<p>To render outdoor scenes with lots of vegetation in real time is a big challenge. This problem has important applications in the areas of visualization and simulation. Some progress has been made the last years, but a previously unsolved difficulty has been to combine high rendering quality with abundant variation in scenes. </p><p>I present a method to mathematically generate and render vegetation in real time, with implementation in the scene graph Gizmo3D. The most important quality of the method is its ability to render scenes with many unique specimens with very low aliasing. </p><p>To obtain real time performance, a hierarchical level-of-detail scheme (LOD- scheme) is used which facilitates generation of vegetation in the desired level- of-detail on the fly. The LOD-scheme is texture-based and uses textures that are common for all specimens of a whole species. The most important contribution is that I combine this LOD-scheme with the use of semi- transparency, which makes it possible to obtain low aliasing. </p><p>Scenes with semi-transparency require correct rendering order. I solve this problem by introducing a new method for approximate depth sorting. An additional contribution is a variant of axis-aligned billboards, designated blob, which is used in the LOD-scheme. Furthermore, building blocks consisting of small branches are used to increase generation performance.</p>

<p>Embedded computer systems have become ubiquitous. They are used in a wide spectrum of applications, ranging from household appliances and mobile devices to vehicle controllers and medical equipment. This dissertation deals with design and verification of embedded systems, with a special emphasis on the real-time facet of such systems, where the time at which the results of the computations are produced is as important as the logical values of these results. Within the class of real-time systems two categories, namely hard real-time systems and soft real-time systems, are distinguished and studied in this thesis.</p><p>First, we propose modeling and verification techniques targeted towards hard real-time systems, where correctness, both logical and temporal, is of prime importance. A model of computation based on Petri nets is defined. The model can capture explicit timing information, allows tokens to carry data, and supports the concept of hierarchy. Also, an approach to the formal verification of systems represented in our modeling formalism is introduced, in which model checking is used to prove whether the system model satisfies its required properties expressed as temporal logic formulas. Several strategies for improving verification efficiency are presented and evaluated.</p><p>Second, we present scheduling approaches for mixed hard/soft real-time systems. We study systems that have both hard and soft real-time tasks and for which the quality of results (in the form of utilities) depends on the completion time of soft tasks. Also, we study systems for which the quality of results (in the form of rewards) depends on the amount of computation allotted to tasks. We introduce quasi-static techniques, which are able to exploit at low cost the dynamic slack caused by variations in actual execution times, for maximizing utilities/rewards and for minimizing energy.</p><p>Numerous experiments, based on synthetic benchmarks and realistic case studies, have been conducted in order to evaluate the proposed approaches. The experimental results show the merits and worthiness of the techniques introduced in this thesis and demonstrate that they are applicable on real-life examples.</p>

<p>This thesis explores efficient techniques for high quality real-time rendering of large architectural environments using affordable graphics hardware, as applied to illumination, including window reflections, shadows, and "bump mapping". For each of these fields, the thesis investigates existing methods and intends to provide adequate solutions. The focus lies on the use of new features found in current graphics hardware, making use of new OpenGL extensions and functionality found in Shader Model 3.0 vertex and pixel shaders and the OpenGL 2.0 core. The thesis strives to achieve maximum image quality, while maintaining acceptable performance at an affordable cost.</p><p>The thesis shows the feasibility of using deferred shading on current hardware and applies high dynamic range rendering with the intent to increase realism. Furthermore, the thesis explains how to use environment mapping to simulate true planar reflections as well as incorporates relevant image post-processing effects. Finally, a shadow mapping solution is provided for the future integration of dynamic geometry.</p>

