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<p>For many years OSE has been a common used operating system, with real time extensions enhancements, in embed-ded systems. But in the last decades, Linux has grown and became a competitor to common operating systems and, in recent years, even as an operating system with real time extensions. With this in mind, ÅF was interested in replacing the quite expensive OSE with some distribution of the open source based Linux on a PowerPC MPC8360. Therefore, our purpose with thesis is to implement Linux on the named platform and make some tests to see if it is possible to replace OSE with Linux. Using Linux has several advantages, for example it is free of charge to use and over the years the popularity of Linux within the developer community has resulted in numerous tools and utilities available for free.</p><p>As a result, this study shows that Linux with real time extensions on the MPC8360 PowerPC platform is a viable alternative to OSE regarding cost efficiency, flexibility, adaptability and competence available on the market.</p><p>Further studies can be done towards benchmarking for I/O systems and implementing support for more hardware on the MPC8360 AF platform.</p>

For many years OSE has been a common used operating system, with real time extensions enhancements, in embed-ded systems. But in the last decades, Linux has grown and became a competitor to common operating systems and, in recent years, even as an operating system with real time extensions. With this in mind, ÅF was interested in replacing the quite expensive OSE with some distribution of the open source based Linux on a PowerPC MPC8360. Therefore, our purpose with thesis is to implement Linux on the named platform and make some tests to see if it is possible to replace OSE with Linux. Using Linux has several advantages, for example it is free of charge to use and over the years the popularity of Linux within the developer community has resulted in numerous tools and utilities available for free. As a result, this study shows that Linux with real time extensions on the MPC8360 PowerPC platform is a viable alternative to OSE regarding cost efficiency, flexibility, adaptability and competence available on the market. Further studies can be done towards benchmarking for I/O systems and implementing support for more hardware on the MPC8360 AF platform.

This thesis deals with certain properties of real time operating systems (RTOS) Ardence PharLap ETS, WindRiver VxWorks and LabVIEW RT module. Three methodologies of RTOS quality comparison are proposed, two of which are practically tested with described experiments on CompactRIO hardware from NI. Furthermore, there is explained need for RTOS usage and experimental comparison of jitter error influence on total harmonic distortion THD defined by two definitions.

Modern particle physics measurements are heavily dependent upon automated data acquisition systems (DAQ) to collect and process experiment-generated information. One research group from the University of Saskatchewan utilizes a DAQ known as the Lucid data acquisition and analysis system. This thesis examines the project undertaken to upgrade the hardware and software components of Lucid. To establish the effectiveness of the system upgrades, several performance metrics were obtained including the system's dead time and input/output bandwidth.<p>Hardware upgrades to Lucid consisted of replacing its aging digitization equipment with modern, faster-converting Versa-Module Eurobus (VME) technology and replacing the instrumentation processing platform with common, PC hardware. The new processor platform is coupled to the instrumentation modules via a fiber-optic bridging-device, the sis1100/3100 from Struck Innovative Systems.<p>The software systems of Lucid were also modified to follow suit with the new hardware. Originally constructed to utilize a proprietary real-time operating system, the data acquisition application was ported to run under the freely available Real-Time Executive for Multiprocessor Systems (RTEMS). The device driver software provided with sis1100/3100 interface also had to be ported for use under the RTEMS-based system. <p>Performance measurements of the upgraded DAQ indicate that the dead time has been reduced from being on the order of milliseconds to being on the order of several tens of microseconds. This increased capability means that Lucid's users may acquire significantly more data in a shorter period of time, thereby decreasing both the statistical uncertainties and data collection duration associated with a given experiment.

