With autonomous trucks on the road where the driver is absent requires new diagnostic methods. The driver possess several abilities which a machine does not. In this thesis, the use of machine learning as a method was investigated. A more concrete problem description was formed where the main objective was detecting anomalies in wheel configurations. More specifically, the machine learning model was used to detect incorrect wheel settings. Three different algorithms was used, SVM, LDA and logistic regression. Overall, the classifier predicts with high accuracy supporting that machine learning can be used for diagnosing autonomous vehicles.

This thesis designs, and partially implements, an architecture for running an embedded Linux application on a regular PC, without access to the target device. This thesis shows how a standard Linux User space filesystem, in the right environment, can be used to emulate the most common User space GPIO interface in Linux, SysFS. Furthermore, this thesis sets up a template for how this architecture can be used to run both the embedded application and an application emulating the connected hardware.

Today in farming of vegetables large amounts of water and pesticide are used, the farming is also weather and climate dependent and in Sweden the farming season is short. So, there is a need to make farming more efficient and determine how to make farming more stable and independent from unpredictable events. The goal of this project is to develop a prototype which make it possible to improve the resource usage and at the same time automate the process to increase the predictability. This project is going to use aeroponics which is way of growing in the air without soil and a single board computer is going to be used.

High-performance signal processing applications is computational intensive, complex and large amount of data has to be processed at every instance. Now these complex algorithms combined with real-time requirements requires that we perform tasks parallel and this should be done within specified time constraints. Therefore high computational system like multicore system is needed to fulfill these requirements, now problem lies in scheduling these real time tasks in multicore system. In this thesis we have studied and compared the different scheduling algorithms available in multicore platform along with hierarchical memory architecture. We have evaluated the performance by comparing their schedulability using tasks from the HPEC benchmark suite for radar signal processing applications. Apart from the comparison described above, we have proposed a new algorithm based on the PD2 scheduling algorithm which called Hybrid PD2 for hierarchical shared cache multicore platform. We have compared the Hybrid PD2 algorithm along with other scheduling algorithms using four randomly generated task sets.

The project aims to develop a platform for the demonstration and evaluation of Global Navigation Satellite Systems (GNSSs). The GNSS receivers used in the project are two uBlox NEO-M8P modules, one of which is used as a reference receiver in a differential GNSS setup. The entire platform has been implemented and consists of a network-controlled car (NetCar) which has a GNSS receiver and a 4G module on it, a separate reference GNSS receiver, a computer hosting a control interface for controlling the NetCar and a relay server for relaying data between the control interface and the NetCar. The platform has been tested for evaluating the GNSS. The performance was evaluated in terms of the time to first fix (TTFF), stationary positioning accuracy and tracking accuracy which includes qualitative evaluation of accuracy, statistical evaluation of accuracy and evaluation of absolute accuracy after moving. The test results show that the platform performed well for the demonstration and evaluation of the GNSS. The evaluation results show that the TTFF for the uBlox NEO-M8P used in the project averaged 24.2 s with a worst case of 33 s. The stationary positioning accuracy was found to drift in the order of tens of centimeters when using differential GNSS in RTK float mode and in the order of centimeters in RTK fixed mode. The relative trackingaccuracy between points during either RTK mode was found to be on the order of centimeters while the absolute accuracy was found to be drifting, probably due to the reference receiver position being acquired through self-survey. The current project can be extended further by including automatic navigation, sensor fusion, pathfinding and the like.

Syftet med examensarbetet är att minska avdriften hos en robotgräsklippare med hjälp av en enkel GPS. En avdrift sker då robotgräsklipparen faller av från den riktning som ska följas. Vilket sker på grund av externa krafter. I rapporten är definitionen på avdrift avvikelsen från en rät linje mellan robotgräsklipparens start och stopp position. Rapporten besvarar följande frågeställningar: Vilka olika mått finns för att mäta avdrift och vilken eller vilka av dessa är att föredra i det genomförda experimentet? Hur kan robotgräsklipparens avdrift minskas med mjukvara som använder data från endast en enkel GPS? Utveckling av mjukvara har skett iterativt där varje iteration resulterar i en konfiguration som minskar avdrift. För att besvara den andra frågeställningen har experiment utförts på vardera konfiguration. Resultatet från experimentet har sedan kunnat analyseras med de mått som framkom från den första frågeställningen. Studiens resultat visar att det går att minska avdriften hos en robotgräsklippare med en enkel GPS. / The purpose of this study is to reduce the drift of a robot lawnmower using a simple GPS. A drift occurs when the robot lawnmower falls off the direction that should be followed. This happens due to external forces. In this report the definition of drift is the deviation from a straight line between the robot lawnmower’s start and stop position. The thesis answers the following research questions: What different measurements are available to measure drift and what or which of these are preferred in the experiment done in this study? How can the drift from the robot lawnmower be reduced by software that uses data from only a simple GPS? The development of software has been done iteratively where each iteration results in a configuration that reduces drift. To answer the second research question, experiments have been performed on each configuration. The result of the experiment could then be analyzed with the measurements that emerged from the first research question. The study's results show that it is possible to reduce the drift of a robotic lawnmower with a simple GPS.

