Most SCADA devices have a few built-in self-defence mechanisms and tend to implicitly trust communications received over the network. Therefore, monitoring and forensic analysis of network traffic is a critical prerequisite for building an effective defense around SCADA units. In this thesis work, We provide a comprehensive forensic analysis of network traffic generated by the PCCC(Programmable Controller Communication Commands) protocol and present a prototype tool capable of extracting both updates to programmable logic and crucial configuration information. The results of our analysis shows that more than 30 files are transferred to/from the PLC when downloading/uplloading a ladder logic program using RSLogix programming software including configuration and data files. Interestingly, when RSLogix compiles a ladder-logic program, it does not create any lo-level representation of a ladder-logic file. However the low-level ladder logic is present and can be extracted from the network traffic log using our prototype tool. the tool extracts SMTP configuration from the network log and parses it to obtain email addresses, username and password. The network log contains password in plain text.

This master's thesis investigated the possibility to control the clutch torque in order to better traverse a Scania vehicles powertrain backlash. When traversing a backlash the torque difference between the two gears will at the time of contact excite oscillations in the powertrain, and by controlling the torque these oscillations can be minimized. The master's thesis solves this issue in three major steps. First a Simulink model was created to mimic the actual vehicles powertrain as closely as possible. It was created using mostly Simdriveline components and then validated by comparing simulations to measurements from real drives. After that backlash position and backlash size observers were created in order to estimate them. Using the developed Simulink model these observers could then be evaluated, and the backlash position observer proved to be very precise while the backlash size observer was not as precise but still usable. Finally a control strategy was devised, by using the estimates from the developed observers it was supposed to control the clutch torque in a better way than previously done. The controller was a switching controller that simply used the full engine torque while the backlash was in contact, and a P controller to control the clutch torque while performing a backlash traverse. The controller proved to perform well and was robust to errors in the backlash size. Future work to be done could be to develop a shaft torque observer for use in the already developed observers.

Today, tightening tools are widely used in the industry and on the market you will find several products that have been assembled with the help of tightening tools. For example, tightening tools are used in the automotive industry and when assembling computer hardware. It is important that the tightening tools are robust and of high quality in order to fulfil the demanded requirements. High assembly speed has entailed an extensive use of tightening tools. To ensure that the tightening tools have the desired properties, tightening tools are tested continuously using so-called test systems. This puts high demands on the test systems since it is of importance that the tightening tools can be tested in a simple, fast and reliable way as well as repeatedly. Therefore, Atlas Copco would like to investigate whether a test system constructed with an electrical motor is a good choice. The idea of this thesis is to investigate possibilities and limitations in a test system consisting of an electrical motor that emulates the behaviour of a screw joint. To be able to investigate hardware limitations a test rig is constructed and then modelled in MATLAB. Further, simulations have been carried out in order to analyse the possibilities and limitations of such a test rig. The conclusion is that the implemented LQ controller seems to be able to control the braking motor sufficiently like a screw joint.

Dans l’industrie, l’automaticien doit concevoir une loi de commande unique qu’il valide sur un prototype unique, ayant un degré de robustesse suffisant pour satisfaire un cahier des charges complexe sur un grand nombre de systèmes. Pour cela, la méthodologie de développement qu’il emploie consiste en un processus itératif expérimental (phase d’essai-erreur), qui fait grandement appel à l’expérience de l’ingénieur. Dans cette thèse, on tente de rendre la méthodologie de synthèse des correcteurs des asservissements plus efficace car plus directe et donc moins couteuse en temps de développement en calculant un correcteur final (structuré) par une attaque directe de la spécification système haut niveau. La complexité des spécifications systèmes haut-niveau nous pousse à l’emploi des métaheuristiques : ces techniques d’optimisation ne nécessitent pas la formulation du gradient, la seule contrainte étant la possibilité d’évaluer la spécification. Ainsi avons-nous proposé dans ce travail de reformuler les problèmes de commande robuste pour l’optimisation stochastique : on montre dans ce travail comment on peut synthétiser des correcteurs structurés à partir de problématiques de type H ou -synthèse et on montre que l’intérêt de l’approche formulée réside dans sa flexibilité et la prise en compte de contraintes « exotiques » complexes ; les algorithmes évolutionnaires s’avérant très performants et compétitifs, nous avons finalement développé sur cette base une méthode originale de synthèse de correcteurs structurés et robustes vis-à-vis de critères d’optimisation de forme quelconque. La validation de ces travaux a été réalisée sur des exemples industriels de viseurs. / In the industrial framework, the control engineer must design a unique control law that valid on a single prototype, with a sufficient degree of robustness to satisfy a complex specification on many systems. For that purpose, his development methodology consists of an experimental iterative process (trial and error phase), which relies heavily on the experience of the engineer. In this thesis, we try to make the methodology for computing controllers more efficient and more direct with a less costly development time by calculating a final structured controller by a direct optimization on the high level specification.The complexity of high-level specifications pushes us to the use of metaheuristics: these optimization techniques do not require the formulation of the gradient, the only constraint being the possibility of evaluating the specification. Thus we proposed in this work to reformulate robust control problems for stochastic optimization: we show in this work how to synthesize structured controllers for control problems such H synthesis or -synthesis and show that the interest of the formulated approach lies in its flexibility and the consideration of exotic complex constraints. Evolutionary algorithms proving very effective and competitive, we finally developed on this basis a new method for synthesizing robust and structured controllers with respect to any form of optimization criteria. The validation of this work was carried out on the industrial example of the line of sight stabilization problem.

