Communication amongst field devices, control unit and programming unit in industrial automation networks is essential for bulk production, but largely consists of wired networks that can sometimes be bulky and substantially lack mobility as at times there can arise a need for a field device to be moved either for maintenance purposes or for rearrangement. There was therefore a need for wireless communication and PROFIBUS networks that can provide the minimum movement to field devices or the programing computer. Although wireless communication technology has penetrated the commercial network, it is still inadequately utilised in industrial settings due to electromagnetic induction and other forms of interferences due to industrial machinery. This dissertation introduced wireless communication in a PROFIBUS network where the MPI section was replaced with the wireless link. The PROFIBUS network technology is a hybrid of protocols where the PROFIBUS DP employs RS485 technology with a transmission rate of 45 kbps and above while the PROFIBUS PA employs Manchester Encoded Bus Powered (MBP) technology at a fixed rate of 31.25 kbps. In RS485 technology, data is transmitted as a voltage difference between the two wires while in MBP data is transmitted as transitions in current signal and data and power are transmitted on the same conductors. The PROFIBUS data is also transmitted in the form of telegrams which further puts a strain on any form of intermediate processing and hence the need for high speed processing. In this research task the PROFIBUS PA level transmitter measures the pressure of the fluid in the Blend Chest and sends it to the PLC. The level transmitter was installed and wired to the PROFIBUS DP/PA coupler. The PROFIBUS network, consisting of the PLC, variable speed drives, variable speed pumps, delivery pump and level transmitter, was configured and commissioned for controlling and monitoring from the programing computer. The program for the PLC was written using Siemens Step-7, compiled and downloaded to the PLC. The control and monitoring was done using the variable table. The wireless communication channel was then simulated using Matlab and Simulink. The wireless devices were then integrated into the PROFIBUS network and the MPI cable linking the programing computer and the PLC was then replaced by the wireless channel and the network was controlled and monitored from the programing computer over the wireless channel. On successful completion of this research task the research plant at MUT was controlled and monitored from the programing computer over the wireless channel and the researchers and demonstrators can now access the PLC and the PROFIBUS network using the wireless communication. / Electrical Engineering / M. Tech. (Electrical Engineering)

Cette thèse propose des solutions aux problématiques inhérentes au contrôle de formations aériennes de type leader­-suiveur pour des flottes de quadrirotors. Au regard des travaux existants, les stratégies qui sont proposés dans notre travail, considère que le(s) leader{s) a une interaction avec les suiveurs. En outre, les rôles de leader et de suiveur sont interchangeables lors de la formation. Dans un premier temps, la modélisation mathématique d'un seul quadrirotor et celle de la formation de quadrirotors est développée. Ensuite, le problème de suivi de trajectoire pour un seul quadrirotor est étudié. Au travers de l'analyse de 1, dynamique du système pour la conception d'une commande par platitude, il apparait que le suivi de trajectoire pour chaque quadrirotor équivaut à déterminer les sorties plates désirées. Un contrôleur pour système plats permettant l'asservissement des drones pour le suivi de trajectoire est donc proposé. Étant donné la propriété de double-boucle de la dynamique du quadrirotor en boucle fermée, un contrôleur d'attitude avec des grands gains est conçu, selon la théorie « singular perturbation system ». Puisque la dynamique du quadrirotor en boucle fermée fonctionne sur deux échelles de temps, la dynamique de rotation (boundary-layer mode) est contrôlée sur l'échelle de temps la plus rapide. La conception du contrôleur de formation dépend seulement de la dynamique de translation (modèle réduit dans une échelle de temps lente). Ce résultat a simplifié la conception du contrôleur de formation, de telle sorte que le modèle réduit du quadrirotor est utilisé au lieu du modèle complet. Étant donné que le modèle réduit du quadrirotor a une caractéristique de double-intégrateur, un algorithme de consensus pour des systèmes caractérisés par de multiple double-intégrateurs est proposé. Pour traiter le problème de la formation leader-suiveur, une matrice d'interaction est initialement proposée basée sur la matrice de Laplacienne. Nous montrons que la condition de convergence et la vitesse de convergence de l'erreur de formation dépendent de la plus petite valeur propre de la matrice d'interaction. Trois stratégies de contrôle de la formation avec une topologie fixe sont ensuite proposées. Le contrôle de formation par platitude est proposé pour obtenir une formation agressive, tandis