In a modern industrial system, the requirement on computational capacity has increased dramatically, in order to support a higher number of functionalities, to process a larger amount of data or to make faster and safer run-time decisions. Instead of using a traditional single-core processor where threads can only be executed sequentially, multi-core and many-core processors are gaining more and more attentions nowadays. In a multi-core processor, software programs can be executed in parallel, which can thus boost the computational performance. Many-core processors are specialized multi-core processors with a larger number of cores which are designed to achieve a higher degree of parallel processing. An on-chip communication bus is a central intersection used for data-exchange between cores, memory and I/O in most multi-core processors. As the number of cores increases, more contention can occur on the communication bus which raises a bottleneck of the overall performance. Therefore, in order to reduce contention incurred on the communication bus, a many-core processor typically employs a Network-on-Chip (NoC) to achieve data-exchange. Real-time embedded systems have been widely utilized for decades. In addition to the correctness of functionalities, timeliness is also an important factor in such systems. Violation of specific timing requirements can result in performance degradation or even fatal problems. While executing real-time applications on many-core processors, the timeliness of a NoC, as a communication subsystem, is essential as well. Unfortunately, many real-time system designs over-provision resources to guarantee the fulfillment of timing requirements, which can lead to significant resource waste. For example, analysis of a NoC design yields that the network is already saturated (i.e. accepting more traffic can incur requirement violation), however, in reality the network actually has the capacity to admit more traffic. In this thesis, we target such resource wasting problems related to design and analysis of NoCs that are used in real-time systems. We propose a number of solutions to improve the schedulability of real-time traffic over wormhole-switched NoCs in order to further improve the resource utilization of the whole system. The solutions focus mainly on two aspects: (1) providing more accurate and efficient time analyses; (2) proposing more cost-effective scheduling methods.

