This thesis deals with positional control of DC motor Icla D065 of company SIG Positec Automation GmbH with aid of CAN-Bus and CANopen protocol. Individual parts describe general principle and standards of CAN-Bus and international normalized higher-level protocol CANopen for systems control. For control this motor was used microcontroller PIC18F4685 from company Microchip and developmental environment MPLAB® IDE. With used C language was made program for MCU control communication with a motor by support of CANopen protocol and its motion control. The result of this thesis will be used in solution of research project Intelligent Systems in Automation.

Background: As the requirements for the modern-day comforts are raising from day to day, the great evolution in the field of lawn-mowers is recorded. This evolution made companies produce a fleet of lawn-mowers(commercial, house-hold) for different kinds of usages. Despite the great evolution and market in this field, to the best of our knowledge, no effort was made to understand customer usage by analysis of real-time usage of lawn-mowers. This research made an attempt to analyse the real-time usage of lawn-mowers using techniques like machine learning. Objectives: The main objective of the thesis work is to understand customer usage of lawn-mowers by analysing the real-time usage data using machine learning algorithms. To achieve this, we first review several studies to identify what are the different ways(scenarios) and how to understand customer usage from those scenarios. After discussing these scenarios with the stakeholders at the company, we evaluated a suitable scenario in the case of lawn-mowers. Finally, we achieved the primary objective by clustering the usage of lawn-mowers by analysing the real-world time-series data from the Controller Area Network(CAN) bus based on the driving patterns. Methods: A Systematic literature review(SLR) is performed to identify the different ways to understand customer usage by analysing the usage data using machine learning algorithms and SLR is also performed to gain detailed knowledge about different machine learning algorithms to apply to the real-world data. Finally, an experiment is performed to apply the machine learning algorithms on the CAN bus time-series data to evaluate the usage of lawn-mowers into various clusters and the experiment also involves the comparison and selection of different machine learning algorithms applied to the data. Results: As a result of SLR, we achieved different scenarios to understand customer behaviours by analysing the usage data. After formulating the best suitable scenario for lawn-mowers, SLR also suggested the best suitable machine learning algorithms to be applied to the data for the scenario. Upon applying the machine learning algorithms after making necessary pre-processing steps, we achieved the clusters of usage of lawn-mowers for every driving pattern selected. We also achieved the clusters for different features of driving patterns that indicate the various characteristics like a change of intensity in the usage, rate of change in the usage, etc. Conclusions: This study identified customer behaviours based on their usage data by clustering the usage data. Moreover, clustering the CAN bus time-series data from lawn-mowers gave fresh insights to study human behaviours and interaction with the lawn-mowers. The formulated clusters have a great scope to classify and develop the individual strategy for each cluster formulated. Further, clusters can also be useful for identifying the outlying behaviour of users and/or individual components.

One of the most important business elements in primary and secondary industries is monitoring their equipment. Understanding the usage of heavy logistics machinery can help in realizing the potential of these machinery and improving them. With the purpose of monitoring and quantifying machine usage, Machine Activity Recognition (MAR) problems can be solved with machine learning techniques. In this project, We propose a method of augmented Self-training which collaborates Self-training and data augmentation to solve forklift trucks' MAR problem on Controller Area Network (CAN bus) data. Compared to the standard Self-training method, the augmented Self-training performs data augmentation on pseudo-labeled data to inject noise and to improve model generalization. The best student model of the augmented Self-training achieves 71.8% balanced accuracy (BA) with improvement of 3.0% from applying Supervised Learning solely (68.8% BA). In addition, Matthews Correlation Coefficient (MCC) for the augmented Self-training's best student model reaches 0.658 with an increment of 0.031, compare to an MCC of 0.627 by only applying Supervised Learning. The augmented Self-training improves model performance.

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As is the case with many other manufacturers of vehicles, Volvo Construction Equipment has a constantly increasing amount of electric and electronic equipment in their articulated haulers. These are of great use in modern machines, bringing functions, and safety that were not possible before, but they also bring more cables to handle. In the case of the articulated haulers a quite thick cable harness of about 15 meters in length reaches from the driver’s cabin in the front to the components in the far back end of the vehicle. This is not only a lot of long cables to handle both during assembly and service, but the nature of signals traveling in cables is that the voltage gets weaker with distance. This phenomenon has to be accounted for by measuring devices dependent on the voltage. It has been suggested that a device referred to as an intelligent node, or ICCS-module, which communicates digitally via CAN could be installed in the back of the articulated haulers. This module would be independent of the mentioned drop in voltage. The ICCS-module will be receiving a small bundle of cables being routed from the driver’s cabin. From it cables would go out to a majority of the components in its vicinity. The components connected to the node would not need to have any other cables. This thesis is focused on the mechanical aspects of installing this ICCS-module. Having electric and electronic equipment on construction vehicles is a challenge when it comes to protecting the device from the harsh environment that is the hauler’s exterior. It will have to withstand being immersed in water for long periods of time, greatly varying temperatures, vibrations and shocks as well as being hit by projectiles. The placement as well as the design of the enclosure should be chosen with respect to both the devices length of life and how well it fulfils its intended role and achieves the expected results. To produce an enclosure and find a placement aiming to satisfy these conditions, a traditional product development process were executed. The articulated haulers as well as relevant literature were researched. Concepts were generated and evaluated by both the author and by employees at Volvo Construction Equipment until a final concept for the enclosure and placement were found. The enclosure were then designed in detail specifying the material, manufacturing techniques, controlled for thermodynamic circumstances, modelled in Catia V5 and controlled for vibrations. It was concluded that the enclosure should be able protect the ICCS-module after some more development and that the placement and cable routing results in a much shorter total cable length.

