The theme and goal of this diploma is a draft and a method of application of a drive algorithm of an omni directional robot. The robot is driven with the aid of a PCL from the X20 series, produced by Bernecker&Rainer. The propulsion is provided using 3 integrated regulating driving mechanisms, IclA D065 produced by SIG Positec, which communicate via the CAN bus. Furthermore, the robot uses sensors to read the positioning of its chassis and undercarriage in order to identify the traction quality of the surface of the terrain below and subsequently reduce skidding. This sensor uses the RS 232 bus to communicate with the PLC. Thanks to all the above-mentioned and characteristics of power supply, the result achieved is a totally autonomous machine.

The U.S. transportation sector represented about 28% of all energy consumption in 2018. Petroleum products accounted for 92% of this total energy. Light-duty vehicles are the largest energy consumers in the transportation sector. The high amount of petroleum used by light-duty vehicles creates significant economic and environmental challenges. Electric Vehicles (EVs) have a higher fuel economy and can be emission-free; they are therefore an alternative solution for minimizing the negative environmental impact of internal combustion engine vehicles. However, the adoption of EVs has been limited by their limited driving range, long recharging time, and comparatively higher price. Dynamic wireless charging technology allows for charging the EV battery in motion. Charging pads are embedded in the road and the EV battery is charged while the vehicle is passing over them. This technology not only extends the EV range but also results in a considerable reduction in battery size and capacity. Therefore, dynamic wireless charging solves one of the major issues of EVs, leading to their large-scale adoption. In the first part of this dissertation, a pad optimization methodology is presented to minimize system cost and losses. Using this method, two pads are optimized, built and tested for charging the EV. In the next section, two methods are presented to estimate how much the EV is laterally misaligned with respect to the center of the charging pads. This helps to increase system efficiency and power transfer capability. Finally, new concrete-based material is presented and studied to reduce the charging pad cost and increase their durability.

<div>Collision avoidance design plays an essential role in autonomous vehicle technology. It's an attractive research area that will need much experimentation in the future. This research area is very important for providing the maximum safety to automated vehicles, which have to be tested several times under different circumstances for safety before use in real life. This thesis proposes a method for designing and presenting a collision avoidance maneuver by using a model predictive controller with a moving obstacle for automated vehicles. It consists of a plant model, an adaptive MPC controller, and a reference trajectory. The proposed strategy applies a dynamic bicycle model as the plant model, adaptive model predictive controller for the lateral control, and a custom reference trajectory for the scenario design. The model was developed using the Model Predictive Control Toolbox and Automated Driving Toolbox in Matlab. Builtin tools available in Matlab/Simulink were used to verify the modeling approach and analyze the performance of the system. The major contribution of this thesis work was implementing a novel dynamic obstacle avoidance control method for automated vehicles. The study used validated parameters obtained from previous research. The novelty of this research was performing the studies using a MPC based controller instead of a sliding mode controller, that was primarily used in other studies. The results obtained from the study are compared with the validated models. The comparisons consisted of the lateral overlap,lateral error, and steering angle simulation results between the models. Additionally,this study also included outcomes for the yaw angle. The comparisons and other outcomes obtained in this study indicated that the developed control model produced reasonably acceptable results and recommendations for future studies.</div>

A good health condition is important to maintain. It is a root cause to many other positive aspects in life. Productivity in a working industry can be improved if employees have a good health condition. Because of this, some companies are interested in keeping their employees as healthy as possible. The IT-consulting company CGI uses an in-house developed application, called CGIMoving, to offer exercise campaigns for its employees to encourage a healthy lifestyle. CGIMoving is a web system for logging physical exercise activities, where employees can voluntarily participate and log their workout activity and earn rewards. The CGI members who are responsible for the project have made a backlog with features that they wish to be implemented. The goal of the project was to improve CGIMoving by implementing a set of chosen backlog features. Product improvement was done according to an agile Scrum methodology. Tools and techniques used were the ASP.NET web-development framework and the Model-View-Controller design pattern with Visual Studio as the development environment. This report documents the development of six improvements to the CGIMoving system. These improvements are documented in the implemented order: (1) create predefined activities for a campaign, implementation of reminders for (2) inactivity and (3) unclaimed rewards, (4) edit user registered activities, (5) edit information about users and (6) create events. The improvements resulted in an upgraded version of the product. / <p>Digitalt presentation via Zoom</p>

