Dans cette thèse sont présentées deux méthodes visant à obtenir automatiquement une description tridimensionnelle des mouvements d'une main étant donnée une séquence vidéo monoculaire de cette main. En utilisant l'information fournie par la vidéo, l'objectif est de déterminer l'ensemble des paramètres cinématiques nécessaires à la description de la configuration spatiale des différentes parties de la main. Cet ensemble de paramètres est composé des angles de chaque articulation ainsi que de la position et de l'orientation globale du poignet. Ce problème est un problème difficile. La main a de nombreux degrés de liberté et les auto-occultations sont omniprésentes, ce qui rend difficile l'estimation de la configuration des parties partiellement ou totalement cachées. Dans cette thèse sont proposées deux nouvelles méthodes qui améliorent par certains aspects l'état de l'art pour ce problème. Ces deux méthodes sont basées sur un modèle de la main dont la configuration spatiale est ajustée pour que sa projection dans l'image corresponde au mieux à l'image de main observée. Ce processus est guidé par une fonction de coût qui définit une mesure quantitative de la qualité de l'alignement de la projection du modèle avec l'image observée. La procédure d'ajustement du modèle est réalisée grâce à un raffinement itératif de type descente de gradient quasi-newton qui vise à minimiser cette fonction de coût.Les deux méthodes proposées diffèrent principalement par le choix du modèle et de la fonction du coût. La première méthode repose sur un modèle de la main composé d'ellipsoïdes et d'une fonction coût utilisant un modèle de la distribution statistique de la couleur la main et du fond de l'image.La seconde méthode repose sur un modèle triangulé de la surface de la main qui est texturé est ombragé. La fonction de coût mesure directement, pixel par pixel, la différence entre l'image observée et l'image synthétique obtenue par projection du modèle de la main dans l'image. Lors du calcul du gradient de la fonction de coût, une attention particulière a été portée aux termes dûs aux changements de visibilité de la surface au voisinage des auto-occultations, termes qui ont été négligés dans les méthodes préexistantes.Ces deux méthodes ne fonctionnement malheureusement pas en temps réel, ce qui rend leur utilisation pour l'instant impossible dans un contexte d'interaction homme-machine. L'amélioration de la performance des ordinateur combinée avec une amélioration de ces méthodes pourrait éventuellement permettre d'obtenir un résultat en temps réel. / In this thesis we propose two methods that allow to recover automatically a full description of the 3d motion of a hand given a monocular video sequence of this hand. Using the information provided by the video, our aimto is to determine the full set of kinematic parameters that are required to describe the pose of the skeleton of the hand. This set of parameters is composed of the angles associate to each joint/articulation and the global position and orientation of the wrist. This problem is extremely challenging. The hand as many degrees of freedom and auto-occlusion are ubiquitous, which makes difficult the estimation of occluded or partially ocluded hand parts.In this thesis, we introduce two novel methods of increasing complexity that improve to certain extend the state-of-the-art for monocular hand tracking problem. Both are model-based methods and are based on a hand model that is fitted to the image. This process is guided by an objective function that defines some image-based measure of the hand projection given the model parameters. The fitting process is achieved through an iterative refinement technique that is based on gradient-descent and aims a minimizing the objective function. The two methos differ mainly by the choice of the hand model and of the cost function.The first method relies on a hand model made of ellipsoids and a simple discrepancy measure based on global color distributions of the hand and the background. The second method uses a triangulated surface model with texture and shading and exploits a robust distance between the synthetic and observed image as discrepancy measure.While computing the gradient of the discrepancy measure, a particular attention is given to terms related to the changes of visibility of the surface near self occlusion boundaries that are neglected in existing formulations. Our hand tracking method is not real-time, which makes interactive applications not yet possible. Increase of computation power of computers and improvement of our method might make real-time attainable.

