This report explores the integration of 5G cellular networks with Time-Sensitive Networks (TSN), focusing on network latencies. While mobile 5G networks offer high bandwidth and low latency, TSN is an IEEE standard-based wired solution used in real-time applications for deterministic data transmission with low latency and high reliability. Integrating TSN with 5G could significantly enhance scalability, particularly in industrial automation, by providing flexibility, efficiency, and responsiveness. When combining 5G capabilities with TSN, seamless communication across wired and wireless domains becomes achievable. 5G supports several Quality of Service (QoS) flows with different priorities that must map to TSN QoS to ensure smooth integration. To meet TSN's requirements for latency and jitter, effective traffic translation and forwarding between the networks are crucial. This thesis aims to address key questions regarding traffic translation, QoS implementation, and latency in both TSN and 5G networks. Through experiments and evaluations, we assess latency and network capabilities. Understanding these metrics is essential for devising effective integration strategies. Our findings indicate that integrating 5G with TSN is feasible for achieving low latencies for packet sizes below 128-bytes. However, as packet sizes increase, latencies and jitter rise significantly. This result indicates that Firecell 5G technology may have difficulties efficiently handling larger packet sizes without latency degradation. Additionally, leveraging QoS functionalities in the current version of OpenAirInterface (OAI), which forms the foundation of the utilized Firecell 5G, is currently unattainable. This thesis highlights the importance of implementing QoS functionalities to maintain low latencies and jitter in targeted network applications. / Denna rapport undersöker den potentiella integrationen av 5G-mobilnät med tidskänsliga nätverk (TSN), med fokus på nätverksfördröjningar. Medan 5G-nät erbjuder hög bandbredd och låg fördröjning, är TSN en IEEE-standardiserad trådbunden teknik som används i realtidsapplikationer för deterministisk dataöverföring med låg fördröjning och hög tillförlitlighet. Att integrera TSN med 5G kan avsevärt förbättra skalbarheten, särskilt inom industriell automation, genom att erbjuda flexibilitet, effektivitet och låg fördröjning. Genom att kombinera 5G med TSN blir tidskänslig kommunikation över trådbundna och trådlösa nätverk möjligt. 5G stödjer flera kvalitetsnivåer för tjänster (QoS) med olika prioriteringar som måste anpassas till TSN:s QoS för att säkerställa en smidig integration. För att möta TSN:s krav på fördröjning och jitter är effektiv datahantering mellan nätverken avgörande. Denna avhandling behandlar centrala frågor kring datahantering, QoS-implementering och fördröjning i både TSN och 5G-nätverk. Genom experiment och utvärderingar får vi fram information om fördröjning och nätverkskapacitet i TSN-5G, vilket är avgörande för att utveckla effektiva integrationsstrategier. Våra resultat visar att integrationen av TSN-5G uppnår låg fördröjning för paketstorlekar under 128 byte. När paketstorleken ökar, ökar också fördröjning och jitter avsevärt. Resultaten visar att Firecell 5G-teknologin har svårigheter att effektivt hantera större paketstorlekar utan ökad fördröjning. Utöver detta är det för närvarande inte möjligt att använda QoS-funktioner i den nuvarande versionen av OpenAirInterface (OAI), vilket är mjukvaran Firecell 5G bygger på. Denna avhandling understryker vikten av att kunna implementera QoS-funktioner för att upprätthålla låg fördröjning och jitter i specifika nätverksapplikationer.

The diploma thesis deals with design and development of the system which detects and numbers train carriages in compliance with International Union of Railways. Firstly, methods for correct detection of passing wheel including time records are analysed. Also, the summary of detection sensors used in railway industry is referred. I analyse meaning of each digit in numbering according to the UIC. The system solution is designed and the interaction and communication with other sub-systems is discussed. I put emphasis on the kind of solution that returns as accurate record as possible under any circumstances. The system operates in real time. Further, the results of measuring program are back-tested in order to verify low-deviation of measuring system component. The following section describes program prototype, which processes the recorded data. The algorithms which I used for the detection of wheel and train carriages are described. In the following chapter I discuss the usage of an external camera detecting the numbers in accordance to the UIC. In the last chapter, I describe the test environment in which the solution has been tested, and summarize the results of tests on a real life railway.

