I detta examensarbete har en prototyp av digitaliserad munspegel framtagits. Användning av Raspberry Pi ökar kontinuerligt i världen vid olika projekt och applikationer eftersom Raspberry Pi är en mikrodator som är tillräckligt kraftfull, smidig och billig med oerhört stort stöd. Ett användningsområde för Raspberry Pi är hälsovården. Att skapa tekniska lösningar inom hälsovården är av stor efterfråga globalt. Denna rapporten centraliserar sig kring en teknisk lösning med fokus på tandvården. Muskuloskeletala sjukdomar (MSS) och smärta är ett omfattande hälsoproblem bland vårdpersonalen inom tandvården i västländerna. Tekniker för digitalisering och modernisering av medicinska produkter kan underlätta och säkerställa att patienten får en noggrannare vård samtidigt som vårdpersonalens arbete blir enklare på så sätt belastas mindre således elimineras en av faktorerna för MSS. Hur detta har lösts har varit målet med projektet och det grundar sig i att tillverka en prototyp av digitaliserad munspegel som möjligen kan inom snar framtid ersätta nutida munspeglar som är ett grundläggande verktyg inom tandvården och används i de flesta ingrepp. Prototypen har designats, skapats, programmerats och testats till specifikationskraven. Den kallas för Digital Dental Mirror (DDM). Metoden för att skapa ett sådant verktyg kräver kunskap inom mekanik-, elektro- och datateknik (design, hårdvara och mjukvara). Verktyg som har använts i detta projektet har varit bl.a. Raspberry Pi, endoskopkamera, styrservo, knappsats, C/C++ programmering och CAD-design (Solidworks). Resultat framställts i en färdig prototyp med önskade funktioner. Slutligen är protypen fullt fungerande men en bit ifrån marknadsfärdig produkt.

Vid implementering av realtidsapplikationer krävs det att man kan använda hårdvaran på ett deterministiskt vis. En realtidsapplikation ställer stora krav på körtider och hur applikationen schemaläggs. Det är därför av största vikt att kontrollera om de uppfyller dessa krav. I detta examensarbete har tre system för realtidsapplikationer jämförts och en analys av framförallt sina beräkningsförmågor och hur pass deterministiskt de uppför sig gällande körtider har gjorts. Även andra aspekter så som utvecklingsmiljöer för mjukvara, tillbehör och effektförbrukning har jämförts.

This document’s content is the final report of the master´s dissertation Magnus Hällström did during springtime of year 2013. The dissertation’s subject is 802.11s wireless mesh networks with streaming video as a focus point.  During the dissertation a wireless mesh network was set up with different attached cameras for streaming video. A sun panel solution was also tested with the goal of creating a package with a self-configuring network node streaming video, powered by nothing but solar energy.

Användare ställer hela tiden högre krav på att webbläsare ska vara snabba och tillgängliga oavsett på vilken plattform de används på. Detta gäller även för testbäddens projekt där Raspberry Pi testades för framtida användning som en tunn klient. Arbetet är en fallstudie som undersöker prestanda och funktionaliteten hos Raspberry Pi 2 för organisationen Region Östergötland, Testbädden. Valet av testverktyg och avgränsningar i varje steg är grundade på funktionaliteten som är en del av ISO 9126 standard. Arbetet undersöker webbläsare som kan användas på OS Raspbian Wheezy samt Ubuntu mate. Genom en förundersökning av webbläsare utfördes avgränsningar med hjälp av webstandardtesterna Acid3 och HTML5. Av 33 möjliga webbläsare återstod fem som uppfyllde kraven för vidare undersökning. De kvarstående webbläsare genomgick benchmarktester och därefter togs en genomsnittlig sidladdningstid för varje webbläsare samt CPU och RAM användning i realtid. Resultatet visade att endast två av fem webbläsare klarade benchmarktesterna och utav dessa två var det webbläsaren Epiphany som presterade bäst utifrån sidladdningstid, CPU och minnesanvändning. Raspberry Pi överklockades för att undersöka om samma resultat skulle fås i denna studie som i en tidigare vetenskaplig studie. Resultatet visade att sidladdningstiden minskade men att CPU och RAM användningen ökade. Alla testverktyg genererade olika resultat och ett verktyg eller siffra räcker inte till att undersöka prestandan och funktionaliteten. Valet av den mest kompatibla webbläsaren för Raspberry Pi beror på användaren och vad den ska användas till.