O CAN (Controller Area Network) é um padrão no barramento de comunicação, amplamente difundido em aplicações industriais, particularmente em sistemas automotivos. Atualmente, um dos principais problemas no ramo automotivo é que esse barramento está com muitas mensagens no barramento, resultado da incorporação incremental de sistemas eletrônicos em automóveis, visto que há uma exigência maior de conectividade devido às exigências da sociedade e mercado. Como alternativa, vem sendo desenvolvida uma nova rede de comunicação, conhecida como CAN with Flexible Data-Rate (CAN-FD), que é um barramento com velocidade de transmissão de informação mais alta e maior capacidade de transporte de dados. Este projeto tem por objetivo principal explorar as funcionalidades da rede CAN-FD, através de simulações do trânsito de mensagens numa rede CAN-FD usando os dados de uma rede real CAN, e verificando a previsibilidade de ambas no âmbito de um protocolo que possa atender à demanda de sistemas complexos. A comparação é executada a partir de um conjunto de mensagens adicionadas na rede, para verificar os limites de transmissão de cada uma das redes, e os respectivos tempos de atraso das mensagens. Como um segundo estudo de caso, uma rede de controle em malha fechada foi desenvolvida, conectada a um barramento CAN e um barramento CAN-FD. Essa técnica de controle permitiu eliminar os ruídos que interferem no controle, e checar o limite em que o protocolo de comunicação consegue manter em uma malha de controle funcionando. Os resultados mostraram que é possível transmitir uma imensa quantidade de dados com o menor uso do busload (quantidade de mensagens transmitidas) no veículo através do uso do barramento CAN-FD, porém ainda não foi lançado no mercado um controlador do CAN-FD para realizar essa tarefa. Por outro lado, os dois protocolos, CAN-FD e CAN, tem suas previsibilidades comprometidas pois não conseguem enviar a mensagem quando o barramento está superior a 98,86% de carga. / The CAN (Controller Area Network) is a standard in the communication bus, widespread in industrial applications, particularly in automotive systems. Currently, one of the main problems in the automotive industry is that this bus is with many messages on the bus, the result of incremental incorporation of electronic systems in automobiles, since there is a greater demand for connectivity due to the demands of society and the market. Alternatively, it has been developed a new communications network, known as CAN with Flexible Data-Rate (CAN-FD), which is a bus with transmission speeds higher and higher capacity data transport information. This project\'s main objective is to explore the features of the network CAN-FD, through simulations of the traffic of messages on a CAN network FD using data from a real CAN network, and verifying the predictability both in the context of a protocol that can meet the demand complex systems. The comparison is performed from a set of messages added to the network to verify the boundaries of each of the transmission networks and the respective delay times of the messages. As a second case study, a network of closed-loop control was developed, connected to a CAN bus and CAN bus FD. This control technique has eliminated the noises that interfere with the control and check the extent that the communication protocol can keep a control loop running. The results showed that it is possible to transmit a huge amount of data with the lowest usage busload (amount of transmitted messages) to the vehicle through the use of CAN bus FD, but not yet released to market a CAN controller FD to accomplish this task . Moreover, both protocols, CAN-FD and CAN has its predictability compromised because they are unable to send the message when the bus is more than 98.86% load.