Resumo: Os prejuízos causados à pecuária brasileira pelo carrapato (Rhipicephalus (B.) microplus) são significativos e, uma das estratégias utilizadas para aumentar a produtividade dos rebanhos nas regiões tropicais tem sido a utilização de raças mais resistentes a esse ectoparasita. O objetivo desse projeto foi aplicar a tecnologia de microarray de DNA para a prospecção de genes relacionados com os mecanismos de resistência/tolerância ao carrapato, mediante a análise da expressão gênica diferencial em linfonodos de bovinos suscetíveis (Aberdeen Angus) e resistentes (Nelore) infestados artificialmente com este parasita. Os bezerros foram mantidos livres de carrapato desde o nascimento e foram infestados artificialmente com larvas de carrapato aos quatro meses de idade. As biópsias de linfonodo foram realizadas antes e após a infestação e mantidas a -80°C até o seu processamento. Essas amo stras foram submetidas a extração de RNA, síntese de cDNA e marcação . Depois elas foram submetidas a hibridização pela técnica de microarray. Foram identificados 341 genes diferencialmente expressos nos bovinos da Raça Angus e 254 para bovinos da Raça Nelore, os quais foram agrupados em categorias funcionais. Foram identificadas diferenças no padrão de expressão de genes de resposta imune entre as raças, tais como: Moléculas CD, Imunoglobulinas, Fator de Necrose tumoral, Integrinas e Interferon-γ. Para validação dos resultados de expressão diferencial foi empregada a técnica de PCR em tempo real, onde se verificou a expressão dos genes das citocinas IL-5 e IL12p40 nas duas Raças estudadas. / Abstract: Significant losses are brought by ticks (Rhipicephalus (B.) microplus) to Brazilian beef farming. One of the strategies to increase yield in tropical regions is the use of resistant breeds. This study was undertaken to apply the DNA microarray technology for the prospection of genes related to tick resistance/tolerance mechanisms, through differential gene expression analysis in lymphonodes of susceptible (Aberdeen Angus) and resistant (Nelore) breeds artificially infested with the parasite. Calves were kept tick-free since birth and infested with tick larvae when they reached four months of age. Lymphonode biopsies were performed before and after infestation and kept at -80°C until analyses. Samples were subjected to RNA extraction, cDNA synthesis and labelling. Hybridization was then performed through the microarray technique. In Angus, 341 differentially expressed genes were found against 254 in Nelore, which were grouped in functional categories. Different expression patterns were identified immune response genes between breeds, such as: CD molecules, Immunoglobulines, Tumor Necrosis Factor, Integrins and Interferon-γ. Real-time PCR was used to validate results, which showed the expression of cytokines IL-5 and IL12p40 in both breeds. / Orientador: Luiz Roberto Furlan / Coorientador: Márcia Cristina de Sena Oliveira / Banca: Maria Inês Tiraboschi Ferro / Banca: Maribel Elizabeth Funes Huacca / Mestre

