No description available.

The main purpose of this thesis has been to study the change agent’s role in accelerating sustainability in the construction sector. A case study was conducted in a large construction company (~9000 employees) with an ambitious sustainability profile. The research started by obtaining an understanding of organizational change, the change agents’ role and how change agents can be organized. The research then proceeded by studying whether there are practices among change agents leading to sustainable transition and how. Data was collected in a single case study through semi- structured interviews with four change agents, their director and one receiver of the change efforts.  How do change agents in a construction company, organized in a dual operating system, overcome change resistance in the line organization to accelerate sustainability?  The answers to the research question where that the change agents are the key persons of driving the transformational change effort in the studied company. They operate differently depending on situation and task, with no formal job description, requiring a high grade of personal strive. They have no formal responsibilities and few recourses, resulting in an importance of ability to influence others to take necessary decisions to change towards sustainability. They focus on building and maintaining relations with key persons in the line organization and prefer to be involved early in the projects. They spend time to train and engage in sustainability questions. They use their colleagues and fellow experts in the parallel organization to share competence, expertise and experience.  This study shows that change agents’ working in a dual operating system has been implemented with success in Company X. A successful dual operating system should include a larger unit of agents that gives them support and help from each other in their strive for change in any area of choice. When implementing the dual operating system, it should be considered that if the role definition is wide, creativity is stimulated among the change agents, making them develop new methods for implementing sustainable change. Furthermore, these best practices identified could be used for future change agent role definitions.  Even though change resistance exists in different forms, proactive prevention of resistance as have been done in Company X, seems to facilitate the change effort. As a result, the interviewees did not particularly experience change resistance. For future research, the case study could be expanded to include more respondents to study each area deeper and be able to confirm the best practices and the main challenges. It would be of interest to identify a company in a different sector that has implemented change agents and a dual operating system and perform a similar case study to identify any sector-specific differences. Some interviewees at Company X described there was an ongoing process on the job descriptions of the change agents. After the implementation of the updated job descriptions, it could be of interest to study changes in volunteerism and creativity among the change agents. Another aspect for further studies would be company size. Smaller companies with less management recourses probably must operate different and those differences would be interesting to understand further. Lastly, future research could study outcome of change effort using change agents in a dual operating system compared to change agents in the original organization.

This master’s thesis deals with the navigation of a mobile robot that uses the ROS framework. The aim is to improve the ability of the existing B2 robot to move autonomously outdoors. The theoretical part contains a description of the navigation core, which consists of the move_base library and the packages used for planning. The practical part describe the aws of the existing solution, the design and implementation of changes and the results of subsequent testing in the urban park environment.

The subject of this diploma thesis is a creation of SW for the self-service charging station of ELNICO Ltd. company. The work consists of two main parts. The first part contains an overview of general charging stations for electro cars at current market. After this the prototype of the ELNICO system is described. It's main components and the control system realized by the development kit DK-LM3S9B96 are characterized here. The real-time operating system FreeRTOS, that is used by the kit, is also specified. The second part of the document deals with the SW design and realization. The thesis describes the structure and the main modules of the program. The functionality is then demonstrated by photos of running application.

This diploma thesis deals with a technology of production milling of sample component “ending of generator shaft” by CNC milling in environment of small company. At first common aspects of CNC machines, technology of CNC milling and technology of construction are introduced. Possible problems with milling of sample component are analyzed and their possible solutions are presented. Next technology of CNC milling with operating program for CNC lathe (HAAS SL20) and CNC milling machine (HAAS VF3), production of component in small company with necessary documentation in technology procedure are projected. Using of operating systems HAAS, Fanuc and HEIDEHAIN are compared. Using of cutting tools and cutting condition for component milling is projected. Finally timing of operations and financial calculations necessary for small production of sample component is proposed.

This work deals with the interactive interface for remote controlled robots and examines some of the existing visualization and simulation tools and robotic platforms. It also designs and implements interactive elements suitable for representation of detected objects, such as bounding box or billboard, and proposes interactive elements to eliminate some of the problems associated with remote control of the robot, such as bad perception of distances and the orientation in the environment. The interactive interface is implemented in the Robot Operating System using offered means for visualization, communication and operations management. Graphics primitives are represented by Interactive Markers that, in addition to the visualization, offers also possibilities of interaction. With these markers, a simple tool for controlling the movement of the robot is designed.

