This document’s content is the final report of the master´s dissertation Magnus Hällström did during springtime of year 2013. The dissertation’s subject is 802.11s wireless mesh networks with streaming video as a focus point.  During the dissertation a wireless mesh network was set up with different attached cameras for streaming video. A sun panel solution was also tested with the goal of creating a package with a self-configuring network node streaming video, powered by nothing but solar energy.

Användare ställer hela tiden högre krav på att webbläsare ska vara snabba och tillgängliga oavsett på vilken plattform de används på. Detta gäller även för testbäddens projekt där Raspberry Pi testades för framtida användning som en tunn klient. Arbetet är en fallstudie som undersöker prestanda och funktionaliteten hos Raspberry Pi 2 för organisationen Region Östergötland, Testbädden. Valet av testverktyg och avgränsningar i varje steg är grundade på funktionaliteten som är en del av ISO 9126 standard. Arbetet undersöker webbläsare som kan användas på OS Raspbian Wheezy samt Ubuntu mate. Genom en förundersökning av webbläsare utfördes avgränsningar med hjälp av webstandardtesterna Acid3 och HTML5. Av 33 möjliga webbläsare återstod fem som uppfyllde kraven för vidare undersökning. De kvarstående webbläsare genomgick benchmarktester och därefter togs en genomsnittlig sidladdningstid för varje webbläsare samt CPU och RAM användning i realtid. Resultatet visade att endast två av fem webbläsare klarade benchmarktesterna och utav dessa två var det webbläsaren Epiphany som presterade bäst utifrån sidladdningstid, CPU och minnesanvändning. Raspberry Pi överklockades för att undersöka om samma resultat skulle fås i denna studie som i en tidigare vetenskaplig studie. Resultatet visade att sidladdningstiden minskade men att CPU och RAM användningen ökade. Alla testverktyg genererade olika resultat och ett verktyg eller siffra räcker inte till att undersöka prestandan och funktionaliteten. Valet av den mest kompatibla webbläsaren för Raspberry Pi beror på användaren och vad den ska användas till.

The aim of the work was to create an automatic positioning system, with optics for radiation concentration and a body for its collection, by monitoring the sun across the sky using a camera. At the beginning are introduced the concentrator systems and the movement of the sun from the perspective of the observer. Follows description of the various potential components which requires a functional system. The last part deal with the implementation of selected components for operation as a whole system, verification of functionality by accurate tracking of the sun across the sky and measuring the performance of the concentrator system with automatic positioning.

El texto completo de este trabajo no está disponible en el Repositorio Académico UPC por restricciones de la casa editorial donde ha sido publicado. / The incidence of the disease in horticultural crops is one of the important problems that affect the production of fruits, vegetables and flowers. Regular monitoring of crops for early diagnosis and treatment with pesticides or removal of the affected crop is part of the solution to minimize crop loss. The monitoring of crops by human labor is expensive, time consuming, prone to errors due to insufficient knowledge of the disease and highly repetitive at different stages of crop growth. These needs have motivated to design the mobile robot with vision sensors for navigation through the field. The robot has been designed in the Autodesk Inventor software. Programming for navigation is done in the Arduino Mega 2560 tool. Image capture has been performed using the RGB camera. Image processing for the identification of the disease and its representation in a graphical user interface has been performed using an algorithm in MATLAB R2018B that interacts with the Arduino tool through a communication bus. The system developed consists of the design of a prototype that uses simple and cost effective equipment such as Raspberry Pi, RGB camera, two motors and sensors that allow the autonomous fumigation of corn crops. / Revisión por pares

Indiana University-Purdue University Indianapolis (IUPUI) / Currently, there are many types of Automatic Guided Vehicles (AGVs) in different industries. Typically their job is to move raw materials or parts around a manufacturing facility, and they can be very accurate by following the guides from wires in the floor, magnets, laser, or vision. However, currently AGVs only work indoors. Therefore, the purpose of this thesis is to discuss the implementation of the outdoor AGV. An outdoor AGV has much more constraints than an indoor one. The environment indoors can be easily controlled while the outdoor cannot because there could be such problems as rough outdoor surfaces, no pre-set guiding wires or magnets, vision blocking by dust, and so on. The solution, which will be introduced in this paper, to achieve the outdoor AGV is laser guidance. In addition, a buffer will be installed to stabilize the cargo or others working devices, to prevent them from the shaking due to the rough outdoor surfaces. To be more specific, a prototype will be built to simulate the working of a seeder. In agriculture, it is very important to plant corns in a straight line, not only to increase the absorption of sunlight and ventilation, but also to reduce the work of irrigation, fertilizing, and harvest. Furthermore, to achieve unmanned agriculture, a corn field with straight lines will also be a good condition for other agriculture robots.