Controllers i olika verksamheter arbetar med frågor inom ekonomistyrning. Arbetsuppgifterna kan däremot vara diffusa och svåra att konstatera, speciellt då controllers idag existerar inom både den offentliga och privata sektorn. Dagens controller arbetar på ett annorlunda sätt idag jämfört med dåtidens controller tack vare den utveckling yrket genomgått. Den nyblivna decentraliseringen inom organisationerna har bidragit till att controlleryrket behövt anpassa sig i form av annan arbetsfördelning. Förändringen har fått betydande effekt för yrket både inom den privata- och offentliga sektorn i samband med den digitalisering som präglar arbetet idag. Skillnader och likheter mellan de två sektorerna kan idag konstateras genom att främst observera controllers sätt att arbete inom dessa sektorer. Inom dessa arbetsuppgifter finns det olika controllers med olika fokusområden som beror på vilken del av processen controllern agerar mest inom. Vid denna studie har det fastställts att två av dessa roller appliceras mest, där den oberoende controllerrollen är överrepresenterad inom den offentliga sektorn medan den involverade controllerrollen blir av majoritet inom den privata sektorn. Syftet med studien är att jämföra och redogöra för hur controllerfunktionen ser ut i ett antal verksamheter för att se eventuella skillnader och liknelser mellan privata och kommunala verksamheter samt se hur yrket utvecklats inom respektive sektor de senaste 40 åren. Genom intervjuer har det undersökts hur controllers inom både privat och offentlig sektor arbetar med olika frågor aktuella för yrket men också hur de ser på den utveckling som skett. Slutsatsen visar att yrket skiljer sig mellan de olika sektorerna, primärt i hur arbetet kring lönsamhet prioriteras och definieras i form av resultat eller samhällsnytta, samtidigt som likheter syns i form av arbetsuppgifter då New Public Management präglat den offentliga sektorn till att bli mer lik den privata.

Thema dieser Bachelorarbeit ist die Entwicklung und Implementierung einer Gimbalsteuerung für den Einsatz an einem Micro Air Vehicle. Ziel ist es,diese kardanische Aufhängung nach einem,von einer Kamer erfassten Objekt auszurichten, so dass dieses im Mittelpunkt der Aufnahme abgebildet wird. Dabei soll das unbemannte Flugobjekt jegliche Bewegungen ausführen können, ohne das verfolgte Objekt zu verlieren. Die Regelung erfolgt mithilfe der Implementation eines PID- Controllers, der sich für diese Zwecke hervorragend eignet,da er wenig Ressourcen benötigt und eine leistungsfähige Steuerung darstellt. Diese Entwicklung wird im Rahmen des 'Automated Power Line Inspection' (APOLI) Projektes genutzt um Isolatoren an Hochspannungsmasten automatisiert inspizieren zu können.

Current efficiency measurements of variable hydraulic axial piston pumps are performed with the displacement system locked at maximum volume, thus without the controller. Therefore, the controller’s effect on the efficiency is not quantified at state of the art measurements. Former research on control systems mainly focused on the dynamic behaviour. This paper aims to quantify the losses in the displacement and control system and to research the dependencies of those. Therefore, a test rig is built up at IFAS to measure the control power of displacement controlled pumps. Furthermore, a simulation tool is developed to increase the understanding of the loss mechanisms of the investigated control systems. In conclusion, the paper shows the potential of efficiency improvements for displacement controlled pumps.

Industrial Control Systems are essential to modern life. They are utilized in hundreds of processes including power distribution, water treatment, manufacturing, traffic management, and amusement park ride control. These systems are an essential part of modern life and if compromised, could result in significant economic loss, safety impacts, damage to the environment, and even loss of life. Unfortunately, many of these systems are not properly secured from a cyber attack. It is likely that a well-funded and motivated attack from a nation-state will successfully compromise an industrial control system's network. As cyber war becomes more prevalent, it is becoming more critical to find new and innovative ways to reduce the physical impacts from a cyber attack.This thesis presents a new architecture for a secure industrial controller. This architecture protects the integrity of the controller logic, including the safety logic which is responsible for keeping the process in a safe condition. In particular, it would prevent malicious or accidental modification or bypassing of the controller logic. This architecture divides the controller into three components; the logic controller, the interface controller and the SAP link. The logic controller is responsible for controlling the equipment and contains the safety logic. The interface controller communicates with the rest of the control system network. The Simple As Possible (SAP) link is a bridge between the logic and interface controllers that ensures the integrity of the logic controller by drastically limiting the external interface of the logic controller. We implement this new architecture on a physical controller to demonstrate the process of implementing the architecture and to demonstrate its feasibility.