El alto grado de automatización adquirido en las plantas químicas durante las últimas décadas hace que las tareas de supervisión sean ahora más complejas y delicadas. Esta supervisión requiere de sistemas y herramientas sofisticadas que puedan sacar provecho de los módulos de adquisición de información instalados en planta. Así, el preciso seguimiento de las variables de proceso o la fácil operatividad de los procesos, gracias a los sistemas de control regulatorio actuales, son aspectos relevantes que deben ser contemplados a la hora de dar una respuesta global a las desviaciones del régimen normal de operación.Esta tesis presenta un enfoque global para la gestión de situaciones anormales en plantas químicas. En esta propuesta se contempla el flujo completo de información requerido para responder efectivamente a cualquier situación anormal que se pueda presentar. Mediante esta visión global, primeramente se identifican todos los módulos de planta involucrados en la gestión de fallos; luego se focalizan esfuerzos en mejorar las técnicas que estos módulos usan para su operación; por último, se aprovechan algunas de las sinergias descubiertas mediante esta visión global de la gestión de eventos anormales.De esta forma, el primer capítulo esetablece un primer acercamiento general a las motivaciones y ámbito de las tesis, describiendo rasgos fundamentales en la evolución de la industria química durante los últimos años y los requerimientos asociados al nuevo modelo de supervisión. El segundo capítulo resume las técnicas y aplicaciones actuales para reducir el riesgo de incidencias y accidentes en procesos químicos. Este resumen se centra principalmente en aquellas metodologías más empleadas en la literatura y aquellas con más aceptación en ambientes industriales. Una vez analizado el estado del arte en la supervisión de procesos, se propone un enfoque global de gestión de eventos anormales en el tercer capítulo, que presenta los eslabones de la cadena de gestión de eventos anormales, los cuales serán abordados en detalle en los capítulos restantes.De esta forma, el capítulo 4 se centra en la mejora de los sistemas de adquisición de datos y su posterior tratamiento mediante reconciliación con modelos del proceso. Los capítulos 5, 6, 7 y 8 se dedican al estudio de la parte central de cualquier sistema de respuesta a eventos anormales, el módulo de diagnóstico. El capítulo 5 formaliza el problema de diagnosis y estandariza los índices de evaluación de funcionamiento de los sistemas de diagnóstico. Los capítulo 6 y 7 preentan dos nuevos sistemas de diagnosis basados en el uso de datos históricos. El primero desarrollado en el capítulo 6, implementa un algoritmo de aprendizaje llamada "Máquinas de soporte vectorial" (SVM) adoptando un enfoque "MultiEtiqueta" que permite el diagnóstico eficaz de fallos simultáneos. El segundo sistema (capítulo 7) integra un módulo de detección basado en un modelo de Análisis de Componentes Principales y un módulo de diagnóstico basado en reglas "si-entonces". Como compendio de la diagnosis, el capítulo 8 estudia las fuerzas y debilidades de los sistemas de diagnóstico propuestos y propone una integración de módulos de diagnóstico complementarios que supera el rendimiento de cualquiera de los sistemas por separado.Los capítulos 9 y 10 están centrados en la toma efectiva de decisiones frente a desviaciones del régimen normal de operación. El capítulo 9 presenta una metodología novedosa de integración de conocimiento del proceso en línea y fuera de línea, que permite generar información sustancial de soporte al operador en la toma de decisiones. El capítulo 10 se centra también en la toma de decisiones, mostrando las sinergias generadas al integrar el sistema de diagnosis con otros módulos de planta. En este capítulo el sistema global de gestión de eventos anormales es complementado con un módulo de optimización en línea. De esta forma el nuevo soporte a la toma de decisiones frente a perturbaciones no sólo tiene en cuenta aspectos relacionados con la seguridad sino también con la economía de la planta. Además, la integración permite que la técnica de optimizaicón empleada sea más fiable en su aplicación.Todos los capítulos incluyen una primera parte teórica seguida de una segunda parte centrada en la validación académica e industrail. Aquellos temas que exceden el alcance de estas tesis, son comentados y propuestos como trabajo futuro en el capítulo 11. / The hight automation acquired in chemical industry during last decades has made supervision a delicate and complex task. Therefore, current plants supervision require of sophisticated systems and tools that can create profit from the information installed modules. Thus, the precise tracking of process variables or the high plant operability, achieved by the current regulatory control, are aspects that must be contemplated when the plant has to give a global response against deviations from normal operating regime. This thesis presents a global approach for the management of abnormal situations in chemical plants. In this proposal the complete flow of information required to respond to any nonstandard situation is considered. This global approach incorporates several key aspects: first, all the plant modules that are necessary in the faults management are presented; secondly, this thesis focuses on improving the techniques used in each of these modules so far. Lastly, synergies discovered by the proposed global approach are used to develop novel and promising solutions to address process safety and optimization difficulties.

This report presents optimal control methods integrated with hierarchical control framework to realize real-time collision-free optimal trajectories for motion control in kinematic chain manipulator (KCM) robot systems under dynamic environments. Recently, they have been increasingly used in applications where manipulators are required to interact with random objects and humans. As a result, more complex trajectory planning schemes are required. The main objective of this research is to develop new motion control strategies that can enable such robots to operate efficiently and optimally in such unknown and dynamic environments. Two direct optimal control methods: The direct collocation method and discrete mechanics for optimal control methods are investigated for solving the related constrained optimal control problem and the results are compared. Using the receding horizon control structure, open-loop sub-optimal trajectories are generated as real-time input to the controller as opposed to the predefined trajectory over the entire time duration. This, in essence, captures the dynamic nature of the obstacles. The closed-loop position controller is then engaged to span the robot end-effector along this desired optimal path by computing appropriate torque commands for the joint actuators. Employing a two-degree of freedom technique, collision-free trajectories and robot environment information are transmitted in real-time by the aid of a bidirectional connectionless datagram transfer. A hierarchical network control platform is designed to condition triggering of precedent activities between a dedicated machine computing the optimal trajectory and the real-time computer running a low-level controller. Experimental results on a 2-link planar robot are presented to validate the main ideas. Real-time implementation of collision-free workspace trajectory control is achieved for cases where obstacles are arbitrarily changing in the robot workspace.