Thorough testing of software is necessary to assure the quality of a product before it is released. The testing process requires substantial resources in software development. Model-based software development provides new possibilities to automate parts of the testing process. By automating tests, valuable time can be saved. This thesis focuses on different ways to utilize models for automatic generation of test vectors and how test coverage analysis can be used to assure the quality of a test suite or to find "dead code" in a model. Different test-automation techniques have been investigated and applied to a model of an adaptive cruise control system (ACC) used at Scania. Source code has been generated automatically from the model, model coverage and code coverage has therefore been compared. The work with this thesis resulted in a new method to create test vectors for models based on a combinatorial test technique.

À medida que se apresentam grandes avanços tecnológicos nas áreas de instrumentação, controle e acionamento, se torna cada vez mais difundida a utilização de sistemas robóticos para a execução dos mais variados tipos de tarefas, como na exploração de petróleo ou mesmo no transporte de cargas. Desse modo, diversas são as situações em que se torna necessário o uso de sistemas subatuados, despertando o interesse da comunidade científica, quer seja pela variadas situações em que se pode utilizar esse tipo de robô ou mesmo pelo desafio que se apresenta o desenvolvimento de estratégias de controle de tais sistemas. Nesta tese propõe-se um modelo de robô bracejador, juntamente com o desenvolvimento dos modelos matemáticos que descrevem o comportamento cinemático e dinâmico desse robô e a respectiva análise desses modelos. Além disso, o presente trabalho tem por objetivo apresentar uma estrutura de controle em malha fechada que seja capaz de fazer com que o robô se desloque ao longo de uma linha horizontal. Diferentes estratégias de controle já foram apresentadas para o controle de robôs bracejadores, mas, em sua maioria, possuem limitações quanto ao tipo de bracejamento que o robô pode executar, além de não considerarem nenhuma restrição no sistema. Dessa maneira, emprega-se a estratégia de controle preditivo, com horizonte de predição deslizante, a qual permite que, para o cálculo da lei de controle, sejam consideradas restrições às variáveis de estado e de entrada durante a solução do problema de otimização. A partir da definição do objetivo e da abordagem de controle a ser utilizada, várias simulações são realizadas com o intuito de validar a aplicação do controlador preditivo para o controle do robô bracejador, sendo o robô capaz de executar diferentes tipos de bracejamento (tanto bracejamento único quanto bracejamento contínuo, do tipo underswing e over hand) ao longo da linha de sustentação. São desenvolvidas duas versões para o controlador proposto, uma baseada em modelo não-linear da dinâmica para ser utilizado no horizonte de predição e outra considerando uma versão linearizada para o modelo da dinâmica. Os resultados obtidos pelas diferentes simulações mostram que a solução proposta para o problema de movimentar o robô bracejador atingiu seus objetivos de modo bastante eficiente, possiblitando, inclusive, a realização de simulações que atendessem a requisitos de tempo real. / As we are observing, the fast technological development in the fields of instrumentation, control and actuation are increasing the employment of robotic systems for the execution of a large variety of tasks, for example, oil exploration or load transportation. In this way, there are many situations where it is necessary to use underactuated systems, which are getting attention of the scientific community due to the different applications of underactuated robots or even due to the challenge to design control strategies for such systems. In this thesis we propose a brachiation robot model, with the derivation of mathematical models for its kinematics and dynamics and analyse such models. Moreover, the aim of this work is to propose a closed loop control architecture that will drive the robot to move along the horizontal line. Many different control schemes have already been proposed in the literature to control brachiation robots, however, most of such schemes are limited concerning the way the robot executes the brachiation movement. Moreover those control strategies are not able to deal with constraints on the state and/or control variables. Thus, we present in this thesis a control scheme based on the predictive control strategy, with receding horizon, which can take into account such constraints during the solution of the optimization problem for the control input computation. After defining the task to be executed and the control strategy to be used, we have simulated different situations of the robot aiming the validation the employment of the predictive control approach for the brachiation robot. The robot is able to execute different types of brachiation (only one cicle or continuously motion, with under-swing and over hand motion) along the supporting line. We have developed two versions to the proposed controller, the first one considering a nonlinear dynamic model during the prediction horizong and the second considering a linearized dynamic model for prediction. The results from the different simulation show that the solution presented in this work for the brachiation robot motion was successful, making the robot able to move from one position to a forwarded position in the line. Furthermore, simulations have indicated the overall system can be executed under real time requirements.

