This master's thesis deals with control robotic manipulator ROB 1-3 using common joystick and microcontroller HC08 NITRON or HC08 LJ12. The goal of this work was creation of module for controlling axes position of servos included in robot by analog signal coming from connected joystick. There are formed possible suggestions about connecting individual parts together for both autonomous and version using development kit. Programming code suggestion is based on these connections during further development. The limitations of using it are described in analysis and final results are shown in statistics results.

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Through the use of a microcontroller, any analog signal can be processed. With the use of an LCD-screen, this project aims to use microphones as an input and plot these analog signals as points on this screen. The signals are processed with filters to make these visually interesting, as well as allowing the use of their full range with the microcontroller. The resulting circuit is contained to allow a more coherent function. It performed as intended, with real time updates and separate visualization of high and low frequencies.

Simning är en sport där små marginaler har stor inverkan på resultatet. I OS-finalen 2008 vann Michael Phelps över Milorad Čavić med en hundradels sekund. För att få marginalen på sin sida behöver simmaren träna otaliga timmar. I dagsläget har Kungliga Tekniska Högskolan inte en bra prototyp för att testa, utvärdera och mäta en simmares träning. Att kontinuerligt under ett helt träningspass få mätvärden som kan användas för att förbättra simtekniken skulle kunna ge en stor fördel. Målet med det här examensarbetet är att utvärdera möjligheten att utveckla en metod för att mäta dessa värden. Metoden som valdes var att med en IMU och mikrokontroller mäta rörelser. En jämförelseanalys gjordes mellan mikrokontrollers för att ge plattformen bästa utvecklingsmöjligheter. Efter resultatet från jämförelseanalysen införskaffades de två olika mikrokontrollers som hade störst potential och dessa två jämfördes vidare. Därefter utvecklades flera möjliga designer för plattformen med störst potential som kan användas för att kvantifiera simträning. Resultatet blev två funktionella protyper som uppfyllde de krav som ställdes. Framtida utveckling skulle vara att testa och utvärdera plattformarna vidare och hitta andra sporter och användningsområden. / Swimming is a sport where small margins can have a big impact on the result. In the 2008 Olympic finals Michael Phelps won over Milorad Čavić by one hundredth of a second. To get the margin on their side, the swimmers need to practice countless hours. Currently, the Royal Institute of Technology does not have a good prototype for testing, evaluating, and measuring a swimmer's training. Continuously getting measured values during an entire training session that can be used to improve a swimming technique could provide a great advantage. The aim of this thesis is to evaluate the possibility of developing a method for measuring these metrics. The method chosen was to measure movements using an IMU and microcontroller. A comparison analysis was made between microcontrollers to provide the platform with the best development opportunities. Following the results of the comparison analysis, two different microcontrollers with the greatest potential were acquired and these two were further compared. Subsequently, several possible designs were developed for the platform with the greatest potential that can be used to quantify swim training. The result was two functional prototypes that met the requirements. Future development would be to test and evaluate the platforms further and find other sports and areas of use.

Compared to other instruments for chemical analyses, electrochemical analyzers are relatively simple, inexpensive, easy to miniaturize and require little-to-no maintenance. However, like all commercially available instruments, commercial electrochemical analyzers like potentiostats primarily operate as black boxes with manufacturers providing little or no information about internal circuitry and programming. This practice can limit a researcher’s ability to develop new techniques or adapt an instrument for applications outside its typical use. In contrast, creators of open-source instruments release all the necessary information for reproduction of the hardware and software – minimizing such barriers to innovation in chemical analyses. Here, we report a low-cost, compact potentiostat based on an open-source Arduino microcontroller capable of performing electrochemical analyses such as cyclic and linear sweep voltammetry with an operating range of ± 208 𝜇A and ± 2.5 V. Performance of the potentiostat is investigated with low-cost pencil graphite electrodes and compared to a commercial potentiostat.

Firmware development for Low-Level Controllers is an extremely complex task. Single-threaded microcontrollers are most commonly used for these controllers and thus are only capable of executing a single task at a time. Microcontroller software tends to be designed for an extremely specific task with little room for scalability or code reuse. Additionally, the state of a microcontroller at run-time is very difficult to observe and thus makes it harder to debug and develop these control systems. To alleviate these development issues, a software framework was designed to simplify firmware development for Hardware Abstract Layered (HAL) control systems. The software framework was implemented on Texas Instruments TM4C123GXL Tivas on a multi-joint robot with the purpose of experimenting on a distributed microcontroller system. All of the software for the microcontroller was implemented into one program with initialization files from the high-level controller to configure each individual Tiva based on its functionality in the distributed system. The EtherCAT communication protocol is used primarily for its fast communication speed between high-level and low-level controllers. A basic GUI development environment accompanies the framework to aid in the initial development of a custom controller firmware and thus reduce development time. Additionally, this framework is designed to be easily scalable such that a real-time operating system (RTOS) can be implemented with minimal effort should the developer desire to do so. The proposed software framework thus overcomes major challenges when developing firmware for low-level controllers making development overall less time-consuming. Further, this framework can be used for many different robotic applications with a low-level multi-layered control architecture. / Master of Science / Microcontrollers and embedded systems are used everywhere in our daily lives in the technology we love. From microwaves, to cars, to phones, to toaster ovens, these systems are implemented in practically every piece of technology we use on a daily basis. Software development of these systems tends to be extremely complicated and complex. Hence, the software designed for these systems is usually overly specific to the device with little room for code reuse and/or scalability. This issue is extremely present in the field of robotics. To alleviate this issue, this work proposed, designed, and implemented a software framework for microcontrollers in a distributed network for robotics applications. Additionally, a graphical interface was developed to customize the software framework for a developer's specific needs regarding what the application needs to do.

