<p>Emwiro Vibe is a complete system for seismic measurements. The functionality of the system was before the completion of this project handled using a software contruction based on a state machine. Emwitech, the company developing Emwiro Vibe, expressed a desire to replace this solution with a real-time operating system (RTOS). The project consisted of two parts. Firstly the existing software was studied, available RTOSes was evaluated, and the RTOS most suitable for the application was selected. Secondly the systems software was rewritten to make use of the selected RTOS. The conclusion made from the evaluation, taking into consideration existing requirements, was that FreeRTOS was the most appropriate RTOS for this application. The systems software was successfully modified to make use of the benefits provided using a RTOS. Despite the introduction of a RTOS in the system, the power consumption did not increase considerably, it was even reduced i certain cases.</p>

Emwiro Vibe is a complete system for seismic measurements. The functionality of the system was before the completion of this project handled using a software contruction based on a state machine. Emwitech, the company developing Emwiro Vibe, expressed a desire to replace this solution with a real-time operating system (RTOS). The project consisted of two parts. Firstly the existing software was studied, available RTOSes was evaluated, and the RTOS most suitable for the application was selected. Secondly the systems software was rewritten to make use of the selected RTOS. The conclusion made from the evaluation, taking into consideration existing requirements, was that FreeRTOS was the most appropriate RTOS for this application. The systems software was successfully modified to make use of the benefits provided using a RTOS. Despite the introduction of a RTOS in the system, the power consumption did not increase considerably, it was even reduced i certain cases.

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Automotive embedded systems are going through a major change, both in terms of how they are used and in terms of software and hardware architecture. Much more powerful and rapidly evolvable hardware is expected, paralleled by an accelerating development rate of the control software. To meet these challenges, a software standard, AUTOSAR, is gaining ground in the automotive field. In this work, experiences from porting AUTOSAR to a high performance embedded system, Raspberry Pi, are collected. The goal is both to present experience on the process of AUTOSAR porting and to create an AUTOSAR implementation on a cheap and widely accessible hardware platform, making AUTOSAR available for researchers and students.

L'avènement de la VoIP (Voice over IP) a déclenché une période de profonds changements dans le marché des télécommunications. En particulier, dans le secteur de la téléphonie résidentielle, cette technologie s'est consolidée, rapidement et pour de nombreuses raisons, comme l'évolution de la téléphonie traditionnelle. Dès les tous débuts, et afin d'établir une base de compatibilité permettant l'interconnexion de plusieurs réseaux téléphoniques et la convergence entre les systèmes traditionnels analogiques et leur évolution numérique, l'industrie a demandé l'établissement de cadres normatifs. En réponse à ces besoins, plusieurs standards et protocoles, avec de successives modifications et corrections, ont été publiés dans une période relativement brève. Parmi les plus populaires, SIP (Session Initiation Protocol), un protocole de signalisation, et RTP (Real-Time Transport Protocol), un protocole de transport de flots temps réel, se démarquent et ils sont au coeur de la majorité des applications conçues actuellement. Bien que, aujourd'hui, SIP et RTP sont liés fortement à la téléphonie sur IP, leur portée et leurs possibilités sont beaucoup plus vastes, ce qui déclenche un grand intérêt et justifie l'effort mis dans la conception des implémentations plus performantes et orientées plus spécifiquement à divers serveurs mandataires UA (User Agent). Dans ce contexte, le but du présent projet de maîtrise est de concevoir des piles de protocoles SIP et RTP orientées vers des applications de téléphonie sur IP, dans un environnement embarqué. Des conditions additionnelles sont que les piles doivent être codées en langage C et s'appuyer sur le système d'exploitation en temps réel MicroC/OS-II. Afin de faciliter la portabilité, il doit se prévoir des couches d'abstraction du matériel et du système d'exploitation. Même si les applications ciblées pour le projet sont, principalement, celles de VoIP, la pile SIP doit viser d'autres domaines, notamment des applications de domotique et de contrôle à distance. Cette dernière condition impose, de façon indirecte, d'autres conditions sur la taille du code et la puissance de calcul demandée, car le matériel pour ces types d'applications est d'habitude plus simple et moins puissant que les ordinateurs qui sont souvent utilisés dans les applications professionnelles de communication. Ce mémoire, qui décrit le travail effectué, est organisé en deux parties. La première fait une introduction théorique à la téléphonie sur IP, et sert de fondement à la deuxième partie, où la mise en oeuvre des protocoles SIP et RTP est décrite en détail.L'accent a été mis sur les justifications des décisions prises pendant toute la conception afin d'aider à mieux comprendre la logique appliquée et de permettre sa reconsidération et analyse dans de futures itérations. Comme résultat des contraintes et limitations imposées dans le cadre de ce projet, les piles de protocoles conçues se sont révélées très compactes et performantes, ce que justifie pleinement la continuité du travail dans l'avenir.