The purpose of this thesis is to explore the current state of automated guided vehicles (AGVs), sensors available for the vehicles to be equipped with, control systems for the vehicles to run on, and wireless technology to connect the whole system together. With a technological push towards increasing automation and maximizing the possible throughput of systems, automated technology needs to improve for trackless and wireless systems such as vehicles that can be used to move loads in a vast array of applications. The goal of this research is to develop and propose improvements in both vehicle and control system design that allows for improved safety and efficiency. Right now the main issues are maneuverability of vehicles and control systems being adaptive enough to deal with connection issues between systems. While prolonged connection issues will result in a stoppage of operation of any system that relies on wireless communication, intermittent issues can also cause systems to have an emergency stop. I have looked into ways to offload tasks from the central system and allow the vehicles themselves to have more computational privileges such that they can operate in a semi-independent manner. The result is a proposed system that remedies or limits negative effects that currently cause issues with trackless vehicles and control systems working with remote systems that communicate via wireless means.

The diploma thesis focuses on the problems of operational controllership and the instruments used for their solution. In connection with these issues the thesis also defines the role of the controller, in particular his authorities and responsibilities. The theoretical part of the work looks at the academic conception of controlleship. The practical part describes the main functions, duties, activities and the system of cooperation in between controllership and other departments in particular company. The main aim of the diploma thesis is to compare two main streams of the controllership historial evolution - german stream is pictured in the theoretical part and english stream is pictured in the practical part. All the information used in the thesis were taken from listed literature and also obtained by means of analysis of the company's internal data.

During this master thesis an adaptive control system for angular velocity was developed. The approach focuses on radio controlled quadrotors and thereby targets a computational efficient solution. The adaptation is divided into two steps. First, an Integral Squared Plus Time Delay (I2PD) model estimation is done through the Recursive Least Squares (RLS) algorithm. Second, control parameters for the quadrotors Proportional Integral Derivative (PID) controller are found by using empirically modified Tuning Rules (TRs) which are based on the I2PD model. Simulation results show the benefits of an adaptive tuning algorithm in regards of the time consuming process of manually tuning a PID controller as well as robustness against both predictable and unpredictable system changes. This includes actuator degradation, battery consumption, changes in weight or inertia etc. However, it is apparent that the tuning algorithm demands an arbitrary initial approximation to be stable at initialization.

The objective of this thesis was to develop an 8051 microcontroller soft core in the Verilog hardware description language (HDL). Each functional unit of the 8051 microcontroller was developed as a separate module, and tested for functionality using the open-source VHDL Dalton model as benchmark. These modules were then integrated to operate as concurrent processes in the 8051 soft core. The Verilog 8051 soft core was then synthesized in Quartus® II simulation and synthesis environment (Altera Corp., San Jose, CA, www.altera.com) and yielded the expected behavioral response to test programs written in 8051 assembler residing in the v8051 ROM. The design can operate at speeds up to 41 MHz and used only 16% of the FPGA fabric, thus allowing complex systems to be designed on a single chip. Further research and development can be performed on v8051 to enhance performance and functionality.

PANDA is the next generation hadron physics detector under construction at the Facility for Antiproton and Ion Research (FAIR) in Darmstadt, Germany to accurately detect and parameterize particles with kinetic energies from 1MeV to 8GeV. PANDA is a 4π detector and due to its unique shape, all the readout electronic from ADC modules, power supplies, and a controller unit is housed in the liquid-cooled crates mounted inside the detector. Therefore, the readout electronics are exposed to a high level of magnetic field and radiation. The controller unit as the critical component of the digitization system with adequate radiation resiliency governs the crate. The control unit manages power supplies, monitors the radiation damages of each ADC modules, offer a mechanism to re-program the ADC module firmware, and finally features a redundant communication for the crate over fiber optics. The purpose of this thesis is to study and design the controller unit hardware that meets the specification of the PANDA experiment.

Water scarcity for agriculture is one of the most important challenges to improve food security worldwide. In this thesis we study the potential to develop a low-cost controller for a small scale brackish desalination plant that consists of proven water treatment technologies, reverse osmosis, cation exchange, and nanofiltration to treat groundwater into two final products: drinking water and irrigation water. The plant is powered by a combination of wind and solar power systems. The low-cost controller uses Arduino Mega, and Arduino DUE, which consist of ATmega2560 and Atmel SAM3X8E ARM Cortex-M3 CPU microcontrollers. These are widely used systems characterized for good performance and low cost. However, Arduino also requires drivers and interfaces to allow the control and monitoring of sensors and actuators. The thesis explains the process, as well as the hardware and software implemented.