<p>The amount of data handled by real-time and embedded applications is increasing. This calls for data-centric approaches when designing embedded systems, where data and its metainformation (e.g., temporal correctness requirements) are stored centrally. The focus of this thesis is on efficient data management, especially maintaining data freshness and guaranteeing correct age on data.</p><p>The contributions of our research are updating algorithms and concurrency control algorithms using data similarity. The updating algorithms keep data items up-to-date and can adapt the number of updates of data items to state changes in the external environment. Further, the updating algorithms can be extended with a relevance check allowing for skipping of unnecessary calculations. The adaptability and skipping of updates have positive effects on the CPU utilization, and freed CPU resources can be reallocated to, e.g., more extensive diagnosis of the system. The proposed multiversion concurrency control algorithms guarantee calculations reading data that is correlated in time.</p><p>Performance evaluations show that updating algorithms with a relevance check give significantly better performance compared to well-established updating approaches, i.e., the applications use more fresh data and are able to complete more tasks in time. The proposed multiversion concurrency control algorithms perform better than HP2PL and OCC and can at the same time guarantee correct age on data items, which HP2PL and OCC cannot guarantee. Thus, from the perspective of the application, more precise data is used to achieve a higher data quality overall, while the number of updates is reduced.</p> / Report code: LiU-Tek-Lic-2004:67.

<p>Systems controlled by embedded computers become indispensable in our lives and can be found in avionics, automotive industry, home appliances, medicine, telecommunication industry, mecatronics, space industry, etc. Fast, accurate and flexible performance estimation tools giving feedback to the designer in every design phase are a vital part of a design process capable to produce high quality designs of such embedded systems.</p><p>In the past decade, the limitations of models considering fixed task execution times have been acknowledged for large application classes within soft real-time systems. A more realistic model considers the tasks having varying execution times with given probability distributions. No restriction has been imposed in this thesis on the particular type of these functions. Considering such a model, with specified task execution time probability distribution functions, an important performance indicator of the system is the expected deadline miss ratio of tasks or task graphs.</p><p>This thesis proposes two approaches for obtaining this indicator in an analytic way. The first is an exact one while the second approach provides an approximate solution trading accuracy for analysis speed. While the first approach can efficiently be applied to monoprocessor systems, it can handle only very small multi-processor applications because of complexity reasons. The second approach, however, can successfully handle realistic multiprocessor applications. Experiments show the efficiency of the proposed techniques.</p> / Report code: LiU-Tek-Lic-2002:58.

<p>Embedded systems are used in a wide spectrum of applications ranging from home appliances and mobile devices to medical equipment and vehicle controllers. They are typically characterized by their real-time behavior and many of them must fulfill strict requirements on reliability and correctness.</p><p>In this thesis, we concentrate on aspects related to modeling and formal verification of realtime embedded systems.</p><p>First, we define a formal model of computation for real-time embedded systems based on Petri nets. Our model can capture important features of such systems and allows their representations at different levels of granularity. Our modeling formalism has a welldefined semantics so that it supports a precise representation of the system, the use of formal methods to verify its correctness, and the automation of different tasks along the design process.</p><p>Second, we propose an approach to the problem of formal verification of real-time embedded systems represented in our modeling formalism. We make use of model checking to prove whether certain properties, expressed as temporal logic formulas, hold with respect to the system model. We introduce a systematic procedure to translate our model into timed automata so that it is possible to use available model checking ools. Various examples, including a realistic industrial case, demonstrate the feasibility of our approach on practical applications.</p>

<p>Critical networks require defence in depth incorporating many different security technologies including intrusion detection. One important intrusion detection approach is called anomaly detection where normal (good) behaviour of users of the protected system is modelled, often using machine learning or data mining techniques. During detection new data is matched against the normality model, and deviations are marked as anomalies. Since no knowledge of attacks is needed to train the normality model, anomaly detection may detect previously unknown attacks.</p><p>In this thesis we present ADWICE (Anomaly Detection With fast Incremental Clustering) and evaluate it in IP networks. ADWICE has the following properties:</p><p>(i) Adaptation - Rather than making use of extensive periodic retraining sessions on stored off-line data to handle changes, ADWICE is fully incremental making very flexible on-line training of the model possible without destroying what is already learnt. When subsets of the model are not useful anymore, those clusters can be forgotten.</p><p>(ii) Performance - ADWICE is linear in the number of input data thereby heavily reducing training time compared to alternative clustering algorithms. Training time as well as detection time is further reduced by the use of an integrated search-index.</p><p>(iii) Scalability - Rather than keeping all data in memory, only compact cluster summaries are used. The linear time complexity also improves scalability of training.</p><p>We have implemented ADWICE and integrated the algorithm in a software agent. The agent is a part of the Safeguard agent architecture, developed to perform network monitoring, intrusion detection and correlation as well as recovery. We have also applied ADWICE to publicly available network data to compare our approach to related works with similar approaches. The evaluation resulted in a high detection rate at reasonable false positives rate.</p> / Report code: LiU-Tek-Lic-2006:12.