<div>Cyber-physical systems, through various sensors and actuators, are used to handle interactions of the cyber-world with the physical-world. Conventionally, the temporal component of the physical-world has been used only for estimating real-time deadlines and responsiveness of control-loop algorithms. However, there are various other applications where the relationship of the temporal component and the cyber-world are of interest. An example is the ability to reconstruct a sequence of past temporal activities from the current state of the cyber-world, which is of obvious interest to cyber-forensic investigators. Another example is the ability to control the temporal components in broadcast communication networks, which leads to new attack and defense capabilities. These relationships have not been explored traditionally.</div><div><br></div><div>To address this gap, this dissertation proposes three systems that cast light on the effect of temporal component of the physical-world on the cyber-world. First, we present Timeliner, a smartphone cyber-forensics technique that recovers past actions from a single static memory image. Following that, we present work on CAN (Controller Area Network), a broadcast communication network used in automotive applications. We show in DUET that the ability to control communication temporally allows two compromised ECUs, an attacker and an accomplice, to stealthily suppress and impersonate a victim ECU, even in the presence of a voltage-based intrusion detection system. In CANDID, we show that the ability to temporally control CAN communication opens up new defensive capabilities that make the CAN much more secure.</div><div><br></div><div>The evaluation results show that Timeliner is very accurate and can reveal past evidence (up to an hour) of user actions across various applications on Android devices. The results also show that DUET is highly effective at impersonating victim ECUs while evading both message-based and voltage-based intrusion detection systems, irrespective of the features and the training algorithms used. Finally, CANDID is able to provide new defensive capabilities to CAN environments with reasonable communication and computational overheads.</div><div><br></div>

Projektet går ut på att ersätta den befintliga styrningen av en DC-generator för 1200 kV med en fjärrstyrning från kontrollrummet via optolänk. Den nya styrningen ska utgöras av ett PLC-system (Programmable Logic Controller) som manövreras med hjälp av ett HMI – Human Machine Interface. Bakgrunden till projektet härrör från att den befintliga styrutrustningen är opålitlig samt styrs i en farlig miljö. Rapporten går igenom hur befintlig styrutrustning fungerar samt dess ingående komponenter, hur ett PLC-system fungerar med dess bakgrund och olika programmeringsspråk. Även programmeringen och byggnationen av det nya systemet avhandlas. I slutet av rapporten ges en genomgång av de provkörningar som utförts för att säkerställa att alla funktioner fungerar som tänkt. Resultat av provkörningarna ges och diskussion förs kring projektet. Projektet är utfört åt högspänningsgruppen på RISE i Borås som använder generatorn bland annat vid kalibrering av spänningsdelare. Det nya styrsystemet innefattar alla av den tidigare styrutrustningens funktioner och några nya funktioner så som överströms- och överspänningsskydd vilka slår från spänningsmatningen om dessa begränsningar överskrids. Att styrutrustningen nu är placerad i kontrollrumsmiljö gör att operatören kan hantera utrustningen utan att vara i närheten av farlig spänning. / The report aims to replace the current control equipment for a DC-generator for 1200 kV by remote control from control room through optical fibre link. The new control will be a PLC system controlled by a HMI – Human Machine Interface. The background to the project is that the existing control equipment is unreliable and controlled in a dangerous environment. The report shows how the current control equipment works and its constituent components, how a PLC-system works with its background and different programming languages. This report will also describe how the programming and building of the hardware are done. In the end of this report are going through a test run to confirm that the system is working properly. Result of the test run are given and some discussion. The project is initiated by the high voltage group at RISE in Borås, who are using the DC-generator for instance while calibrating voltage dividers. The new control system contains all of the functions from the earlier control system but also some new functions such as overcurrent and overvoltage protection who turns off power supply if the limits are exceeded. The control system is now located in the control room so that the operator can use the system without being close to high voltage.