The mini dissertation explores an African jurisprudential perspective on land and property. The investigation is situated in the historical context of colonisation and apartheid as well as the present post-1994 debates on land and section 25 of the Constitution. It shows how African jurisprudence could respond to the way in which colonial modernity has affected the way we relate to, understand and use land (that is, how African jurisprudence could challenge the commodification of land). Chapter 2 looks at the historical context of land dispossession and land reform in South Africa. It starts with the pre-colonial period then moves to conquest and dispossession by the Dutch and British and their perceptions on land. It also deals with the internal colonisation by Afrikaners under the apartheid, its impact, the transition and ends with the Constitution and Land Reform Programme. Chapter three deals with the core tenets of the African jurisprudence. It addresses the question of African Jurisprudence and Ubuntu. It then moves to cover African Cosmology, Justice, Traditional Leadership, and Communalism. Chapter four deals with ways in which African jurisprudence can disclose an alternative vision of land and property through the Decolonisation of the Constitution, history and integration of Traditional Leadership and Governance. The chapter 5 deals with the conclusion and recommendations. The last chapter is the bibliography. / Mini Dissertation (LLM)--University of Pretoria, 2020. / Jurisprudence / LLM / Restricted

This work provides a preview of CAN network network issues, network elements, their functions and interaction. It describes the principle of generating and sending messages, the structure of the network, the types of information transmitted. Work focuses on testing CAN components, especially instrument panels. The thesis defines the structure of the overall validation of the newly implemented instrument panel into the tractor, which consists of a sequence of partial tests performed both in laboratory and in the tractor. Laboratory tests are performed as a sequence of hardware and software combinations of states that can occur in operation. A critical point for objective laboratory validation is the creation of simulators that can induce real-life situations which would otherwise be expensive and difficult to achieve in real-life.

Den här rapporten beskriver ett examensarbete i elektroteknik på Kungliga tekniska högskolan. Syftet var att skapa en unik systemlösning där ett CAN-adapterkort (Controller Area Network) skulle integreras med ett system för övervakning av däcktryck i tunga fordon. Målet var att presentera mätvärden från ventilsensorer på en persondator. Systemet för övervakning av lufttryck heter J1939 – TPMS och är en färdig produkt. J1939 – TPMS skickar CAN-ramar på en CAN-buss i J1939-format. Dessa ramar ska läsas in av adapterkortet och presenteras på ett terminalprogram på en persondator. Arbetet har bestått av att utreda hur systemet J1939 – TPMS fungerar i detalj. Rollen för protokollet J1939 och dess förhållande till CAN har förklarats. Hur J1939-ramar tolkas och hur mätdata rörande TPMS avkodas har beskrivits i detalj. Principer för hur en CAN-nod fungerar har klargjorts. Baserat på detta har ett CAN-adapterkort konstruerats. Konstruktionen har inneburit komponentval, design av elektronikschema, design av mönsterkort och utveckling av inbyggd programvara. Resultatet blev ett färdigt och fungerande CAN-adapterkort som har testats med J1939 – TPMS. Kraven för projektet uppfylldes. Dock så kommer mer arbete med kortet och systemet behövas för att det ska bli en färdig produkt. Arbetet genomfördes hos Motion Control i Västerås AB i samarbete med Transeco Däckservice. / This report describes a degree project at the Royal Institute of Technology. The purpose was to create a unique system solution in which a CAN adapter card (Controller Area Network) was to be integrated with an air pressure monitoring system for heavy duty vehicles. The goal was to present measurement values ​​from valve sensors on a personal computer. The air pressure monitoring system is called J1939 - TPMS and is a finished product. J1939 - TPMS sends CAN-frames to a CAN-bus in J1939 format. These frames are to be read by the adapter card and presented on a terminal program on a personal computer. The job has been to investigate how the J1939 - TPMS system works in detail. The role of the J1939 protocol and its relationship with CAN has been clarified. Also, a detailed description of how J1939 frames are interpreted and how the measuring data TPMS is decoded is done. Principles for how a CAN node works has been clarified. Based on this, a CAN adapter card has been designed. The design has included component selection, design of electronics schema, design of computer cards and development of embedded software. The result was a ready-to-use CAN adapter card tested with J1939-TPMS. Requirements for the project were met. However, more work with the card will be needed to make it a finished product. The work was carried out at Motion Control in Västerås AB in cooperation with Transeco Däckservice (Transeco Tire Service).

