In this thesis we investigate the problem of automatic calibration and control of hydraulic components in the domain of construction equipment. Methods that are able to remove a costly manual approach in favour of an automatic one are investigated and evaluated. The thesis aims to investigate what methods are available in achieving this goal as well as evaluate the performance and applicability of such methods in the domain of construction equipment. The literature indicates that a great focus is put on learning a model of the plant at run time in order to provide accurate control. Common approaches to the problem are the Recursive Least Square method and PID controllers for non-linear systems, but other methods are also present, such as the Nodal Link Perceptron Network (NLPN). The methods chosen to be compared are the existing method of manually calibrating two set points for start and end current and interpolating between them; the use of a PI controller with a static line inverse model; a PI controller with a static curve inverse model; a PI controller with an NLPN adaptive inverse model and lastly, a completely NLPN based control strategy. The methods were implemented in Matlab Simulink and evaluated in simulations based on data collected from real wheel loaders in the construction equipment domain, produced by Volvo CE. The simulations are performed on data from three machines and were evaluated twice for the adaptive methods in order to evaluate how well the methods improved. The results were then evaluated in terms of average absolute error, as well as a discussion of the behaviour shown in the plots. The evaluations indicate that the most effective method for control is the PI controller using a static line inverse model. The method produces the smallest average error of both actions evaluated, lifting and lowering of the boom, while the complete NLPN solution provide the worst results.

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Surveillance and control have come a long way in the last years. Every new mobile phone, most cars, and smartwatches have a global positioning system tracking device built into it. This is just one of the technologies used in order to track and follow. Today it is hard to go anywhere without there being some sort of way of finding you. The art of finding has been around for a long time and one company that have taken the tracking aspect to the next step is Followit. For over 40 years they have built different types of satellite and radio transmitters to keep track of everything from small animals like hares and dogs to big elephants. They also got tracking solutions for vehicles like boats, cars, trucks and excavators. The purpose of this thesis is to develop a radio transmitter which can transmit on both the very-high-frequency and ultra-high-frequency band which is better than the last unit used by Followit. While the current solution being the same the last 20 years, a new product will improve in almost every way. Studies by Followit suggest that a new version can save up to 30% energy than the last one. This will result in a longer lifetime for the product. Going away from component selection to achieve the desired sending frequency to have a version that can be adjusted directly in a computer program is also desired. By using this advanced radio sending on two bands at the same time can be accomplished, before only one frequency was available at each board. Inclusion of an inertial measurement unit and real-time clock makes this a more advanced and versatile product. The thesis includes a first printed circuit board prototype and one final design which is ready to produce by the production team. To ensure that the development process proceeds as planned in following steps, thorough testing is done both in hardware and in software. Further programming is left for the developers at hand. The results of this work is a four-layer circuit board that is 25x15 mm in size and holds components on both sides. All but one component is tested and works as intended on the board. The system is programmed to run a simple code which tests the different systems and components. To test the wireless radio transmissions a small radio pulse is sent out which can be captured by a receiver. A first simple casing is done to enclose both the circuit board and battery as a complete system. / Övervakning och spårning har kommit långt på senare tid. De flesta nya bilar, telefoner och smarta klockor har en inbyggd spårningsenhet. Detta är bara en av flera olika tekniker som används för att övervaka och spåra. Idag är det svårt att gå någonstans utan att det finns något sätt att följa dig. Konsten att spåra är något som funnits under en länge tid och ett företag som har tagit denna teknik till nästa steg är Followit. I över 40 år har de byggt olika typer av sattelit- och radiosändare för att spåra allt mellan små djur som harar och hundar till elefanter. De har även spårningsutrustning till en rad fordon som bilar, båtar, lastbilar och grävmaskiner. Syftet med denna rapport är att utveckla en radiosändare som kan sända på både VHF och UHF bandet vilket är bättre än den tidigare enheten som används av Followit. Medan den nuvarande produkten har varit densamma de senaste 20 åren, kommer den nya produkten att förbättras på nästan alla punkter. Studier genomförda av Followit visar att en ny version kan spara upp till 30% energi jämfört med den förra. Detta kommer att resultera i en längre livslängd för produkten. Det är även önskvärt att gå bort från komponentval för att uppnå önskad sändningsfrekvens för att få en version som istället kan justeras direkt i ett datorprogram. Genom att använda denna avancerade radiomodul kan data sändas på två frekvensband samtidigt. Föregående produkt kunde endast skicka på en frekvens åt gången. Inkluderingen av en accelerometer och realtidsklocka gör detta till en mer avancerad och mångsidig produkt. Rapporten innehåller en första mönsterkortsprototyp och en slutlig design som är redo att produceras. För att säkerställa att utvecklingsprocessen framskrider som planerat i efterkommande steg, görs grundlig testning både i hård- och mjukvara. Ytterligare programmering lämnas till utvecklarna på plats. Resultatet av detta arbete är ett fyra lagers mönsterkort som är 25x15 mm och har komponenter på båda sidorna. Alla utom en komponent är testad och fungerar som planerat.Systemet är programmerat för att köra en enkel kod som testar de olika systemen och komponenterna var för sig. För att testa de trådlösa radioöverföringarna skickas en liten radiopuls ut som kan fångas av en mottagare.En första enkel kapsling är gjord för att stoppa in både mönsterkortet och batteriet till en komplett produkt.