Modern particle physics measurements are heavily dependent upon automated data acquisition systems (DAQ) to collect and process experiment-generated information. One research group from the University of Saskatchewan utilizes a DAQ known as the Lucid data acquisition and analysis system. This thesis examines the project undertaken to upgrade the hardware and software components of Lucid. To establish the effectiveness of the system upgrades, several performance metrics were obtained including the system's dead time and input/output bandwidth.<p>Hardware upgrades to Lucid consisted of replacing its aging digitization equipment with modern, faster-converting Versa-Module Eurobus (VME) technology and replacing the instrumentation processing platform with common, PC hardware. The new processor platform is coupled to the instrumentation modules via a fiber-optic bridging-device, the sis1100/3100 from Struck Innovative Systems.<p>The software systems of Lucid were also modified to follow suit with the new hardware. Originally constructed to utilize a proprietary real-time operating system, the data acquisition application was ported to run under the freely available Real-Time Executive for Multiprocessor Systems (RTEMS). The device driver software provided with sis1100/3100 interface also had to be ported for use under the RTEMS-based system. <p>Performance measurements of the upgraded DAQ indicate that the dead time has been reduced from being on the order of milliseconds to being on the order of several tens of microseconds. This increased capability means that Lucid's users may acquire significantly more data in a shorter period of time, thereby decreasing both the statistical uncertainties and data collection duration associated with a given experiment.

Microcontroller platforms are heavily used in embedded solutions adopted in nearly every industry covering a wide range of applications and use cases. In the paper and pulp industry the change prompted by the rising popularity of data decentralisation, big data analysis and machine learning, forces companies to upgrade or renew old platforms used to collect and analyse data. This thesis will evaluate a generation change for a communication platform that collects data from a sensor, its capabilities regarding secure communication over TCP/IP with the possibility to implement an efficient machine-to-machine communication protocol. The main focus of the evaluation is development, implementation and integration of software for the embedded system with a real time operating system using the ARM Cortex M7. Using small open source tools and the powerful ARM core we were able to build a small, flexible, real time system that publishes sensor data over MQTT securely using TCP/IP and TLS.

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.

Cyber-physical systems are computers equipped with sensors and actuators that enable them to interact with their surrounding environments. Ground vehicles, drones, and manufacturing robots are examples of such systems that require timing guarantees in addition to functional correctness to achieve their mission objectives. These systems often use multiple microcontroller boards for workload distribution and physical redundancy. The emergence of PC-class embedded systems featuring high processing capabilities and abundant resources presents an opportunity to consolidate separate microcontroller boards as software-defined functions into fewer computer systems. For instance, current automotive systems utilize upwards of 100 electronic control units (ECUs) for chassis, body, power-train, infotainment, and vehicle control services. Consolidation saves manufacturing costs, reduces wiring, simplifies packaging in space-limited situations, and streamlines software update delivery to end-users. However, consolidating functions on PC-class hardware does not address the real-time I/O challenges. A fundamental problem in such real-time solutions is the handling of device input and output in a timely manner. For example, a control system might require input data from a sensor to be sampled and processed regularly so that output signals to actuators occur within specific delay bounds. Input/output (I/O) devices connect to the host computer using different types of bus interfaces not necessarily supported by PC-class hardware natively. Examples of such interfaces include Controller Area Network (CAN) and FlexRay, which are prominent in the automotive world, but are not found in PC-class embedded systems. Universal Serial Bus (USB) is now ubiquitous in the PC-class domain, in part due to its support for many classes of devices with simplified hardware needed to connect to the host, and can be utilized to bridge this gap. USB provides the throughput and delay capabilities for next-generation high bandwidth sensors to be integrated with actuators in control area networks. However, typical USB host controller drivers suffer from potential timing delays that affect the delivery of data between tasks and devices. This Ph.D. thesis examines the use of Universal Serial Bus (USB) as the physical fabric for host-to-device and host-to-host communication, without special switching hardware or protocol translation logic, and through a unified programming interface. Combined with the real-time scheduling framework of the Quest RTOS, this work investigates how to form networks of I/O devices and computing nodes over USB with end-to-end timing guarantees. The main contribution of this thesis is a USB-centric design solution for real-time cyber-physical systems with distributed computing nodes.