que les dérivées de grands ordres de la trajectoire désirée pour chaque UAV sont estimées en utilisant un observateur; la méthode Lyapunov redesign est implémentée pour traiter les non-linéarités de la dynamique de la translation des quadrotors; une loi de commande bornée par l'utilisation, entre autre, de la fonction tangente hyperbolique est développée avec un feedback composite non linéaire, afin d'améliorer les performances de la formation. De plus, une commande de commutation saturée de la formation est étudiée, car la topologie de la formation est variable. La stabilité du système est obtenue grâce aux théories “convex hull » et « common Lyapunov function ». Cette stratégie de commande de commutation permet le changement des leaders dans la formation. Inspirée par certains travaux existants, tels que le contrôle de la formation avec des voisins anonymes, nous proposons, finalement, une loi de commande avec des voisins pondérés, qui montre une meilleure robustesse que le contrôle avec des voisins anonymes. Les résultats de simulation obtenus avec Matlab illustrent premièrement nos stratégies de contrôle que nous proposons De plus, en utilisant le langage de programmation C ++, nos stratégies sont mises en œuvre dans un framework de simulation et d'expérimentation développé au laboratoire Heudiasyc. Grâce aux nombreux tests variés que nous avons réalisés en simulation et en temps-réel, l'efficacité et les avantages de nos stratégies de contrôle de la formation proposées sont présentés. / In this thesis, we address a leader-follower (L-F) formation control problem for multiple UAVs, especially quadrotors. Different from existing works, the strategies, which are proposed in our work, consider that the leader(s) have interaction with the followers. Additionally, the leader(s) are changeable during the formation. First, the mathematical modeling of a single quadrotor and of the formation of quadrotors is developed. The trajectory tracking problem for a single quadrotor is investigated. Through the analysis of the flatness of the quadrotor dynamical model, the desired trajectory for each quadrotor is transferred to the design of the desired at outputs. A flatness-based trajectory tracking controller is, then, proposed. Considering the double-loop property of the closed-loop quadrotor dynamics, a high-gain attitude controller is designed, according to the singular perturbation system theory. Since the closed-loop quadrotor dynamics performs in two time scales, the rotational dynamics (boundary-layer model) is controlled in a fast time scale. The formation controller design is then only considered for the translational dynamics: reduced model in a slow time scale. This result has simplified the formation controller design such that the reduced model of the quadrotor is considered instead of the complete model. Since the reduced model of the quadrotor has a double-integrator characteristic, consensus algorithm for multiple double-integrator systems is proposed. Dealing with the leader-follower formation problem, an interaction matrix is originally proposed based on the Laplacian matrix. We prove that the convergence condition and convergence speed of the formation error are in terms of the smallest eigenvalue of the interaction matrix. Three formation control strategies with fixed formation topology are then proposed. The flatness-based formation control is proposed to deal with the aggressive formation problem, while the high-order derivatives of the desired trajectory for each UAV are estimated by using an observer; the Lyapunov redesign is developed to deal with the nonlinearities of the translational dynamics of the quadrotors; the hyperbolic tangent-based bounded control with composite nonlinear feedback is developed in order to improve the performance of the formation. In an additional way, a saturated switching control of the formation is investigated, where the formation topology is switching. The stability of the system is obtained by introducing the convex hull theory and the common Lyapunov function. This switching control strategy permits the change of the leaders in the formation. Inspired by some existing works, such as the anonymous neighbor-based formation control, we finally propose a weighted neighbor-based control, which shows better robustness than the anonymous neighbor-based control. Simulation results using Matlab primarily illustrate our proposed formation control strategies. Furthermore, using C++ programming, our strategies are implemented on the simulator-experiment framework, developed at Heudiasyc laboratory. Through a variety of tests on the simulator and real-time experiments, the efficiency and the advantages of our proposed formation control strategies are shown. Finally, a vision-based inter-distance detection system is developed. This system is composed by an on-board camera, infrared LEDs and an infrared filter. The idea is to detect the UAVs and calculate the inter-distance by calculating the area of the special LEDs patterns. This algorithm is validated on a PC, with a webcam and primarily implemented on a real quadrotor.