The aim of the work was to create an automatic positioning system, with optics for radiation concentration and a body for its collection, by monitoring the sun across the sky using a camera. At the beginning are introduced the concentrator systems and the movement of the sun from the perspective of the observer. Follows description of the various potential components which requires a functional system. The last part deal with the implementation of selected components for operation as a whole system, verification of functionality by accurate tracking of the sun across the sky and measuring the performance of the concentrator system with automatic positioning.

El texto completo de este trabajo no está disponible en el Repositorio Académico UPC por restricciones de la casa editorial donde ha sido publicado. / The incidence of the disease in horticultural crops is one of the important problems that affect the production of fruits, vegetables and flowers. Regular monitoring of crops for early diagnosis and treatment with pesticides or removal of the affected crop is part of the solution to minimize crop loss. The monitoring of crops by human labor is expensive, time consuming, prone to errors due to insufficient knowledge of the disease and highly repetitive at different stages of crop growth. These needs have motivated to design the mobile robot with vision sensors for navigation through the field. The robot has been designed in the Autodesk Inventor software. Programming for navigation is done in the Arduino Mega 2560 tool. Image capture has been performed using the RGB camera. Image processing for the identification of the disease and its representation in a graphical user interface has been performed using an algorithm in MATLAB R2018B that interacts with the Arduino tool through a communication bus. The system developed consists of the design of a prototype that uses simple and cost effective equipment such as Raspberry Pi, RGB camera, two motors and sensors that allow the autonomous fumigation of corn crops. / Revisión por pares

Indiana University-Purdue University Indianapolis (IUPUI) / Currently, there are many types of Automatic Guided Vehicles (AGVs) in different industries. Typically their job is to move raw materials or parts around a manufacturing facility, and they can be very accurate by following the guides from wires in the floor, magnets, laser, or vision. However, currently AGVs only work indoors. Therefore, the purpose of this thesis is to discuss the implementation of the outdoor AGV. An outdoor AGV has much more constraints than an indoor one. The environment indoors can be easily controlled while the outdoor cannot because there could be such problems as rough outdoor surfaces, no pre-set guiding wires or magnets, vision blocking by dust, and so on. The solution, which will be introduced in this paper, to achieve the outdoor AGV is laser guidance. In addition, a buffer will be installed to stabilize the cargo or others working devices, to prevent them from the shaking due to the rough outdoor surfaces. To be more specific, a prototype will be built to simulate the working of a seeder. In agriculture, it is very important to plant corns in a straight line, not only to increase the absorption of sunlight and ventilation, but also to reduce the work of irrigation, fertilizing, and harvest. Furthermore, to achieve unmanned agriculture, a corn field with straight lines will also be a good condition for other agriculture robots.

