and laser, generated 3D points and communicated with users. A suitable camera was not found and the Mark-I scanners camera was found to have been damaged and become unusable, so a simulation environment was constructed that simulated the operation of the scanner, created 3D images for it to process, and tested its results. Chapter 1 of this thesis outlines the goals of this pro ject and describes the Mark-I system. Chapter 2 describes the theory and properties of the Mark-I system, and chapter 3 describes the work undertaken to replace the scanner's sensor. Chapter 4 describes the system created to interface to CMOS sensors, and chapter 5 outlines the theory involved in calculating 3D points using structured light triangulation. The final hardware scanner, and the simulation system used to test it, are then described in chapter 6.

Recently, various special purpose processors have been developed and are frequently being used for different specialized tasks. Prominent among these are the communication processors, which are generally used within an embedded system environment. Such processors can run relatively advanced and general purpose operating systems such as uCLinux, which is a freely available embedded Linux distribution. In this work, a prototype SoHo (Small office / Home office) router is designed and implemented using Motorola MCF5272 as the core communication processor and uCLinux as the operating system. The implementation relies purely on the existing hardware resources of an available development board and the publicly available open source utilities of uCLinux. The overall development process provides an embedded system implementation and configuration example.

Real-time embedded systems (RTESs) have been widely used in modern society. And it is also very common to find them in safety and security critical applications, such as transportation and medical equipment. There are, usually, several constraints imposed on a RTES, for example, timing, resource, energy, and performance, which must be satisfied simultaneously. This makes the design of such systems a difficult problem. More recently, the security of RTESs emerges as a major design concern, as more and more attacks have been reported. However, RTES security, as a parameter to be considered during the design process, has been overlooked in the past. This thesis approaches the design of secure RTESs focusing on aspects that are particularly important in the context of RTES, such as communication confidentiality and side-channel attack resistance. Several techniques are presented in this thesis for designing secure RTESs, including hardware/software co-design techniques for communication confidentiality on distributed platforms, a global framework for secure multi-mode real-time systems, and a scheduling policy for thwarting differential power analysis attacks.  All the proposed solutions have been extensively evaluated in a large amount of experiments, including two real-life case studies, which demonstrate the efficiency of the presented techniques.

Made available in DSpace on 2014-06-12T15:52:55Z (GMT). No. of bitstreams: 1 license.txt: 1748 bytes, checksum: 8a4605be74aa9ea9d79846c1fba20a33 (MD5) Previous issue date: 2009 / Nos últimos anos, a redução do consumo de energia das aplicações dos sistemas embarcados tem recebido uma grande atenção da comunidade científica, visto que, como o tempo de resposta e o baixo consumo de energia são requisitos conflitantes, esses estudos tornam-se altamente necessários. Nesse contexto, é proposta uma metodologia aplicada nas fases iniciais de projeto para dar suporte às decisões relativas ao consumo de energia e ao desempenho das aplicações desses dispositivos embarcados. Al´em disso, esse trabalho propõe modelos temporizados de eventos discretos que são avaliados através de uma metodologia de simulção estocástica com o objetivo de representar diferentes cenários dos sistemas com facilidade. Dessa forma, para cada cenário ´e preciso decidir o n´umero máximo de simulações e o tamanho de cada rodada da simulação, onde ambos os fatores podem impactar no desempenho para se obter tais estimativas. Essa metodologia considera também, um modelo intermediário que representa a descrição do comportamento do sistema e, é através desse modelo que cenários são analisados. Esse modelo intermediário ´e baseado em redes de Petri coloridas temporizadas que permitem não somente a anáise do software, mas também fornece suporte a um conjunto de métodos bem estabelecidos para verificações de propriedades. É nesse contexto que o software, ALUPAS, responsável por estimar o consumo de energia e o tempo de execução dos sistemas embarcados é apresentado. Por fim, um caso de estudo real, assim como tamb´em, exemplos customizados são apresentados com a finalidade de mostrar a aplicabilidade desse trabalho, onde usuários não especializados não precisam interagir diretamente com o formalismo de redes de Petri.

The thesis discusses the possible ways of remote management of devices running Mikrotik RouterOS and choosing appropriate variant for implementation of automated remote management of the device, which is part of a mobile robot. Due to the limited capabilities of embedded system, from which it is necessary to perform automated remote management of device with this operating system, it was not possible to use standardized protocols for this purpose. A substantial part of this work therefore deals with analysis and detailed documentation of proprietary protocols implemented in the MikroTik RouterOS operating system, which are suitable for implementation in an embedded system, from which it is necessary to perform automated remote management. The conclusion describes the principle of the proposed and realized implementation of proprietary protocols in C language. The described implementation is part of the library, which provides automated remote management using these protocols.

RISC-V is an open-source instruction set that has been gaining popularity in recent years, and, with support from large chip manufacturers like Intel and the benefits of its open-source nature, RISC-V devices are likely to continue gaining momentum. Many courses in a computer science program involve development on an embedded device. Usually, this device is of the ARM architecture, like a Raspberry Pi. With the increasing use of RISC-V, it may be beneficial to use a RISC-V embedded device in one of these classroom environments. This research intends to assist development on the SiFive HiFive1 RevB, which is a RISC-V embedded device. This device was chosen because of its ease of use, functionality-rich API, and affordability. In order to make developing with this board very approachable for a student, this research involved the development of a small suite of tools. These tools support common functionality like: building a source file into an executable ELF file, converting that ELF executable into an Intel HEX executable format that is required to run on the device, uploading the Intel HEX executable onto the device, and attaching a debug session to the program that is running on the device. With the help of this toolchain, developing on this RISC-V embedded device should be very approachable for most students.