Les véhicules dits intelligents actuellement développés par la plupart des constructeurs automobiles, ainsi que les véhicules autonomes nécessitent des informations sur le contexte dans lequel ils évoluent. Certaines de ces informations (par exemple la courbure de la route, la forme des intersections, les limitations de vitesses) sont fournies en temps réel par le système de navigation qui exploite les données de cartes routières numériques. Des défauts résultant de l’évolution du réseau routier ou d’imprécisions lors de la collecte de données peuvent être contenus dans ces cartes numériques et entraîner le dysfonctionnement des systèmes d’aide à la conduite. Les recherches menées dans cette thèse visent à rendre le véhicule capable d’évaluer, de manière autonome et en temps réel, l’intégrité des informations fournies par son système de navigation. Les véhicules de série sont désormais équipés d’un grand nombre de capteurs qui transmettent leurs mesures sur le réseau central interne du véhicule. Ces données sont donc facilement accessibles mais de faible précision. Le défi de cette thèse réside donc dans l’évaluation de l’intégrité des informations cartographiques malgré un faible degré de redondance et l’absence de données fiables. On s’adresse à deux types de défauts cartographiques : les défauts structurels et les défauts géométriques. Les défauts structurels concernent les connections entre les routes (intersections). Un cas particulier de défaut structurel est traité : la détection de ronds-points qui n’apparaissent pas dans la carte numérique. Ce défaut est essentiel car il est fréquent (surtout en Europe) et perturbe le fonctionnement des aides à la conduite. Les ronds-points sont détectés à partir de la forme typique de la trajectoire du véhicule lorsqu’il les traverse, puis sont mémorisés pour avertir les aides à la conduite aux prochains passages du véhicule sur la zone. Les imprécisions de représentation du tracé des routes dans la carte numérique sont quant à elles désignées comme défauts géométriques. Un formalisme mathématique est développé pour détecter ces défauts en comparant l’estimation de la position du véhicule d’après la carte à une autre estimation indépendante de la carte. Cette seconde estimation pouvant elle aussi être affectée par un défaut, les anciens trajetsdu véhicule sur la même zone sont utilisés. Un test statistique est finalement utilisé pour améliorer la méthode de détection de défauts géométriques dans des conditions de mesures bruitées. Toutes les méthodes développées dans le cadre de cette thèse sont évaluées à l’aide de données réelles. / Several Intelligent Vehicles capabilities from Advanced Driving Assistance Systems (ADAS) to Autonomous Driving functions depend on a priori information provided by navigation maps. Whilst these were intended for driver guidance as they store road network information, today they are even used in applications that control vehicle motion. In general, the vehicle position is projected onto the map to relate with links in the stored road network. However, maps might contain faults, leading to navigation and situation understanding errors. Therefore, the integrity of the map-matched estimates must be monitored to avoid failures that can lead to hazardous situations. The main focus of this research is the real-time autonomous evaluation of faults in navigation maps used in intelligent vehicles. Current passenger vehicles are equipped with proprioceptive sensors that allow estimating accurately the vehicle state over short periods of time rather than long trajectories. They include receiver for Global Navigation Satellite System (GNSS) and are also increasingly equipped with exteroceptive sensors like radar or smart camera systems. The challenge resides on evaluating the integrity of the navigation maps using vehicle on board sensors. Two types of map faults are considered: Structural Faults, addressing connectivity (e.g., intersections). Geometric Faults, addressing geographic location and road geometry (i.e. shape). Initially, a particular structural navigation map fault is addressed: the detection of roundabouts absent in the navigation map. This structural fault is problematic for ADAS and Autonomous Driving. The roundabouts are detected by classifying the shape of the vehicle trajectory. This is stored for use in ADAS and Autonomous Driving functions on future vehicle trips on the same area. Next, the geometry of the map is addressed. The main difficulties to do the autonomous integrity monitoring are the lack of reliable information and the low level of redundancy. This thesis introduces a mathematical framework based on the use of repeated vehicle trips to assess the integrity of map information. A sequential test is then developed to make it robust to noisy sensor data. The mathematical framework is demonstrated theoretically including the derivation of definitions and associated properties. Experiments using data acquired in real traffic conditions illustrate the performance of the proposed approaches.