The arrival of manycore systems enforces new approaches for developing applications in order to exploit the available hardware resources. Developing applications for manycores requires programmers to partition the application into subtasks, consider the dependence between the subtasks, understand the underlying hardware and select an appropriate programming model. This is complex, time-consuming and prone to error. In this thesis, we identify and implement abstraction layers in compilation tools to decrease the burden of the programmer, increase programming productivity and program portability for manycores and to analyze their impact on performance and efficiency. We present compilation frameworks for two concurrent programming languages, occam-pi and CAL Actor Language, and demonstrate the applicability of the approach with application case-studies targeting these different manycore architectures: STHorm, Epiphany and Ambric. For occam-pi, we have extended the Tock compiler and added a backend for STHorm. We evaluate the approach using a fault tolerance model for a four stage 1D-DCT algorithm implemented by using occam-pi’s constructs for dynamic reconfiguration, and the FAST corner detection algorithm which demonstrates the suitability of occam-pi and the compilation framework for data-intensive applications. We also present a new CAL compilation framework which has a front end, two intermediate representations and three backends: for a uniprocessor, Epiphany, and Ambric. We show the feasibility of our approach by compiling a CAL implementation of the 2D-IDCT for the three backends. We also present an evaluation and optimization of code generation for Epiphany by comparing the code generated from CAL with a hand-written C code implementation of 2D-IDCT.

In the recent years we have seen that internet connectivity has multiplied vastly and that more and more computation and information storage are moved to the cloud. Similarly to other types of networks, industrial systems also see an increase in the number of communicating devices. Introduction of wireless communication into industrial systems instead of currently used wired networks will allow interconnection of all kinds of stationary and mobile machinery, robots and sensors and thereby bring multiple benefits. Moreover, recent developments in cloud and fog computing open many new opportunities in control, analysis and maintenance of industrial systems. Wireless systems are easy to install and maintain and relocation of data analysis and control services from local controllers to the cloud can make possible computations requiring a lot of resources, improve efficiency of collaboration between different parts of a plant or several plans as cloud servers will be able to store information and be accessible from all of them. However, even though introduction of wireless communication and cloud services brings a lot of benefits, new challenges in fulfilling industrial requirements arise as, e.g., packet delivery rates might be affected by disturbances introduced in wireless channels, data storage on distant servers might introduce timing and security issues, resource allocation and reservation for controllers supervising multiple processes should be considered to provide real-time services. The main goal of this thesis work is to consider design possibilities for a factory including local and cloud controllers, i.e. look at how the work of the factory should be organized, where control decisions should be made, analyze pros and cons of making the decisions at local (fog) and cloud servers. To narrow down the problem, an example factory with who independent wireless networks (each consisting of one sensor, one actuator and one local control node) and a cloud controller controlling both of them will be considered. Selected structure allows all the questions of interest to be considered, while its prototype can be built using available for this thesis work equipment