In today's digital (electronics) world, people's desire for electronic goods that ease their life at work, and leisure is increasing the complexity of the products of the embedded systems industry. For example, MP3 players for listening to music and cell phones for communicating with people.The gap between the hardware and software parts of embedded systems is being reduced by the use of System Level Design Languages (SLDL) that can model both hardware and software simultaneously. One such SLDL is SpecC.In this thesis, a SpecC model of a Real Time Operating System (RTOS) is constructed. It is shown how RTOS features can be incorporated into a SpecC model. The model is used to develop an application involving a robot avoiding obstacles to reach its destination. The RTOS model operates similar to the actual RTOS in the robot.The application includes a testbench model for the robot, including features such as interrupts, sonar sensors and wheel pulses, so that its operation closely resembles the actual robot. The sensor model is programmed to generate the values from the four sensor receivers, similar to the behaviour of the sensors on the actual robot. Also the pulses from the wheels and associated interrupts are programmed in the model so that it resembles the interrupts and wheel pulses present on actual robot.

In today's digital (electronics) world, people's desire for electronic goods that ease their life at work, and leisure is increasing the complexity of the products of the embedded systems industry. For example, MP3 players for listening to music and cell phones for communicating with people.The gap between the hardware and software parts of embedded systems is being reduced by the use of System Level Design Languages (SLDL) that can model both hardware and software simultaneously. One such SLDL is SpecC.In this thesis, a SpecC model of a Real Time Operating System (RTOS) is constructed. It is shown how RTOS features can be incorporated into a SpecC model. The model is used to develop an application involving a robot avoiding obstacles to reach its destination. The RTOS model operates similar to the actual RTOS in the robot.The application includes a testbench model for the robot, including features such as interrupts, sonar sensors and wheel pulses, so that its operation closely resembles the actual robot. The sensor model is programmed to generate the values from the four sensor receivers, similar to the behaviour of the sensors on the actual robot. Also the pulses from the wheels and associated interrupts are programmed in the model so that it resembles the interrupts and wheel pulses present on actual robot.

The introduction of autonomous vehicles has the potential to reduce the number of accidents and save countless lives. These benefits can only be realized if autonomous vehicles can prove to be safer than human drivers. There is a large amount of active research around developing robust algorithms for all parts of the autonomous vehicle stack including sensing, localization, mapping, perception, prediction, planning, and control. Additionally, some of these research projects have involved the use of the Robot Operating System (ROS). However, another key aspect of realizing an autonomous vehicle is a fault-tolerant design that can ensure the safe operation of the vehicle under unfavorable conditions. The goal of this thesis is to evaluate the feasibility of adding a dedicated fault tolerance module into a ROS based architecture. The fault tolerance module is used to implement a safety controller that can take over safety-critical operations of the system when a fault is detected in the main computer. A Xilinx Zynq-7000 SoC with a dual-core ARM Cortex-A9 and an FPGA programmable logic region is chosen as the platform. The platform works in the Asymmetric Multiprocessing (AMP) configuration with a Linux based operating system on one core and a real-time operating system (RTOS) on the other. Results are gathered from an implementation done on a ROS based mobile robot platform.

This master’s thesis deals with measuring temperature inside personal computer. The main goal of this work is to develop tool which is able to measure temperatures in several places, display a store the values. Theoretical section is concentrated on selection of temperature sensor, that have suitable interface for microcontrollers and has sufficient accuracy for this application. In next part there is complete hardware and software design of instrument. Software solution is based on real-time operating system. Device is projected as a battery-operated compact tool. With created application for personal computer, measured data can be downloaded through USB and displayed in graphic format.

Concevoir un système embarqué implique de trouver un compromis algorithme/architecture en fonction des contraintes temps-réel. Thèse : pour un MPSoC et plus particulièrement avec les circuits reconfigurables qui permettent de modifier le support d'exécution en cours de fonctionnement, l'évaluation préalable des comportements fluctuants d'un système réactif devient une nécessité. Il faut donc valider par simulation (de haut niveau) tout en permettant l'exploration de l'espace de conception architectural, matériel et logiciel. Le point de vue du gestionnaire de la plateforme est choisi pour explorer à haut niveau les réactions du système aux choix de partitionnement et surtout l'influence de l'algorithmique des services du système d'exploitation et de leurs implémentations possibles. Pour cela un modèle de services d'OS modulaire permet de simuler fonctionnellement et conjointement, en SystemC, le matériel, les tâches logicielles et le système d'exploitation, répartis sur plusieurs nœuds d'exécution hétérogènes communicants. Le modèle a permis d'évaluer l'architecture temps-réel idéale d'une application dynamique de vision robotique conjointement à l'exploration des services de gestion de zone reconfigurable modélisé. Par ailleurs, ce modèle d'OS à été intégré dans un simulateur de MPSoC hétérogène d'une puissance estimé à un Tera opérations par seconde. / Designing an embedded system implies to look for the right algorithm/architecture compromise depending on the real-time constraints. For MPSoC an especially with reconfigurable devices which enable to modify the running executing support, the preliminary evaluation of the variable behaviors of a reactive system becomes necessary.This could be done by a high level simulation allowing to explore the architectural design space, hardware and software. The platform manager point of view is used to explore the systems reactions to the partitioning choices and also the influence of the various algorithms and the impact of implementations of the operating system's services refined in hardware or software. For that, a SystemC model composed of modular OS services allow to jointly and functionally simulate hardware, software tasks and the operating system, distributed on heterogeneous communicating execution nodes. To evaluate the perfect real-time reconfigurable architecture of a dynamical robot vision application, we explored its partitioning and the useful OS services accordingly. This model has been integrated in a big simulator of an heterogeneous chip designed to provide a Tera operations per second power.