Purpose – The purpose of this thesis was to facilitate the search for echoes caused by fixed objects, so called fixed echoes, when using SODAR-technique for wind measurements. Furthermore, it was investigated how fixed echoes in measurements can change based on different conditions such as: the angle of the sound beam towards the object causing the echo, the output frequency of the instrument, the air temperature and relative humidity. Method – Data was recorded on a test site in southern Sweden during February - April 2017 using two different SODAR-instruments, AQ500 and AQ510, manufactured by AQSystem. Experiments were conducted by installing the instruments at different distances and in different angles next to a met mast. The data recorded was examined for fixed echoes both by using Excel and manually and compared for correlation with the parameters mentioned. A software that uses the r-squared value for a power function adapted to the collected data was developed to detect fixed echoes. Findings – The result of the study showed that the angle of the SODAR-instrument sound beam direction compared to the met mast has a relatively high impact on the number of fixed echoes that can be easily detected. When a sound beam is aimed directly at the fixed object the echoes increased significantly compared to when the sound beams were aimed next to the mast. AQ510, that uses a higher measurement frequency than the AQ500, was less susceptible to fixed echoes when doing simultaneous measurements. Both temperature and relative humidity showed low correlation to the number of fixed echoes so the implication was that these atmospherical parameters do not affect the emergence of fixed echoes. The r-squared value for a power function adapted to the wind data turned out to be a good measure for the magnitude of a fixed echo. When the correlation coefficient of the r-squared value and the percentage of wind profiles that contained fixed echoes were calculated the value was 0,995 which is a strong positive correlation. The r-squared value is compared with a threshold value (which depends on the number of wind profiles in the data to be analysed) to determine if a fixed echo is causing disturbance. Another control is also made in the software where the measured wind values are compared with the values from the power function to find minor deviations possibly caused by fixed echoes. Implications – When the result of the thesis is considered it can help the person installing the instruments as well as the developers of the SODAR-instruments. The person installing the system can notice that fixed echoes can be decreased by rotating the instrument. The result showed the developer that by carefully selecting the right frequency the number of fixed echoes can be decreased. If neither the temperature nor the relative humidity has any impact on fixed echoes it shows the developer that the instrument can be used in varying climates. The result of the study can also be of service to wind analysts using SODAR-equipment. The software developed can be used to find fixed echoes in a more efficient way than was previously possible. Limitations – The data recordings took place during a limited period during late winter, early spring in the southern parts of Sweden which means that neither extremely high or low temperatures were measured during the campaign. The thesis is further limited by only using ”multiple axis” SODAR-instruments from AQSystem. Keywords – SODAR, wind measurements, fixed echoes, measurement instrument. / Syfte – Syftet med detta examensarbete var att underlätta sökandet efter ekon från fasta objekt, så kallade "fasta ekon", vid vindmätning med SODAR-teknik. Vidare var syftet att utreda om fasta ekon framträder olika under olika förutsättningar som: mätinstrumentets ljudlobsvinkel mot objektet som ger upphov till eko, mätfrekvens, luftens temperatur och den relativa luftfuktigheten.  Metod – Data samlades in med två olika SODAR-instrument, AQ500 och AQ510, från företaget AQSystem på en testplats i södra Sverige, februari – april 2017. Data samlades in genom att installera instrumenten på olika avstånd, samt roterat åt olika riktningar, från ett stationärt objekt (en ca 100 m hög mast). Denna data genomsöktes sedan, både manuellt och med hjälp av Excel, efter fasta ekon och jämfördes med tidigare nämnda parametrar. En mjukvara som kan användas för att detektera fasta ekon utvecklades. Mjukvaran använder r-kvadratvärdet för en potensfunktion anpassad till insamlade data för att avgöra storleken på ett eventuellt fast eko. Resultat – Studiens resultat visade att SODAR-instrumentets ljudlobsvinkel mot ekoalstrande objekt hade relativt hög påverkan på fasta ekons styrka. När varsin ljudlob på instrumenten riktades direkt mot masten ökade det fasta ekot jämfört mot när ljudloberna var riktade vid sidan av masten. AQ510, som mäter med en högre frekvens än AQ500, påverkades mindre av fasta ekon än vad AQ500 gjorde vid simultana mätningar. Både luftens temperatur och den relativa luftfuktigheten hade svag korrelation med fasta ekons styrka. Därför drogs slutsatsen att just dessa atmosfäriska parametrar ej påverkar hur fasta ekon uppstår. r-kvadratvärdet för en potensfunktion anpassad till vinddata visades vara ett bra mått på magnituden av ett fast eko. När korrelationskoefficienten för r-kvadratvärdet och andelen vindprofiler innehållande fasta ekon i vinddata beräknades antog den värdet 0,995 vilket visar på en stark positiv korrelation. r-kvadratvärdet jämförs med ett tröskelvärde (som beror av antalet vindprofiler i data som analyseras) för att avgöra om ett fast eko orsakar störningar. En kontroll görs även där det de uppmätta vindvärdena jämförs med potensfunktionens värden för att hitta mindre avvikelser som kan ha orsakats av fasta ekon. Implikationer – Om examensarbetets resultat tas i beaktning kan det underlätta för både installatörer och utvecklare av SODAR-instrument. För installatören visar resultatet att fasta ekon kan minskas genom att rotera mätinstrumentet. För utvecklaren visar resultatet att fasta ekon kan minskas genom att välja en lämplig mätfrekvens. Om varken luftens temperatur eller den relativa luftfuktigheten påverkar fasta ekon nämnvärt kan detta visa på att vindmätning med SODAR-instrument är brukbart i varierande klimat. Även analytiker kan ha nytta av examensarbetets resultat i form av den mjukvara som utvecklats. Mjukvaran kan användas för att på ett mer effektivt sätt än tidigare upptäcka fasta ekon. Begränsningar – Datainsamlingen genomfördes under en begränsad period under sen vinter till tidig vår i södra Sverige. Därför har varken exceptionellt låga- eller höga temperaturer mätts upp. Examensarbetet begränsas ytterligare av att endast mätinstrument från företaget AQSystem av typen "multiple axis" har använts. Nyckelord – SODAR, vindmätning, fasta ekon, mätinstrument. / <p>Presentationen har redan skett.</p>

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The aim of this thesis is to understand the current implementation, how different hardware and output frequency affects the hydraulic actuators in the current platform and Then an improve the controller should be presented. This needs to be both faster then the current controller and should not use more CPU recurses then necessary. With the understanding of current controller, three new regulators where implemented and tested. One uses a PI regulator and the other two uses an adaptive algorithm to generate the control signal. All where faster than the current one and the PI-implementation uses the lowest amount of CPU recurses, on the other hand this needs to be calibrated for the different hardware and output frequency’s. ThetwoadaptivecontrollersrequiresahigheramountofCPUrecurses, instead it requires less calibration to work.