Na busca de maior flexibilidade, agilidade, reuso e consequente redução de custos, esforços tem sido direcionados no sentido de desenvolver métodos e ferramentas de engenharia de sistemas baseados em modelos. Apesar dos avanços recentes, as tecnologias disponíveis ainda despertam dúvidas em relação à sua aplicação prática e seus benefícios. Os maiores obstáculos estão contidos na dificuldade da integração entre ferramentas e troca de informações entre artefatos de diferentes disciplinas. Com o objetivo de comparar a Engenharia Centrado em Documentação (ferramentas CAx) com a Engenharia de Sistemas Baseada em Modelos (MBSE), esse trabalho utilizou um domínio industrial real para extrair, analisar e comparar dados quantitativos e qualitativos do projeto de engenharia. Foi desenvolvido um método de engenharia baseada em modelos com o uso da ferramenta Eclipse para a comparação com o método de engenharia vigente. A linguagem ModelicaML foi utilizada para criar os modelos abstratos enquanto que a ferramenta COMOS® da Siemens® foi utilizada para a realização dos artefatos técnicos multidisciplinares do domínio em estudo. O software OpenModelica foi utilizado para simular o comportamento do sistema a partir da transformação do modelo abstrato para código Modelica com o uso de software escrito em Java. Os dados de engenharia e de gerenciamento do projeto do Sistema de Circulação de Água foram disponibilizados pela General Electric Inspection Technologies GmbH e foram utilizados para a comparação entre os dois métodos analisados. Os testes demonstraram que as ferramentas MBSE necessitam de refinamento, principalmente quando conectam os modelos abstratos às plataformas de execução de projetos. Em contrapartida, MBSE se mostrou uma excelente ferramenta na comunicação entre equipes multidisciplinares, pois proporciona uma linguagem de representação de sistemas abstrata e abrangente. A interligação dos modelos abstratos desenvolvidos em ModelicaML com a plataforma de simulação usando linguagem Modelica foi fundamental na análise e melhor compreensão dos fenômenos envolvidos no processo técnico propiciando um importante avanço na antecipação da detecção de erros em projetos de sistemas de automação. / Achieving more flexibility, agility, reuse and consequently cost reduction in scope of Systems Engineering is an industrial need. In that sense, efforts have been driven to develop Model-Based Systems Engineering tools and methods. Despite of recent progress, there are still doubts in terms of the practical use and benefits. The main issues are related to tool integration and exchange of information between multidisciplinary artifacts. This project is intended to compare Document-Based Engineering (CAx tools) and Model-Based Systems Engineering (MBSE) in scope of Industrial Automation using a real domain. Therefore, a MBSE methodology was developed centered on the Eclipse tool. The ModelicaML language was used to perform abstract modeling while COMOS® from Siemens® was used to develop the multidisciplinary artifacts necessary for the domain under investigation. Furthermore, the OpenModelica environment was used to simulate system and component behavior using object codes generated by a Java tool from the abstract models. The engineering and project management data of the Water Circulation System were made available by General Electric Inspection Technologies GmbH, which served as the case study for this comparison. Tests have shown that the tools involved on this investigation still need further development concerning maturity and exchange of information from abstract models down to domain models. On the other hand, MBSE has proven to be an important tool to match different team approaches and concerns helping on communication using conceptual-wide and abstract symbols. Connecting abstract models from ModelicaML to a simulation environment using Modelica language have been proven to be an important approach to better understand systems behavior and provided an analysis environment for early detection of errors and failures.