Projektet är utfört i samarbete med ett företag som tillverkar konferensenheter. Konferensenheter består oftast av ett användargränssnitt riktat mot den person som sätter upp mötet, vilket begränsar de övriga deltagarnas möjlighet till interaktion med enheten. Syftet med projektet är att underlätta för övriga deltagare att interagera med konferensenhet, vilket kan göras med hjälp av gester. Målet med projektet är att ta fram en produkt för utvärdering och test. Produkten ska kunna omvandla detekterade gester till kommandon för att kunna kontrollera högtalarvolym och aktivering av mikrofon. Efter en jämförelse mellan olika metoder och tekniker valdes en fas-baserad gestdetektering med en infraröd närhetssensor. Två mönsterkort tillverkades, ett bestående av en mikrokontroller och ett bestående av en närhetssensor med tre infraröda lysdioder. En mjukvara togs fram för gestdetektering. Test gjordes med handrörelser till höger, vänster, upp och ned med ett avstånd på ca. 30 cm mellan hand och sensor. Resultatet visar en gestdetektering av fyra olika gester. Dessa kan i framtida utveckling omvandlas till kommandon som kan styra högtalarvolym samt mikrofon på konferensenhet. / The project is conducted in cooperation with a company that manufactures conference units. Conference units usually consist of a user interface aimed at the person who sets up the meeting, limiting the other participants' ability to interact with the device. The purpose of the project is to facilitate other participants to interact with conference units, which can be done by means of gestures. The aim of the project is to produce a product for evaluation and testing. The product should be able to convert detected gestures to commands to control speaker volume and microphone. After a comparison of different methods and techniques, a phase-based gesture detection was selected with an infrared proximity sensor. Two PCBs were made, one consisting of a microcontroller and one consisting of a proximity sensor with three infrared LEDs. A software was developed for gesture detection. Test was done with hand movements to the right, left, up and down with a distance of approx. 30 cm between hand and sensor. The result shows a gesture detection of four different gestures. In future developments, these can be converted into commands that can control speaker volume as well as microphone on conference device.

The wave energy conversion concept developed at Uppsala University is based on a buoy at sea level that is connected to a linear generator on the sea bed. The movements of the buoy riding the waves gets converted into electricity by the reciprocal movements of the translator inside the generator. To be able to compensate the negative impact of water level variations on power production, which is especially important at sites with high tidal range, a sea level compensation system to be placed on the buoy was developed. During development, the system used cellphone technology to communicate, which can be power demanding and is dependent on adequate cellphone reception. Since future wave power parks could be localized up to 10 km offshore, in rural areas of developing countries, a new approach is needed for communication with the sea level compensation system that is not dependent on cellphone reception at sea. In this report, a review of the regulations for radio communication and radio equipment in Sweden, Spain, Nigeria, Ghana and India is presented together with research of different possibilities of communication. Moreover, a new system for sending commands and receiving telemetry have been developed and have been tested for basic functionality, range and power efficiency. Due to differences in the countries regulations and uncertainties about conditions at the future sites of deployment, the programs in the system are to be easily adapted to function with different radios depending on the country of interest and the conditions at the site. Hence, a system layout have been proposed rather than a specific communication solution. The experimental setup developed has been tested over land with license free radios, over a range of 10 km in the vicinity of Uppsala. In the test, 100% of the transmitted commands were received and acknowledged within three attempts. The new control system for the buoys reduced the energy consumption from the previous development system by 90%.

Software updates made by developers often achieve their intendedpurpose, but these updates may also lead to an anomalous behaviorpreviously unknown to the developers. This might be due to theirinteraction with other parts of the system. If the developers had a toolwhich could help them to visually see these changes as a behavioralmodel, it would benefit them to actually know how the changes haveaffected the behavior of the system. Thus, empowering them to fixany side effects or bugs that arise as a part of their update. Thus, in order to visualize and compare learned behavioral models,a tool was created which would model the behavior from traces generatedby scenarios based on the related work in the area of inferringmodels of software systems. This tool was specifically intended forembedded software. So, to compare changes based on updates andfunctional changes of embedded software, behavioral models of scenarioswere obtained for different versions of a Real Time OperatingSystem (RTOS) Kernel. The visual comparison algorithm proved tobe effective in visualizing the differences between behavioral modelsfor a particular scenario across the versions.