Traditional call button networks that control elevator systems utilize a wired connection for communication. The communication cables are run through the elevator shaft from one call button to another and finally to the controller on the roof. Installing this wired link is highly time consuming. In this thesis, we propose the design for a wireless call button network. Two important features of this wireless network design are low cost and low power consumption. Controller Area Network (CAN) is a widely used protocol for wired networks and has been proposed for use in next generation elevator control systems. A modified CAN for wireless (MCANW) protocol has been developed for the wireless call button network. The wireless link will be implemented via the use of data radios. A modified form of traditional Binary Phase Shift Keying (BPSK) modulation scheme for the radios is proposed. The proposed modulation scheme, like differential BPSK, can be detected non-coherently but it offers better performance than differential BPSK. Its implementation includes an innovative tracking algorithm to maintain synchronization at the receiver. / Master of Science

Exoskeletons are getting popular day by day due to their abilities in helping people. Exoskeletons can be used to help people gain motor senses through rehabilitation. It can also help healthy people to augment their abilities. These exoskeletons need to be strong yet light, so that the human body can support the exoskeleton, while the exoskeleton can support the activity that is being performed. This calls for under-actuated systems, which help in avoiding unnecessary mass due to additional actuators, while providing the same movement capabilities. This thesis describes in detail about two such under-actuated upper body exoskeletons which can be used for lifting loads. The design of such exoskeletons and novel control techniques for comfortable usage is discussed in detail. / Master of Science / Exoskeletons are assistive devices which can help people in several ways. An exoskeleton can help people who are affected with stroke by enabling them to walk through rehabilitation and physiotherapy. It can also help people to perform beyond their capacity in terms of physical activities. This could be to lift more load than possible, run faster than usual. This thesis describes the design and working two such exoskeletons which can be attached to the upper body. These exoskeletons can be used by people to lift loads which would require a lot of effort and muscle activity. The addition of these exoskeletons potentially reduce the muscle activity on the user and helps avoiding injuries in long term. Such exoskeletons have to be light weight so that they do not defeat the purpose of reducing muscle activity. This problem is solved by using under-actuated systems, because a significant mass of the exoskeleton is taken by the actuators such as the motors. Using under-actuated systems help in lowering the mass of the exoskeleton, while still being able to perform the same kinds of motion. This thesis also talks about how these exoskeletons can be controlled such that the load is being lifted with minimal efforts, and being aware of the loads it is lifting to provide the correct amount of torque, above or below which can lead to the motor shooting up or down causing muscular discomfort and injuries in the arm.

This thesis details a higher-fidelity, scalable simulation tool and model for message response time and bus utilization rate analysis for the Controller Area Network (CAN) protocol stack. This tool achieves higher fidelity than existing commercial and academic simulation tools by including details of the stack implementation that are often neglected, such as receive and transmit hardware buffer availability and usage policy (i.e., which messages are able to be copied to which buffer resources), and the buffer polling or queueing policies. Key details of these features have been identified by a thorough examination of CAN stack behaviour, taking into account the physical considerations of commercial CAN implementations. Inclusion of these details in the simulation can produce better accuracy by exposing certain priority inversion scenarios. Scalability is achieved by using a transaction-based modelling approach and modelling transmissions at the protocol level rather than the physical/bit level. The tool requires minimal user interaction, and system level model generation is automated using an AUTOSAR XML system description file (ARXML format) to specify network topology and message information (transmitter, receiver(s), period, length, etc.), and an Excel spreadsheet file (XLS or XLSX format) to specify node hardware/software implementation details (buffer resource details, polling loop rates, main control loop rates, etc.) as inputs. / Thesis / Master of Applied Science (MASc)

No description available.

This thesis presents a simulation model for a Control Area Network (CAN) software stack, the Dual FIFO CAN (DFC) stack, and a method for identifying and incorporating the details of the host environment (hardware setup, operating system, etc.) into the implementation of the simulation model in order to achieve a high level of fidelity. The method enable the simulation model to produce more realistic simulation results that are close to real-life experiments of the target system compared to existing commercial and academic simulation tools, which mostly ignore the system details The simulation model is implemented based on the specification documents of the DFC stack as well as knowledge gained from real-life experiments about the DFC stack and its host environment, a dual-core Electric Control Unit (ECU) hardware test bench that runs a Real-Time Operating System (RTOS). Like the actual DFC stack, the simulation model offers features such as dual non-preemptive FIFO transmit queues and TX buffers, and reserved slots in the queues for higher-priority messages. By using the method introduced in this research, the simulation model also offers options, once enabled and configured with proper parameters, for simulating a host environment that has effects on the behaviors of the modeled CAN stack. And these features are not fully available in existing commercial and academic simulation tools. The model provides internal calibration values of the DFC stack as configurable parameters to the user, making it easy to customize the simulation. Configurable calibration values includes the total number of slots in the transmit FIFO queues, number of reserved slots in the queues, transmit-rate thresholds that decide to which transmit queue a message is routed and whether a message is eligible to enter the reserved slots of the queues, and together they determine the queuing behaviors of the DFC stack. The options for simulating a host environment (an ECU on a CAN network in a modern vehicle, for instance) is capable of recreating the timing effects (delays, jitters or other effects due to the processing load, physical limitation and internal implementation) of the target host environment on the simulation results. Both deterministic (constant values, etc.) and/or statistical (probability distributions, etc.) models can be used to configure each single timing effect from the simulated host environment. The simulation model is also automated to transmit a set of customized transmit message (configurable message ID, DLC, period and internal transmission priority) and process simulation results according to the purpose of the simulation (statistical analysis, plots of data, etc). These features make it possible for the simulation model to be used not only to simulate various customized simulation scenarios, but also for different purposes in various stages of the development process, for instance, a pre-experiment simulation run before a test bench experiment to test the correctness of the calibrations and predict the possible outcomes of the experiment, or, simulations for confirmation purposes in order validate the test bench data after the test experiment. The model is compatible with typical modeling, simulation and development environments as it is implemented in MATLAB SimEvents environment, which works with third-party CAN development tools such as Vector CANoe. It is also designed to work with the high-fidelity model of the Vector CAN protocol stack from Whinton (2016). / Thesis / Master of Applied Science (MASc)