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Electrochemical measurements are utilized in various fields, including healthcare (e.g., potentiometric measurements for electrolytes in blood and blood gas, amperometric biosensing of glucose as in blood glucose meters), water quality (e.g., pH measurement, voltammetric analyses for heavy metals), and energy. Much of the appeal of electrochemical analyses can be attributed to the relative simplicity, low cost and lack of maintenance associated with electrochemical instruments, along with techniques that can exhibit high sensitivity and selectivity, wide linear dynamic range, and low limits of detection for many analytes. While commercial electrochemical analyzers are less expensive than many other instruments for chemical analyses and are available from various manufacturers, versatility and performance often coincide with added expense. Recently, the development of low-cost, adaptable, open-source chemical instruments, including electrochemical analyzers, has emerged as a topic of great interest in the scientific community. In contrast to commercial instruments, for which schematics and underlying operation details are often obscured – severely limiting modifications and improvements, creators of open-source instruments release all the necessary information for reproduction of the hardware and software. As a result, open-source instruments not only serve as excellent teaching tools for novices to gain experience in electronics and programming, but also present opportunity to design and develop low-cost, portable instruments, which have particular significance for point-of-care sensing applications, use in resource-limited settings, and the rapidly developing field of on-body sensors. In this work, we report the design of a low-cost, compact electrochemical analyzer based on an open-source Arduino microcontroller. The instrument is capable of performing electrochemical analyses such as cyclic and linear sweep voltammetry with an operating range of ± 138 ��A and ± 1.65 V. Performance of the platform is investigated with low-cost pencil graphite electrodes and results compared to commercial potentiostats.

Particle suspension is a phenomenon when solid particles get trapped in a liquid. This phenomenon is a common occurrence in the water treatment industry. It is typically measured continuously throughout the treatment process to ultimately ensure high water-quality. Cerlic Controls AB specializes in developing sensors for the water treatment industry and have been doing so since 1977. Cerlic Control's sensors are used within the various stages of water-purification. The type of sensor central to this project uses transmission of light to determine a concentration of suspended particles. This project describes the development-process for one of Cerlic Controls existing embedded systems. The embedded system is undergoing a modernization process where the electronics and software are updated to a more modern design. This report describes the improvements to the measurement range while maintaining the same or improved resolution. These improvements are mostly performed by modern electronics and more advanced signal processing techniques in comparison to the previous implementation. A large portion of the previous implementation's software was split over two embedded systems due to limitations in processing power. This modern version focuses on bringing these two systems into one. The sensor's microprocessor has been replaced with a more modern higher performance alternative which allows all computations to be performed in the sensor. Linearity and stability are key aspects defining system performance. Optical filters block a certain amount of light and are heavily used in verification of performance. Suspensions using activated carbon were also used to evaluate the measurement range. The results of the project were largely successful. An initial implementation was achieved with optimistic results, but further work must be done before the sensor is ready for use in industry.

Legacy computer systems are systems where several of the main hardware and software components date back several decades. Modernizing these systems is often considered a large monetary and temporal investment with high risk, and to keep maintaining them usually becomes more and more difficult over time, which is why these legacy systems are still being used to this day in many industry sectors. A solution is therefore to try and integrate the legacy system components into modern systems, and there are several ways of achieving this. This bachelor thesis project work aims to analyze one approach known as “wrapping”. More specifically it analyzes NESizer2 Method, a method which utilizes relatively simple hardware and software interfaces to control the Ricoh RP2A03 processor found in the Nintendo Entertainment System, using an Atmega328 microprocessor. During the design and development phases of the project work a literature study was conducted, and experimental research method was utilized. The testing and experimental phases of the project work was focused on examining how identified key variables behaved when modifying certain parameters in the system. While we were able to produce some valid data, the results proved to be somewhat inconclusive, as certain operations such as memory operations did not work, leading to the conclusion that our circuit contained a faulty component. / Legacydatorsystem är system där många av de huvudsakliga hårdvaruoch mjukvarukomponenterna är flera decennier gamla. Att modernisera dessa system ses ofta som en stor monetär och tidsmässig investering, och att fortsätta att underhålla dem blir vanligtvis svårare och svårare med tiden. En lösning är därför att försöka att integrera legacy-systemets komponenter i moderna system, och det finns ett flertal tillvägagångssätt att uppnå detta. Detta kandidatexamensarbete ämnar att analysera ett tillvägagångssätt känt som “wrapping”. Mer specifikt analyseras NESizer2-metoden, en metod som utnyttjar relativt enkla hårdvaruoch mjukvarugränssnitt till att kontrollera Ricoh 2A03-processorn som finns i Nintendo Entertainment System, med hjälp av en Atmega328 mikroprocessor. Under designoch utvecklingsfaserna av projektarbetet utfördes en litteraturstudie, och experimentiell forskningsmetod användes. Testoch experimentfaserna av projektarbetet fokuserade på att undersöka hur identifierade nyckelvariabled betedde säg då man modifierade vissa parametrar i systemet. Även om vi lyckades producera en del riktig data visade sig resultaten vara ofullständiga, då vissa operationer såsom minnesoperationer inte fungerade, vilket ledde till slutsatsen att vår krets innehöll en defekt komponent.