Baseado na grande evolução dos dispositivos eletrônicos nos últimos 35 anos e dos novos hardwares de baixo custo e alto poder computacional, esta tese tem como objetivo testar a seguinte hipótese: É possível o controle e automação de um forno em escala piloto com informações de sensores e simulação em tempo real utilizando computação embarcada de baixo custo. Para isto, modelagem matemática e simulação do perfil de temperatura do forno e do alimento foram realizadas para que o sistema de controle possa ter informação da temperatura no alimento em tempo real, contando apenas com os sensores fixos no forno. A informação desta simulação alimenta o controle PID, garantindo que o perfil de temperatura desejado para o aquecimento/cozimento do alimento seja obedecido, melhorando a qualidade do produto final. O sistema de controle possui duas unidades, a escrava que é localizada na lateral do forno é composta de um Arduino mini, da instrumentação para o controle dos sensores e atuadores do forno e a unidade mestre, que utiliza um Raspberry pi onde o software de controle com interface gráfica realiza as simulações, o controle PID e a comunicação via bluetooth com a unidade escrava. Experimentos foram realizados para testar e validar a simulação do perfil térmico do forno, do alimento e o controlador PID. Concluiu-se que é possível um controle de um forno industrial em escala piloto com simulação em tempo real utilizando computação de baixo custo. / Based on the dramatic evolution of electronic devices in the last 35 years and the recent advent of low cost computational hardware, embedded sensors have become a cost-effective solution for real time machine monitoring and simulation. The objective of this thesis is to present both software and hardware intended for the real-time simulation and control of a conveyor belt tunnel oven using low cost embedded hardware, to ensure high quality food production. For this purpose, mathematical modelling and simulation of the temperature profile inside the oven was performed in order to supply the control system with the calculated temperature of the food in real time, using only the fixed sensors inside the oven. This simulation information is passed to the PID controller, ensuring that the desired temperature profile for heating the food is achieved, improving the quality of the final product. The system has two units, a slave that is located on the main body consisting of an Arduino mini and the instrumentation for controlling the sensors and actuators. The second unit is the master unit, which utilises a Raspberry pi to host the control software, the graphical user interface the PID controller and manages the Bluetooth connection with the slave unit. Experiments were performed in order to test and validate the thermal profile simulation of the oven and the food, as well as to test the PID controller. It was concluded that it is possible to control a prototype scale industrial oven using real time simulation with a low-cost computation unit.

Baseado na grande evolução dos dispositivos eletrônicos nos últimos 35 anos e dos novos hardwares de baixo custo e alto poder computacional, esta tese tem como objetivo testar a seguinte hipótese: É possível o controle e automação de um forno em escala piloto com informações de sensores e simulação em tempo real utilizando computação embarcada de baixo custo. Para isto, modelagem matemática e simulação do perfil de temperatura do forno e do alimento foram realizadas para que o sistema de controle possa ter informação da temperatura no alimento em tempo real, contando apenas com os sensores fixos no forno. A informação desta simulação alimenta o controle PID, garantindo que o perfil de temperatura desejado para o aquecimento/cozimento do alimento seja obedecido, melhorando a qualidade do produto final. O sistema de controle possui duas unidades, a escrava que é localizada na lateral do forno é composta de um Arduino mini, da instrumentação para o controle dos sensores e atuadores do forno e a unidade mestre, que utiliza um Raspberry pi onde o software de controle com interface gráfica realiza as simulações, o controle PID e a comunicação via bluetooth com a unidade escrava. Experimentos foram realizados para testar e validar a simulação do perfil térmico do forno, do alimento e o controlador PID. Concluiu-se que é possível um controle de um forno industrial em escala piloto com simulação em tempo real utilizando computação de baixo custo. / Based on the dramatic evolution of electronic devices in the last 35 years and the recent advent of low cost computational hardware, embedded sensors have become a cost-effective solution for real time machine monitoring and simulation. The objective of this thesis is to present both software and hardware intended for the real-time simulation and control of a conveyor belt tunnel oven using low cost embedded hardware, to ensure high quality food production. For this purpose, mathematical modelling and simulation of the temperature profile inside the oven was performed in order to supply the control system with the calculated temperature of the food in real time, using only the fixed sensors inside the oven. This simulation information is passed to the PID controller, ensuring that the desired temperature profile for heating the food is achieved, improving the quality of the final product. The system has two units, a slave that is located on the main body consisting of an Arduino mini and the instrumentation for controlling the sensors and actuators. The second unit is the master unit, which utilises a Raspberry pi to host the control software, the graphical user interface the PID controller and manages the Bluetooth connection with the slave unit. Experiments were performed in order to test and validate the thermal profile simulation of the oven and the food, as well as to test the PID controller. It was concluded that it is possible to control a prototype scale industrial oven using real time simulation with a low-cost computation unit.

This report deals with the possibilities of creating a system for a point-to-point audio- and video communication link, using cheap and simple hardware. The system will be using a local area network based on Ethernet and IP. This work was focused around the Raspberry Pi and its possibilities and limitations, regarding this type of application. The usage of a Raspberry Pi was also compared to using a conventional mini-PC for the same purpose. The overall goal was to achieve a system for point to point audio- and video communication of a very high quality, preferrably HD quality. The users of the system are supposed to get a feeling of live communication. To achieve this a very large monitor was used at each node. The monitor, microphone, camera and speaker are to be integrated into a frame that is hung on a wall in order to resemble a window. When you want to talk to somebody at the other node, you just walk up to this window and call upon the person you want to speak to, since the communications link is always active. This system could be used for distance meetings, distance lectures and in other similar situations. The results indicated that the Raspberry Pi was very capable of handling either transmission or reception of HD quality signals, but for full duplex communication a setup using two separate Raspberry Pis per node is recommended – one for transmission and one for reception. Another solution would be to choose a more powerful hardware platform,for instance a mini-PC, instead of the Raspberry Pi.