Tato práce se zabývá analýzou stávajících a aktivních VPN řešení,  jejich výkonu a slabých stránek. Výsledkem práce je jaderný modul pro Linux, který implementuje datový přenos pomocí protokolů TLS a DTLS na základě konfigurace ustanoveného spojení v chráněném režimu. Primárním cílem bylo odstranit datové kopie a změny kontextu z chráněného režimu do režimu jádra během datových přenosů ve VPN řešeních založených na protokolech  TLS a DTLS. Práce analyzuje cenu těchto operací a na základě analýz lokalizuje další kroky nutné k využití implementovaného jaderného modulu ve VPN řešeních. Práce se dále zabývá analýzou dalších možných využití implementovaného jaderného modulu mimo VPN řešení.

<p>Today, computer science and robotics have been highly developed. Simultaneous Localization and Mapping (SLAM) is widely used in mobile robot navigation, game design, and autonomous vehicles. It can be said that in the future, most scenarios where mobile robots are applied will require localization and mapping. Among them, the construction of three-dimensional(3D) maps is particularly important for environment visualization which is the focus of this research.</p> <p>In this project, the data used for visualization was collected using a vision sensor. The data collected by the vision sensor is processed by ORB-SLAM2 to generate the 3D cloud point maps of the environment. Because, there are a lot of noise in the map points cloud, filters are used to remove the noise. The generated map points are processed by the straight-through filter to cut off the points out of the specific range. Statistical filters are then used to remove sparse outlier noise. Thereafter, in order to improve the calculation efficiency and retain the necessary terrain details, a voxel filter is used for downsampling. In order to improve the composition effect, it is necessary to appropriately increase the sampling amount to increase surface smoothness. Finally, the processed map points are visualized using Octomap. The implementation utilizes the services provided by the Robot Operating System (ROS). The powerful Rviz software on the ROS platform is used. The processed map points as cloud data are published in ROS and visualized using Octomap. </p> <p>Simulation results confirm that Octomap can show the terrain details well in the 3D visualization of the environment. After the simulations, visualization experiments for two environments of different complexity are performed. The experimental results show that the approach can mitigate the influence of noise on the visualization results to a certain extent. It is shown that for static high-precision point clouds, Octomap provides a good visualization. The simulation and experimental results demonstrate the applicably of the approach to visualize 3D map points for the purpose of autonomous navigation.</p><br>

Failing hardware is a fact and trends in microprocessor design indicate that the fraction of hardware suffering from permanent and transient faults will continue to increase in future chip generations. Researchers proposed various solutions to this issue with different downsides: Specialized hardware components make hardware more expensive in production and consume additional energy at runtime. Fault-tolerant algorithms and libraries enforce specific programming models on the developer. Compiler-based fault tolerance requires the source code for all applications to be available for recompilation. In this thesis I present ASTEROID, an operating system architecture that integrates applications with different reliability needs. ASTEROID is built on top of the L4/Fiasco.OC microkernel and extends the system with Romain, an operating system service that transparently replicates user applications. Romain supports single- and multi-threaded applications without requiring access to the application's source code. Romain replicates applications and their resources completely and thereby does not rely on hardware extensions, such as ECC-protected memory. In my thesis I describe how to efficiently implement replication as a form of redundant multithreading in software. I develop mechanisms to manage replica resources and to make multi-threaded programs behave deterministically for replication. I furthermore present an approach to handle applications that use shared-memory channels with other programs. My evaluation shows that Romain provides 100% error detection and more than 99.6% error correction for single-bit flips in memory and general-purpose registers. At the same time, Romain's execution time overhead is below 14% for single-threaded applications running in triple-modular redundant mode. The last part of my thesis acknowledges that software-implemented fault tolerance methods often rely on the correct functioning of a certain set of hardware and software components, the Reliable Computing Base (RCB). I introduce the concept of the RCB and discuss what constitutes the RCB of the ASTEROID system and other fault tolerance mechanisms. Thereafter I show three case studies that evaluate approaches to protecting RCB components and thereby aim to achieve a software stack that is fully protected against hardware errors.

In this Master Thesis, several common applications and Windows operating systemservices are modeled within the field of information security. This thesis focuses onapplying the Enterprise Architecture Analysis Tool (EAAT) and the Cyber SecurityModeling Language (CySeMoL), which are developed by the Department of IndustrialInformation and Control System (ICS) at KTH. The overall objective of this study is todetermine the probability of the CySeMol model with a particular kind of attack. Theproject models six common applications on Windows platform and two Windowsoperating system services. The detailed information regarding the applications and defensemechanism are acquired from various sources. A few experiments have been carried out tovalidate the correctness of the predicted probabilities calculated by the CySeMoL. Theresults of the analysis suggest that the CySeMoL model has a good performance onoperating system vulnerability prediction. At last, some possible suggestions in the contextof the CySeMoL model are given.