A realtime wireless motion tracking system is developed. The system is capable of tracking the orientations of multiple wireless sensors, using a semi-distributed implementation to reduce network bandwidth and latency, to produce real-time animation of rigid body models, such as the human skeleton. The system has been demonstrated to be capable of full-body posture tracking of a human subject using fifteen devices communicating with a basestation over a single, low bandwidth, radio channel. The thesis covers the theory, design, and implementation of the tracking platform, the evaluation of the platform’s performance, and presents a summary of possible future applications.

This report presents optimal control methods integrated with hierarchical control framework to realize real-time collision-free optimal trajectories for motion control in kinematic chain manipulator (KCM) robot systems under dynamic environments. Recently, they have been increasingly used in applications where manipulators are required to interact with random objects and humans. As a result, more complex trajectory planning schemes are required. The main objective of this research is to develop new motion control strategies that can enable such robots to operate efficiently and optimally in such unknown and dynamic environments. Two direct optimal control methods: The direct collocation method and discrete mechanics for optimal control methods are investigated for solving the related constrained optimal control problem and the results are compared. Using the receding horizon control structure, open-loop sub-optimal trajectories are generated as real-time input to the controller as opposed to the predefined trajectory over the entire time duration. This, in essence, captures the dynamic nature of the obstacles. The closed-loop position controller is then engaged to span the robot end-effector along this desired optimal path by computing appropriate torque commands for the joint actuators. Employing a two-degree of freedom technique, collision-free trajectories and robot environment information are transmitted in real-time by the aid of a bidirectional connectionless datagram transfer. A hierarchical network control platform is designed to condition triggering of precedent activities between a dedicated machine computing the optimal trajectory and the real-time computer running a low-level controller. Experimental results on a 2-link planar robot are presented to validate the main ideas. Real-time implementation of collision-free workspace trajectory control is achieved for cases where obstacles are arbitrarily changing in the robot workspace.

Denna rapport kommer täcka utvecklingen av en Realtidsuppdaterad Dashboardför Flex Applications. Dashboarden kan ses som en interaktiv anslagstavla,ochär en ny moduli Flex Applications befintliga personaladministrationssystem. Under utvecklingen haräven en fördjupning inom ämnet informationsöverbelastninggjorts, då detta har relevans till designen av gränssnittet. Resultatet av detta visar på att det inte finns en given lösning utan snarare riktlinjer för hur designen bör se ut. Applikationen som skrevs till Dashboarden skapades med hjälp av språket TypeScript samt ramverket Angular 2. Applikationen skrevs först självständigt, avskiljt från Flex redan befintliga system.Dettaför att få en förståelse för hur TypeScript och Angular 2ska hanteras, och ävendärför att behovet av en direkt koppling till systemet ej behövdes från start. Applikationen kopplades sedansamman med det befintliga systemet för att kunna visualisera faktisk data. Detta blev lyckat och visade på att den valda systemdesignen fungerade som tänkt. / This report will be covering the creation of the Realtime-Updated Dashboard, made for Flex Applications. The Dashboard, which could be seen as an interactive pinboard, is a new product which will be implemented in Flex Applications existing system for employee administration. A deep-dive into the subject of information overload was also made during thedevelopment of the application. This was later used to question the design choices made. The results of this showed that there is no one correct way of designing an interface, but rather guidelines to help in certain situations. The application was written in the TypeScript language together with the framework Angular 2. The application was at first developed as a stand-alone project as there was no need for it to be integrated into the existing system from the start. This also gave a more relaxed environment while learning TypeScript and Angular2. The application was later integrated with the existing system. This integration was seen as a success as the handling of the data from the database worked as expected.

This master thesis report presents the developement of an INS/GPS navigation loop written in ANSI C++ using a standard matrix library. The filter have been tested on an Unmanned Aerial Vehicle (UAV) called Brumby. Here data have been logged from the Inertial Measurement Unit (IMU) and the Global Positioning System (GPS) receiver. This data have then been postprocessed and run through the navigation filter for estimation of position, attitude and velocity of the vehicle during the flights. The error feedback to the Inertial Navigation System (INS) is done with a complement filter implemented using a kalman filter written in information form.The resulting navigation filter estimates the attitude within two degrees with 95% confidence and the position within two meter using 95% confidence. / <p>Validerat; 20101217 (root)</p>

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