Design methodology of digital circuits is a rapidly changing field. In the last 20 years, the number of transistors on a single chip has increased from thousands to tens of millions. This sets new demands on the design tools involved, their ability to capture specifications on a high level, and finally synthesize them into hardware implementations. The introduction of Decision Diagrams (DDs) has brought new means towards solving many of the problems raised by the increasing complexity of todays designs. In this thesis, we study their use in VLSI CAD and develop a number of novel applications. Incomplete specifications are inherent to the functionality of almost all digital circuits. We present a design methodology providing a common basis between design validation and logic synthesis, namely the semantics of Kleenean Strong Ternary Logic. This is called upon as commonly used design methodologies, based e.g. on VHDL are shown to put design correctness in jeopardy. By an extension of DDs, we can efficiently represent and manipulate incompletely specified functions. The method presented, not only guarantees correctness of the final circuit, but also offers potential towards expressing and utilizing incompleteness in ways other methodologies are incapable of. The increasing density and speed of todays target technologies also changes the conditions for logic synthesis; e.g., traditional quality measures based on gate delays are becoming less accurate as delays caused by interconnections are raising their heads. To address this problem we propose methodologies allowing quality measures of the final circuit to be foreseen and considered throughout the whole synthesis process. In general this is a very hard task. We approach the problem by limiting our synthesis methodologies to those rendering regular layouts (Such as computational arrays and lattices). The regularity allows us to predict properties of the final circuit and at the same time, ensure design criteria to be met, e.g., path delays and routability of the final circuit. In this thesis, we develop new design methodologies and their algorithms. By our experimental results, they are shown to offer significant improvements to both state of the art two-level and multi-level based tools in the area of layout driven synthesis. Our minimization methods are based on Pseudo Kronecker Decision Diagrams (PKDDs) which are the most general type of ordered bitlevel diagrams for switching functions. In the thesis we elaborate on the properties of PKDDs and Ternary PKDDs (TPKDDs) and develop an efficient minimization method based on local variable exchange for TPKDDs. Furthermore, the problem of PKDD minimization is discussed and a number of different strategies are introduced and evaluated; the potential compactness of PKDDs is confirmed. The thesis spans from validation and verification of high-level specifications all the way down to layout driven synthesis, combining logic minimization, mapping and routing to the target architecture at hand. We conclude our work to offer new means towards solving many of the crucial problems occurring along the design process of modern digital circuits. / Godkänd; 1999; 20061117 (haneit)

Many embedded systems with real-time requirements demand minimal jitter and low communication end-to-end latency for its communication networks. The time-triggered paradigm, adopted by many real-time protocols, was designed to cope with these demands. A cost-efficient way to implement this paradigm is to synthesize a static schedule that indicates the transmission times of all the time-triggered frames such that all requirements are met. Synthesizing this schedule can be seen as a bin-packing problem, known to be NPcomplete, with complexity driven by the number of frames. In the last years, requirements on the amount of data being transmitted and the scalability of the network have increased. A solution was proposed, adapting real-time switched Ethernet to benefit from its high bandwidth. However, it added more complexity in computing the schedule, since every frame is distributed over multiple links. Tools like Satisfiability Modulo Theory solvers were able to cope with the added complexity and synthesize schedules of industrial size networks. Despite the success of such tools, applications are appearing requiring embedded systems with even more complex networks. In the future, real-time embedded systems, such as large factory automation or smart cities, will need extremely large hybrid networks, combining wired and wireless communication, with schedules that cannot be synthesized with current tools in a reasonable amount of time. With this in mind, the first thesis goal is to identify the performance limits of Satisfiability Modulo Theory solvers in schedule synthesis. Given these limitations, the next step is to define and develop a divide and conquer approach for decomposing the entire scheduling problem in smaller and easy solvable subproblems. However, there are constraints that relate frames from different subproblems. These constraints need to be treated differently and taken into account at the start of every subproblem. The third thesis goal is to develop an approach that is able to synthesize schedules when different frame constraints related to different subproblems are inter-dependent. Last, is to define the requirements that the integration of wireless communication in hybrid networks will bring to the schedule synthesis and how to cope with the increased complexity. We demonstrate the viability of our approaches by means of evaluations, showing that our method is capable to synthesize schedules of hundred of thousands of frames in less than 5 hours. / RetNet