Baseado na grande evolução dos dispositivos eletrônicos nos últimos 35 anos e dos novos hardwares de baixo custo e alto poder computacional, esta tese tem como objetivo testar a seguinte hipótese: É possível o controle e automação de um forno em escala piloto com informações de sensores e simulação em tempo real utilizando computação embarcada de baixo custo. Para isto, modelagem matemática e simulação do perfil de temperatura do forno e do alimento foram realizadas para que o sistema de controle possa ter informação da temperatura no alimento em tempo real, contando apenas com os sensores fixos no forno. A informação desta simulação alimenta o controle PID, garantindo que o perfil de temperatura desejado para o aquecimento/cozimento do alimento seja obedecido, melhorando a qualidade do produto final. O sistema de controle possui duas unidades, a escrava que é localizada na lateral do forno é composta de um Arduino mini, da instrumentação para o controle dos sensores e atuadores do forno e a unidade mestre, que utiliza um Raspberry pi onde o software de controle com interface gráfica realiza as simulações, o controle PID e a comunicação via bluetooth com a unidade escrava. Experimentos foram realizados para testar e validar a simulação do perfil térmico do forno, do alimento e o controlador PID. Concluiu-se que é possível um controle de um forno industrial em escala piloto com simulação em tempo real utilizando computação de baixo custo. / Based on the dramatic evolution of electronic devices in the last 35 years and the recent advent of low cost computational hardware, embedded sensors have become a cost-effective solution for real time machine monitoring and simulation. The objective of this thesis is to present both software and hardware intended for the real-time simulation and control of a conveyor belt tunnel oven using low cost embedded hardware, to ensure high quality food production. For this purpose, mathematical modelling and simulation of the temperature profile inside the oven was performed in order to supply the control system with the calculated temperature of the food in real time, using only the fixed sensors inside the oven. This simulation information is passed to the PID controller, ensuring that the desired temperature profile for heating the food is achieved, improving the quality of the final product. The system has two units, a slave that is located on the main body consisting of an Arduino mini and the instrumentation for controlling the sensors and actuators. The second unit is the master unit, which utilises a Raspberry pi to host the control software, the graphical user interface the PID controller and manages the Bluetooth connection with the slave unit. Experiments were performed in order to test and validate the thermal profile simulation of the oven and the food, as well as to test the PID controller. It was concluded that it is possible to control a prototype scale industrial oven using real time simulation with a low-cost computation unit.

Aus der Vision, Computertechnik für den schmalen Geldbeutel technisch interessierten Jugendlichen verfügbar zu machen entstand ein kreditkartengroßer Einplatinencomputer, der Raspberry Pi. Wir möchten den Raspi im Vortrag etwas näher vorstellen und in einer kleinen Demonstration Anregungen für eigene Projekte geben. Gespannt sind wir auch auf Projekte, welche die Zuhörer bereits mit dem Raspberry Pi umgesetzt haben.

Baseado na grande evolução dos dispositivos eletrônicos nos últimos 35 anos e dos novos hardwares de baixo custo e alto poder computacional, esta tese tem como objetivo testar a seguinte hipótese: É possível o controle e automação de um forno em escala piloto com informações de sensores e simulação em tempo real utilizando computação embarcada de baixo custo. Para isto, modelagem matemática e simulação do perfil de temperatura do forno e do alimento foram realizadas para que o sistema de controle possa ter informação da temperatura no alimento em tempo real, contando apenas com os sensores fixos no forno. A informação desta simulação alimenta o controle PID, garantindo que o perfil de temperatura desejado para o aquecimento/cozimento do alimento seja obedecido, melhorando a qualidade do produto final. O sistema de controle possui duas unidades, a escrava que é localizada na lateral do forno é composta de um Arduino mini, da instrumentação para o controle dos sensores e atuadores do forno e a unidade mestre, que utiliza um Raspberry pi onde o software de controle com interface gráfica realiza as simulações, o controle PID e a comunicação via bluetooth com a unidade escrava. Experimentos foram realizados para testar e validar a simulação do perfil térmico do forno, do alimento e o controlador PID. Concluiu-se que é possível um controle de um forno industrial em escala piloto com simulação em tempo real utilizando computação de baixo custo. / Based on the dramatic evolution of electronic devices in the last 35 years and the recent advent of low cost computational hardware, embedded sensors have become a cost-effective solution for real time machine monitoring and simulation. The objective of this thesis is to present both software and hardware intended for the real-time simulation and control of a conveyor belt tunnel oven using low cost embedded hardware, to ensure high quality food production. For this purpose, mathematical modelling and simulation of the temperature profile inside the oven was performed in order to supply the control system with the calculated temperature of the food in real time, using only the fixed sensors inside the oven. This simulation information is passed to the PID controller, ensuring that the desired temperature profile for heating the food is achieved, improving the quality of the final product. The system has two units, a slave that is located on the main body consisting of an Arduino mini and the instrumentation for controlling the sensors and actuators. The second unit is the master unit, which utilises a Raspberry pi to host the control software, the graphical user interface the PID controller and manages the Bluetooth connection with the slave unit. Experiments were performed in order to test and validate the thermal profile simulation of the oven and the food, as well as to test the PID controller. It was concluded that it is possible to control a prototype scale industrial oven using real time simulation with a low-cost computation unit.