This master thesis investigates how well suited the model-based testing process is for testing a new feature of a Base Station Controller. In model-based testing the tester designs a behavioral model of the system under test, or some part of the system. This model is then given to a test generation tool that will analyze the model and produce interesting test cases. These test cases can either be run on the system in an automatic or manual way depending on what type of setup there is. In this report it is suggested that the behavioral model should be produced in as early a stage as possible and that it should be a collaboration between the test team and the design team. The advantages with the model-based testing process are a better overview of the test cases, the test cases are always up to date, it helps in finding errors or contradictions in requirements and it performs closer collaboration between the test team and the design team. The disadvantages with model-based testing process are that it introduces more sources where an error can occur. The behavioral model can have errors, the layer between the model and the generated test cases can have errors and the layer between the test cases and the system under test can have errors. This report also indicates that the time needed for testing will be longer compared with manual testing. During the pilot, when a part of a new feature was tested, of this master thesis a test generation tool called Qtronic was used. This tool solves a very challenging task which is generating test cases from a general behavioral model and with a good result. This tool provides many good things but it also has its shortages. One of the biggest shortages is the debugging of the model for finding errors. This step is very time consuming because it requires that a test case generation is performed on the whole model. When there is a fault in the model then this test generation can take very long time, before the tool decides that it is impossible to cover the model. Under the circumstances that the Qtronic tool is improved on varies issues suggested in the thesis, one of the most important issues is to do something about the long debugging time needed, then the next step can be to use model-based testing in a larger evaluation project at BSC Design, Ericsson.

As machines are increasingly used to fulfill even more needs of mankind, the dependence upon those machines increase. To prevent catastrophic failure and to facilitate maintenance a diagnostic system can be used. A diagnostic system supervises the system and can alarm the operator when a fault has occurred, and possibly determine what the cause may be. One architecture of a diagnostic system is a number of tests run by an on-board computer checking certain combinations of sensor values and control signals chosen in advance. To design these tests is a difficult task, which leads to the desire to automate the test construction. A part of this task can be performed using structural methods. In this thesis model based diagnosis is considered. This means that a formal mathematical model is used. The models typically consist of a number of equations describing the behavior of the system. In structural methods it is only considered if a variable exists in an equation or not. The goal of this master thesis project has been to apply structural methods to RODON models. RODON is a software diagnostics tool brought to market by Sörman Information & Media, which can perform various diagnostic-related tasks based on a single model. This model is defined in an object oriented fashion using a Modelica-like language called Rodelica. A prototype implementation of a structural algorithm plug-in has been developed and integrated into RODON. An additional part of the project has been to investigate further possible uses of structural algorithms in RODON, apart from diagnostic test construction. This has been performed as a series of interviews with Sörman and university employees. The work performed in this thesis has shown that it is possible to apply structural methods to RODON models. It has also shown that even a prototype implementation can handle quite large systems. Some problems have been found as well, most notably in extracting a structural model from a RODON model. A consequence is that the developed structural plug-in only works for a subset of RODON models. It might be possible to deal with these problems if more time would be spent on the task. Finally, the interview survey revealed other possible uses of structural methods in RODON, including optimal sensor placement analysis and isolability and detectability analysis.