O CAN (Controller Area Network) é um padrão no barramento de comunicação, amplamente difundido em aplicações industriais, particularmente em sistemas automotivos. Atualmente, um dos principais problemas no ramo automotivo é que esse barramento está com muitas mensagens no barramento, resultado da incorporação incremental de sistemas eletrônicos em automóveis, visto que há uma exigência maior de conectividade devido às exigências da sociedade e mercado. Como alternativa, vem sendo desenvolvida uma nova rede de comunicação, conhecida como CAN with Flexible Data-Rate (CAN-FD), que é um barramento com velocidade de transmissão de informação mais alta e maior capacidade de transporte de dados. Este projeto tem por objetivo principal explorar as funcionalidades da rede CAN-FD, através de simulações do trânsito de mensagens numa rede CAN-FD usando os dados de uma rede real CAN, e verificando a previsibilidade de ambas no âmbito de um protocolo que possa atender à demanda de sistemas complexos. A comparação é executada a partir de um conjunto de mensagens adicionadas na rede, para verificar os limites de transmissão de cada uma das redes, e os respectivos tempos de atraso das mensagens. Como um segundo estudo de caso, uma rede de controle em malha fechada foi desenvolvida, conectada a um barramento CAN e um barramento CAN-FD. Essa técnica de controle permitiu eliminar os ruídos que interferem no controle, e checar o limite em que o protocolo de comunicação consegue manter em uma malha de controle funcionando. Os resultados mostraram que é possível transmitir uma imensa quantidade de dados com o menor uso do busload (quantidade de mensagens transmitidas) no veículo através do uso do barramento CAN-FD, porém ainda não foi lançado no mercado um controlador do CAN-FD para realizar essa tarefa. Por outro lado, os dois protocolos, CAN-FD e CAN, tem suas previsibilidades comprometidas pois não conseguem enviar a mensagem quando o barramento está superior a 98,86% de carga. / The CAN (Controller Area Network) is a standard in the communication bus, widespread in industrial applications, particularly in automotive systems. Currently, one of the main problems in the automotive industry is that this bus is with many messages on the bus, the result of incremental incorporation of electronic systems in automobiles, since there is a greater demand for connectivity due to the demands of society and the market. Alternatively, it has been developed a new communications network, known as CAN with Flexible Data-Rate (CAN-FD), which is a bus with transmission speeds higher and higher capacity data transport information. This project\'s main objective is to explore the features of the network CAN-FD, through simulations of the traffic of messages on a CAN network FD using data from a real CAN network, and verifying the predictability both in the context of a protocol that can meet the demand complex systems. The comparison is performed from a set of messages added to the network to verify the boundaries of each of the transmission networks and the respective delay times of the messages. As a second case study, a network of closed-loop control was developed, connected to a CAN bus and CAN bus FD. This control technique has eliminated the noises that interfere with the control and check the extent that the communication protocol can keep a control loop running. The results showed that it is possible to transmit a huge amount of data with the lowest usage busload (amount of transmitted messages) to the vehicle through the use of CAN bus FD, but not yet released to market a CAN controller FD to accomplish this task . Moreover, both protocols, CAN-FD and CAN has its predictability compromised because they are unable to send the message when the bus is more than 98.86% load.

Since the mid 90's computer communication has become more and more common in cars and other auto mobiles. CAN based networks with sensors transmitting small data packets are utilized in the automotive industry to operate and supervise vehicles' functionality. To ease communication several higher layer protocols for CAN based networks have been developed. In some applications it is necessary to exchange information between networks using different protocols, and by connecting the two networks to a gateway, the information is translated and forwarded and intercommunication is enabled. This master thesis is conducted at Torqeedo GmbH, Munich. Theme of the thesis was “Designing and Development of a Data Logging and Monitoring Tool”. Term “data logging” refers to the gathering or collection of specific data over a period of time. Monitoring means evaluate the data we are logging. Tools for data logging and monitoring are used in variant application these days. In medical, in-vehicle data logging and environment monitoring. This data could be voltage, current temperature, Time stump, heartbeat of the patient, vehicle fuel level etc. To capture and log data various communication channels used. Such channel varies from simple data cable to satellite link. There are variant protocols used for different communication channels. For our DBHS logging and monitoring tool we are using CANopen protocol. Main goal of this thesis is to develop a tool which can make debugging easy and log connection box data so we can use logged data later on for offline data analysis and simulation purposes.

Controller Area Networks (CAN&rsquo / s) in vehicles need highly sophisticated software tools to be designed and tested in development and production phases. These tools consume a lot of computer resources and usually have complex user interfaces. Therefore, they are not feasible for vehicle service stations where low-performance computers are used and the workers not very familiar with software are employed. In this thesis, we develop a measurement, calibration, test and diagnosis program -diaCAN- that is suitable for service stations. diaCAN can transmit and receive messages over 3 CAN bus channels. It can display and plot the data received from the bus, import network message and Electronic Control Unit (ECU) configurations, and record bus traffic with standard file formats. Moreover, diaCAN can calibrate ECU values, acquire fault records and test vehicle components with CAN Calibration Protocol functions. All of these capabilities are verified and evaluated on a test bed with real CAN bus and ECUs.

CubeSats are becoming a game changer in the space industry. Appearing first for univer-sity mission, its popularity is increasing for commercial use and for deep space missionssuch as the on HERA mission that will orbit in 2026 around an asteroid as part of aplanetary defence mission. Standardisation and industrial collaboration is key to a fastdevelopment, assuring the product quality and lower development expenditures.In this study the focus is set elaborating a low cost demonstrator platform to be usedfor developing and testing onboard software on physical hardware: a Hardware-Softwaretesting facility. The purpose of such a platform is to create an interactive and accessibleenvironment for developing on board software. The application chosen to be elaboratedon this platform is a module the subsystem of attitude and orbit control of the satelliteorbiting around asteroid.In order to create this platform the simulation of the asteroid environment of theCubeSat has been made using open source software libraries. During this task the per-formance of open source libraries has been compared to commercial alternatives. In thedevelopment of simulation different orbit perturbations have been studied by modellingthe asteroid as a cube or spheroid and additionally the effect of a third perturbing bodyand radiation pressure.As part of this project two microcontroller have been set up communicating using acommunication bus and communication protocols used for space applications to simulatehow the attitude and orbit control is commanded inside the CubeSat.