Detta examensarbete har genomförts i samarbete med elbilsföretaget Luvly AB. Arbetet syftar till att utveckla en teori för datoriserad felsökning av kommunikationsbussen CAN i tredomäner som utgörs av meddelanden, signaler och den elektriska karaktäristiken vilket är avvikt för testning i kommersiella tillämpningar. Resultatet av arbetet består av två delar, ettmjukvaruprogram som tillämpar meddelandedomänen och en teoretisk sammanställning förhur implementering av resterande två domänerna kan utföras.Dessa tre domäner ger tillsammans en enkel och fullständig felsökningsteori som likväl kanautomatiseras och byggas in i CAN-bussystem inom industri och fordon.Den utvecklade programvaran finns tillgänglig att hämta på Kungliga Tekniska HögskolansOneDrive och MediaFire. / This bachelor thesis has been carried out in cooperation with Luvly AB, a light urban vehiclestartup working out of Stockholm. The project’s goal has been to develop a theory regardingcomputerized troubleshooting of the CAN-bus in three domains, the messages, the signals,and the electrical characteristics, which is of importance for testing in commercial applications. The result of this report consists of two parts, a software program applying the messagedomain and a theoretical part explaining how the two other domains can be implemented.These three domains together give an intuitive and complete troubleshooting theory thatcould be automated as well as built into the CAN-bus itself in industrial and vehicular applications.The developed program is available for download on the Royal Institute of Technology’sOneDrive and on MediaFire.

Real-time computing systems are those that are designed to achieve computing goals by certain deadlines. Real-time computing systems are present in everything from cars to airplanes, pacemakers to industrial-control systems, and other pieces of critical infrastructure. With the increasing interconnectivity of these systems, system security issues and the constant threat of manipulation by malicious external attackers that have plagued general computing systems, now threaten the integrity and safety of real-time systems. This dissertation discusses three different defense techniques that focuses on the role that real-time scheduling theory can play to reduce runtime cost, and guarantee correctness when applying these defense strategies to real-time systems. The first work introduces a novel timing aware defense strategy for the CAN bus that utilizes TrustZone on state-of-the-art ARMv8-M microcontrollers. The second reduces the runtime cost of control-flow integrity (CFI), a popular system security defense technique, by correctly modeling when a real-time system performs I/O, and exploiting the model to schedule CFI procedures efficiently. Finally, the third studies and provides a lightweight mitigation strategy for a recently discovered vulnerability within mixed criticality real-time systems. / Doctor of Philosophy / Real-time computing systems are those that are designed to achieve computing goals within certain timing constraints. Real-time computing systems are present in everything from cars to airplanes, pacemakers to industrial-control systems, and other pieces of critical infrastructure. With the increasing interconnectivity of these systems, system security issues and the constant threat of manipulation by malicious external attackers that have plagued general computing systems, now threaten the integrity and safety of real-time systems. This dissertation discusses three different defense techniques that focuses on the role that real-time scheduling theory can play to reduce runtime cost, and guarantee correctness when applying these defense strategies to real-time systems. The first work introduces a novel timing aware defense strategy for the Controller Area Network (CAN). CAN is a popular communication system that is at the heart of every modern passenger vehicle and is indispensable for the safe operation of various components such as the engine and transmission systems, and due to its simplicity, may be vulnerable to a variety of attacks. We leverage security advancements in modern processor design to provide a lightweight and predictable (in terms of time taken to perform the operation) defense technique for some of these vulnerabilities. The second work applies a technique called Control-Flow Integrity (CFI) to real-time systems. CFI is a general-purpose defense technique to prevent attackers from modifying software execution, and applying such techniques to real-time systems, particularly those with limited hardware capabilities, may be infeasible. By applying real-time scheduling theory, we propose a strategy to apply CFI to such systems, while reducing its overhead, or cost, without compromising the security guarantees CFI inherently provides. Finally, safety-critical systems may consist of a mix of operations, each having a different level of importance (criticality) with respect to the safe operation of the system. However, due to the complexity of modeling such systems, the models themselves may be vulnerable to attacks. Through simulations we study one such vulnerability and propose a modification to mitigate it.