Legislation requires substantially lowered emissions and that all trucks manufactured are equipped with an On-Board Diagnosis (OBD) system. One approach for designing an OBD system is to use model based diagnosis and residual generation. At Scania CV AB, a method for automatic design of a diagnosis system from a model has been developed but there are still possibilities for improvements to get more and better residual generators. The main objective of this thesis is to analyze and improve the existing method. A theoretic outline of two methods using different causality assumptions is presented and the differences are analyzed and discussed. Stability of residual generators is analyzed and a method for constructing stable residual generators and its consequences for the diagnosis system is presented. Methods using integral and derivative causality are found not to be equivalent for all dynamic systems, resulting in that a diagnosis system utilizing both methods would be preferred for detectability reasons. A stable residual generator can be constructed from an unstable residual generator. The method for stabilizing a residual generator affects the fault sensitivity of the residual generator and the fault detectability properties of the diagnosis system. / Lagkrav kräver väsentligt sänkta emissionsnivåer och att alla tillverkade lastbilar är utrustade med ett system för On-Board Diagnosis (OBD). Ett sätt att konstruera ett OBD system är att använda modellbaserad diagnos och residualgenerering. På Scania CV AB har en metod för automatisk konstruktion av ett diagnossystem utifrån en modell utvecklats, men det finns utrymme för bättringar som leder till att fler och bättre residualgeneratorer konstrueras. Huvudsyftet med examensarbetet är att analysera och förbättra den existerande metoden. En teoretisk beskrivning av två metoder som använder sig av olika kausalitet presenteras och skillnaderna analyseras och diskuteras. Stabiliteten hos residualgeneratorer analyseras och en metod för att konstruera stabila residualgeneratorer och dess konsekvenser för diagnossystemet presenteras. Metoder som använder sig av integrerande respektive deriverande kausalitet visar sig inte vara ekvivalenta för alla dynamiska system, vilket resulterar i att ett diagnossystem som använder sig av båda kausaliteterna är att föredra i ett diagnossystem med avseende på detekterbarhet. En stabil residualgenerator kan konstrueras från en instabil residualgenerator. Metoden för att stabilisera en residualgenerator påverkar felkänsligheten hos residualgeneratorn och feldetekterbarheten hos diagnossystemet.

Context. The quality of business process models is important in the area of model-based software development. The overall goal of this study was to develop and evaluate a model for assessing the quality of models (Process Diagrams) in Business Process Model and Notation (BPMN). The model was an instantiation of the developed metamodel that adopt ISO/IEC 1926. Objectives. The objectives of the thesis were to propose, implement and evaluate a model for quality assessment of business process models in BPMN. The model was intended to help practitioners to check the quality of their BPMN models and provide meaningful feedback on whether the business process models are of good or bad quality. First objective was to develop a metamodel of models for quality assessment of business process models in BPMN, and later the model that in an instantiation of the metamodel. Within the model, the objectives were to propose the relevant quality characteristics, quality metrics, quality criteria and quality functions. Finally, usefulness of model for quality assessment of business process models in BPMN was to be evaluated. Methods. The methodology was driven by essential elements of the model for quality assessment of business process models in BPMN. This is: quality characteristics, quality metrics, quality criteria and quality functions. In the beginning the metamodel of the model was developed based on the ISO/IEC 1926 standard. Later, in order to identify quality characteristics of models existing in the literature, a systematic literature review was conducted. Quality characteristics explicitly relevant to BPMN were compared against each other and selected. Overlapping quality characteristics relevant to BPMN were merged. Next, in order to obtain quality metrics that measure aspects of models of business processes, a literature review was carried out. The literature review was restricted by a proposed set of selection criteria. The criteria were questions that every relevant literature describing quality metrics must affirmatively answer in order to identify only metrics that were able to be assigned to identify quality characteristics. If the chosen quality metrics needed to be changed or adjusted for the sake of better results, the author added changes or adjustments and provided rationale for them. Next, in order to obtain quality criteria, values of the quality metrics were gathered through measuring a repository of BPMN models. The repository was gathered as a preparatory work for the thesis and it consisted of models of varying quality. Manual measurement of quality metrics for each BPMN model from the repository could not be done within a reasonable amount of time. Therefore, a tool to automatically calculate metrics for BPMN models was implemented. The quality criteria were proposed based on the results from interpretation of the values using statistical analysis. Later, quality functions that aggregate values of the metrics were proposed. The complete model was next integrated into the tool so that it could assess a quality of real BPMN models. Finally, the model for assessing the quality of business process models in BPMN was evaluated for usefulness through a survey and survey-based experiment. Results. A metamodel of models for quality assessment of business process models in BPMN was proposed. A model for the quality assessment of models in BPMN was proposed and evaluated for usefulness. Initial sets of quality characteristics of models were found in the literature and quality characteristics that were relevant to BPMN were extracted. Quality metrics that measure aspects of models were found and adjusted to the BPMN notation. Quality criteria that state how values of quality metrics can be classified as good or bad were provided. Quality functions that state if quality characteristics are good or bad for a chosen BPMN model were provided. Finally, a tool that implements the model for quality assessment of models in BPMN was created. Conclusions. The results of the survey and survey-based experiment showed that the proposed model for quality assessment of models in BPMN works in most cases and is needed in general. Additionally, the elements of the model which should be corrected were identified. Contacted users of BPMN expressed a will to use the suggested tool associated with the model for quality assessment of business process models in BPMN.