L’augmentation de la complexité des systèmes temps-réel répartis embarqués (TR2E) et leur implication dans de nombreux domaines de notre quotidien imposent de nouvelles mé thodes de réalisation. Dans les domaines dits critiques (transport, médecine...) ces systèmes doivent satisfaire des contraintes dures pour garantir leur bon fonctionnement et éviter toutes défaillances qui engendreraient des conséquences financières ou humaines dramatiques. L’Ingénierie Dirigée par les Modèles (IDM) introduit le “modèle” - i.e. une description abstraite du système - et un ensemble d’outils (édition, transformation...) permettant la simplification et l’automatisation des étapes de conception, de validation et de génération du système. Ainsi, différentes abstractions du système sont élaborées dans des formalismes spécifiques de manière à couvrir un aspect du système et à permettre la réutilisation des outils d’analyse et de génération existants. Cependant, ces multiples représentations évoluent à des niveaux d’abstractions différents et il n’est pas toujours évident de mettre en corrélation système analysé et système généré. Ce travail de thèse exploite les concepts et les mécanismes offerts par l’IDM pour améliorer la fiabilité du processus de réalisation des systèmes critiques basé sur les modèles. L’approche que nous avons définie repose sur la définition du langage de modélisation architecturale et comportementale AADL-HI Ravenscar - un sous-ensemble du langage AADL (Architecture Analysis & Design Language) et de son annexe comportementale - contraint pour permettre conjointement l’analyse et la génération de l’ensemble des composants de l’application y compris de son exécutif, avec une sémantique proche d’un langage de programmation impératif... / The increasing complexity of distributed realtime and embedded (DRE) systems and their implication in various domains imply new design and development methods. In safety- criticial domains such as space, aeronautical, transport or medicine, their failure could result in the failure of the mission, or in dramatic damages such as human losses. This particular class of systems comes with strong requirements to satisfy safety, reliability and security properties. The Model-driven Engineering (MDE) introduces the concept of «model» - an abstract description of the system and a set of tools (editor, transformation engine, code generator) to simplify and automatize the design, the validation and the implementation of the system. Thus, various abstractions are realized using different domain-specific modeling languages in order to assess one particular aspect of the system and to re-use model-based analysis tools and generative technologies. These various representations may share some commonalities but the consistency between them is hard to validate (for example : Is the analyzed system the same as the generated one ?).This PhD thesis leverages MDE concepts and mechanisms, to enhance the reliability of the model-based development process of DRE systems. Our approach is based on the definition of the architectural and behavioral modeling language AADLHI Ravenscar, a restriction of AADL (Architecture Analysis & Design Language) and its behavioral annex. This subset of AADL constructs, comes up with a semantic close to the one of an imperative programming language, to drive both the analysis and the code generation of the application components and its relying execution platform (middleware) components...

Indiana University-Purdue University Indianapolis (IUPUI) / An Autonomous vehicle depends on the combination of latest technology or the ADAS safety features such as Adaptive cruise control (ACC), Autonomous Emergency Braking (AEB), Automatic Parking, Blind Spot Monitor, Forward Collision Warning or Avoidance (FCW or FCA), Lane Departure Warning. The current trend follows incorporation of these technologies using the Artificial neural network or Deep neural network, as an imitation of the traditionally used algorithms. Recent research in the field of deep learning and development of competent processors for autonomous or self-driving car have shown amplitude of prospect, but there are many complexities for hardware deployment because of limited resources such as memory, computational power, and energy. Deployment of several mentioned ADAS safety feature using multiple sensors and individual processors, increases the integration complexity and also results in the distribution of the system, which is very pivotal for autonomous vehicles. This thesis attempts to tackle two important adas safety feature: Forward collision Warning, and Object Detection using the machine learning and Deep Neural Networks and there deployment in the autonomous embedded platform. 1. A machine learning based approach for the forward collision warning system in an autonomous vehicle. 2. 3-D object detection using Lidar and Camera which is primarily based on Lidar Point Clouds. The proposed forward collision warning model is based on the forward facing automotive radar providing the sensed input values such as acceleration, velocity and separation distance to a classifier algorithm which on the basis of supervised learning model, alerts the driver of possible collision. Decision Tress, Linear Regression, Support Vector Machine, Stochastic Gradient Descent, and a Fully Connected Neural Network is used for the prediction purpose. The second proposed methods uses object detection architecture, which combines the 2D object detectors and a contemporary 3D deep learning techniques. For this approach, the 2D object detectors is used first, which proposes a 2D bounding box on the images or video frames. Additionally a 3D object detection technique is used where the point clouds are instance segmented and based on raw point clouds density a 3D bounding box is predicted across the previously segmented objects.

Theme of the Master's thesis is issue of backup power units and its attributes. There is also complete proposal of UPS power unit which can be used to control and monitor backup batteries. Power supply is fully controlled via Ethernet interface using TCI/IP protocol. The other chapter describes complete development of TCI/IP GSM unit which can be used for communication interface between GSM and Ethernet protocol. UPS and GSM modules are developed in details. The Master.s thesis includes all needed information for HW unit development and also for controlling software as well. Universal solution of the modules allows number possibilities of further development.

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