Many industries have been transformed to better perform in today’s digital age. In this project a solution for digitalizing printed sheet music as well as automating piano playing is researched, developed and built. The project was divided into three sub-systems, the first focusing on the digitalizing of sheet music, the second on identifying and classifying the notes and the third on playing the piano. These were later combined to form a demonstrator called Mozart2000, or M2k. The result was a robot which could determine the note pitch of an arbitrary note, or note combination, written in common music notation, and furthermore play these on the piano. The algorithm is based of off finding coordinates for stafflines and notes using image processing. Programming was done in Python with some functions extracted from the library OpenCV (Open Source Computer Vision). The piano playing mechanism uses solenoids and lever arms, controlled by electrical signals from a Raspberry Pi. Due to scope in budget and time some restrictions were made. The note range for the robot was limited to one octave, meaning 8 piano keys. Moreover, other musical information such as rhythmical and coloring were overlooked and set to a predetermined value. For the digitalizing part, a camera was used, taking a snapshot of one musical bar. The final solution however can be expanded to include additional keys and music segments by replicating the existing mechanism. / I detta projekt söks en lösning för digitalisering av tryckt notskrift, mot bakgrund av en ökande efterfrågan på digitala lösningar. Parallellt undersöks möjligheterna till att automatisera pianospel. För att underlätta arbetet delades projektet in i tre delsystem; det första fokuserade på digitalisering av notpapper, det andra på att hitta och identifiera noter, och det tredje på pianospelet. Delsystemen kunde därefter integreras och resulterade då i Mozart2000, M2k. Den slutgiltiga lösningen är en robot som kan bestämma tonhöjden från ett notpapper och spela dessa på ett piano. Den framtagna algoritmen bygger på att hitta koordinater för notlinjer och noter, jämföra dessa sinsemellan och tilldela dessa utgångar på en Raspberry Pi. Från dessa skickas elektriska signaler till en krets bestående av bland annat transistorer och frihjulsdioder, som i sin tur är kopplade till solenoider. Dessa solenoider kopplade till egentillverkade fingrar kommer sedan att slå an tangenterna på pianot. Eftersom projektet var begränsat i tid och budget gjordes ett antal förenklingar. Till exempel skulle Mozart2000 hålla sig till en oktav, det vill säga åtta toner. Vidare skulle rytmen vara en konstant och endast en takt skulle analyseras och spelas åt gången. Det bedöms dock möjligt att duplicera systemet för att täcka ett större notomfång och/eller fler takter.

Today orienteering competitions use digital sensors to collect the punches from each runner. This is done by a chip that the runner carries and punches at each control where a sensor is placed. This data is then collected and processed by a computer program to calculate the results. Since the orienteering competitions often occur in areas without common infrastructures, it requires the organisers to build their own for power and network. This thesis set out to investigate if it is possible to build a system where the data could be read, processed and presented without these locally built infrastructures. Furthermore, it investigates how much power the system would require. To test this a Raspberry Pi computer is used, where an orienteering sensor alongside a 4G modem is connected. On the Raspberry Pi a program is built for reading the data via an API communicating with the sensor. Then through mobile network the reserved data is sent to a result calculation server. These results are then presented on a website in order of best time. The energy consumption is measured through the amount of current the device uses. It was discovered that the device’s peak current was 798 mA which leads to that for a standard competition time of 8 hours a battery with the capacity of 6384 mA·h would be required. / Idag använder orienteringstävlingar digitala sensorer för att registrera stämplingar för de tävlande. Det görs med ett chip som löparen har med sig och stämplar i sensorer vid varje kontroll. Detta data läses sedan av och processas av ett datorprogram för att kalkylera ett resultat. Eftersom orienteringstävlingar ofta sker i områden utan allmän infrastruktur, krävs det att arrangören bygger upp egen infrastruktur för elektricitet och nätverk. Den här avhandlingen avser att undersöka om det är möjligt att bygga ett system där datat inhämtas, processas och presenteras utan att behöva bygga upp denna lokala infrastruktur. Vidare är syftet att undersöka hur mycket energi ett sådant system kräver. För att göra detta används en Raspberry Pi dator med en orienteringssensor och ett 4G modem. På Raspberry Pi:en skapas ett program vilket läser ut orienteringschipets data via ett API som kommunicerar med sensorn, och skickar via mobilt nätverk datat till en resultatberäkningsserver. Dessa resultat presenteras sedan på en webbsida. Den krävda batterikapaciteten beräknas utifrån hur mycket ström Raspberry Pi:en använder. Undersökningen visade att datorns maximala strömförbrukning var 798 mA vilket leder till att den krävda batterikapaciteten för att klara en tävlingsdag på 8 timmar är 6384 mA·h.