DCU2 (Drive Control Unit 2) is an important control system used in applications for train systems that are configured by a set of parameters. Traditionally, parameterization is conducted by using an excel workbook during the software development. The parameters are set up and further export the parameters to the compilation step. Such approach has a number of disadvantages, e.g., delays on the validation and verification steps, system configuration overhead, and suboptimal system reliability generated by the parameter configurations. To improve the parameterization process, this thesis implements a model-based software architecture approach and automotive industry standards via rapid prototyping by using scrum methodology. We do this by using Matlab/Simulink, TDL (Time Description Language) and UML (Unified Modeling Language) architectural description languages to enable different views of the software architecture. We then develop different prototypes that implement ASAM (Association for Standardization of Automation and Measuring Systems) standards like XCP protocol over Ethernet (code ASAM MCD-1 XCP V1.1.0) and ASAP2 (code ASAM MCD-2 MC) in every scrum sprint. An evaluation then shows that the thesis successfully implements previously defined standards that use commercial tools from e.g., Vector, proving that the parameter‟s unit control can be handled via online calibration and measurement, leading to a significant improvement in Bombardier‟s software development process in a distributed development environment.

Detta examensarbete utfördes på Saab AB, Support & Service, i Tannefors, Linköping, samt vid Institutionen för datavetenskap på Linköpings universitet. Ett moment i kvalitetsarbetet för komplexa industriprodukter, som till exempel flygplan, är att skifta från tvådimensionellt konstruktionsunderlag till tredimensionellt. Tredimensionella modeller har funnits i flera år. Nackdelen med dessa modeller är att de inte kunnat bära någon extra information, förutom den information som krävs för att de ska vara uppritade. Tekniken har gått framåt och nu går det att lagra teknikinformation i modellerna samt göra simuleringar som inte gått att göra förut. I och med att teknikinformation finns i modellerna, går det även att använda denna information till de olika publikationer som skrivs. Syftet med denna studie är att analysera hur teknikinformationsflödet mellan modeller och användare kan komma att se ut vid användning av modellbaserat konstruktionsunderlag, samt att föreslå exempel på hur tekniska publikationer för Gripen NG kan komma att se ut i framtiden. När all information finns i modellen, behövs inte lika mycket personal som redigerar bilder eller skriver text. Detta kommer innebära ekonomisk vinst och efter ett tags användning, kommer det även ge en ytterligare ekonomisk vinst, eftersom användarna har lärt sig hur produkten fungerar och på så sätt blivit effektivare på att använda den än de nuvarande dokumenten. / This thesis was carried out at Saab AB, Support & Service, in Tannefors, Linköping, and at the Department of Computer Science at Linköping University. One item in the quality work for complex industrial products, such as aircrafts, is to shift from two-dimensional design data to three-dimensional. Three-dimensional models have been around for years. The disadvantage of these models is that they could not carry any extra information, in addition to the information necessary for them to be plotted. The technology has moved on and now it is possible to store technical information in the models and do simulations that didn't work before. As the technical information is contained in the models, you can also use this information to the various publications that are printed. The purpose of this study is to analyze how the technical information flow between models and users, and also to propose examples of how technical publications for the Gripen NG may be in the future when using model-based design documents. Once all information is in the model, it is not needed to have as much staff employed for editing pictures or writing text. This will involve a financial gain, and after some time, it will also provide an additional financial benefit, because the users have learned how the product works and will be more efficient in using it than the current documents.