<p>Much functionality of today's vehicles runs as software on embedded computer systems. This includes, for example, automatic climate control and engine control.</p><p>As the processors necessarily are located in diffent physical locations inside the vehicle wires must be drawn between processors that need to communicate. Therefore, it is typical to have one or several buses connecting the processors in an embedded computer network, thus creating a distributed system. As some parts of the system in the car have real-time properties, it is necessary to validate that the real-time properties are upheld in the distributed system.</p><p>This thesis presents the design and implementation of an adaptive cruise controller (ACC), which is a cruise controller that also keeps a minimum distance to the closest vehicle in front. Further, the performance of the ACC has been evaluated using an existing system-level simulator for distributed real-time systems together with metrics for Quality-of-Control (QoC).</p><p>The ACC has then been simulated under different scenarios. The scenarios include outside conditions, for example the slope of the road, the behaviour of the vehicle in front, and the desired velocity, as well as internal conditions as adding different amounts of extra load on the processors and the bus.</p><p>The results show that the functionality of the ACC starts deteriorating when the extra load on the nodes reaches high levels. When the extra load reaches very high levels, the ACC stops functioning completely. The results also show that the extra load on the bus has very little effect on the performance of the ACC.</p>

<p>As real time visualizations become more realistic it also becomes more important to simulate the perceptual effects of the human visual system. Such effects include the response to varying illumination, glare and differences between photopic and scotopic vision. This thesis evaluates several different tone mapping methods to allow a greater dynamic range to be used in real time visualisations. Several tone mapping methods have been implemented in the Avalanche Game Engine and evaluated using a small test group. To increase immersion in the visualization several filters aimed to simulate perceptual effects has also been implemented. The primary goal of these filters is to simulate scotopic vision. The tests showed that two tone mapping methods would be suitable for the environment used in the tests. The S-curve tone mapping method gave the best result while the Mean Value method gave good results while being the simplest to implement and the cheapest. The test subjects agreed that the simulation of scotopic vision enhanced the immersion in a visualization. The primary difficulties in this work has been lack of dynamic range in the input images and the challenges in coding real time graphics using a graphics processing unit.</p>

<p>Switched Ethernet is an Ethernet LAN that uses switches to connect individual nodes. </p><p>This is popular because of its effective and convenient way of extending the bandwidth of </p><p>existing Ethernets. Switched Ethernet is being considered by the industry community because </p><p>of its open standardization, cost effectiveness, and the support for higher data rates up to </p><p>10Gbps. Even though many special-purposed solutions were proposed to support time </p><p>constrained communication over Switched Ethernet, still there were some doubts about the </p><p>real time handling capability of Switched Ethernet. To achieve reliable transmission </p><p>guarantees for real time traffic over Switched Ethernet, it is important to measure the </p><p>performance of Switched Ethernet networks for real time communication. In this thesis work </p><p>we have observed the average end-to-end packet delay for real time traffic over a Switched </p><p>Ethernet by simulation, which is very much essential for real time communication in </p><p>industrial applications, where the communication is time-deterministic. In our thesis we used </p><p>FCFS priority queuing in both the source nodes and switch. In this thesis we also discussed </p><p>about the feasibility analysis for fixed sized frames and some traffic handling methods. We </p><p>used 100mbp/s single full duplex Ethernet switch for our simulation. Finally simulation </p><p>analysis and simulation results are discussed. Our purpose of simulation of Switched Ethernet </p><p>networks is of good importance for the real time industrial applications.</p>