CNPq / Sistemas embarcados são sistemas computacionais projetados para aplicações específicas, os quais estão presentes em praticamente todos os dispositivos eletrônicos atuais. A utilização de um sistema operacional (SO) é uma maneira de simplificar o desenvolvimento de software, livrando os programadores do gerenciamento do hardware de baixo nível e fornecendo uma interface de programação simples para tarefas que ocorrem com frequência. A alta complexidade dos computadores pessoais atuais torna a utilização de um SO indispensável. Por outro lado, sistemas embarcados são arquiteturas limitadas, geralmente com muitas restrições de custo e consumo. Devido às demandas adicionais impostas por um SO, os desenvolvedores de sistemas embarcados enfrentam a crítica decisão quanto à adoção ou não de um SO. Nesta dissertação, apresenta-se uma série de critérios a fim de auxiliar os projetistas de sistemas embarcados na decisão quanto ao uso ou não de um SO. Além disso, outros critérios são apresentados com o intuito de guiar a seleção do SO mais adequado às características do projeto. Adicionalmente, escolheu-se 15 sistemas operacionais para serem analisados de acordo com os critérios apresentados, os quais podem ser utilizados como base para o processo de seleção de um SO. Adicionalmente, a fim de avaliar o impacto da adoção de um SO em um projeto embarcado, apresenta-se um estudo de caso no qual uma aplicação modelo (uma estação meteorológica embarcada) foi desenvolvida em três diferentes cenários: sem um SO, usando um SO de tempo real (µC/OS-II), e usando um SO de propósito geral (uClinux). Uma FPGA e um SoPC foram utilizados para obter uma plataforma flexível de hardware apta para acomodar as três configurações. A adoção de um SO proporcionou uma redução de até 48% no tempo de desenvolvimento; em contrapartida, isto aumentou os requisitos de memória de programa em pelo menos 71%. / An embedded system (ES) is a computing system designed for a specific purpose, present essentially in every electronic device. The use of an operating system (OS) is advocated as a means to simplify software development, freeing programmers from managing low-level hardware and providing a simpler programming interface for common tasks. The high complexity of modern desktop computers makes an OS indispensable; embedded systems, on the other hand, are limited architectures, usually severely cost- and power-constrained. Because of the additional demands imposed by an OS, embedded developers are faced with the crucial decision of whether to adopt an OS or not. In this work, we introduce a set of criteria to help determine whether an OS should be adopted in an embedded design. We then go further and establish a series of rules to help decide which OS to pick, if one should be used. In addition, we present a case study in which a sample application (an embedded weather station) was developed under three different scenarios: without any OS, using the µC/OS-II real-time OS, and using the uClinux general-purpose OS. An FPGA and a SoPC were used to provide a flexible hardware platform able to accommodate all three configurations. The adoption of an OS provided a reduction of up to 48% in development time; on the other hand, it increased program memory requirements in at least 71%.

This Thesis is composed by three independent papers that investigate<p>central debates in empirical macroeconomic modeling.<p><p>Chapter 1, entitled “A Model for Real-Time Data Assessment with an Application to GDP Growth Rates”, provides a model for the data<p>revisions of macroeconomic variables that distinguishes between rational expectation updates and noise corrections. Thus, the model encompasses the two polar views regarding the publication process of statistical agencies: noise versus news. Most of the studies previous studies that analyze data revisions are based<p>on the classical noise and news regression approach introduced by Mankiew, Runkle and Shapiro (1984). The problem is that the statistical tests available do not formulate both extreme hypotheses as collectively exhaustive, as recognized by Aruoba (2008). That is, it would be possible to reject or accept both of them simultaneously. In turn, the model for the<p>DPP presented here allows for the simultaneous presence of both noise and news. While the “regression approach” followed by Faust et al. (2005), along the lines of Mankiew et al. (1984), identifies noise in the preliminary<p>figures, it is not possible for them to quantify it, as done by our model. <p><p>The second and third chapters acknowledge the possibility that macroeconomic data is measured with errors, but the approach followed to model the missmeasurement is extremely stylized and does not capture the complexity of the revision process that we describe in the first chapter.<p><p><p>Chapter 2, entitled “Revisiting the Success of the RBC model”, proposes the use of dynamic factor models as an alternative to the VAR based tools for the empirical validation of dynamic stochastic general equilibrium (DSGE) theories. Along the lines of Giannone et al. (2006), we use the state-space parameterisation of the factor models proposed by Forni et al. (2007) as a competitive benchmark that is able to capture weak statistical restrictions that DSGE models impose on the data. Our empirical illustration compares the out-of-sample forecasting performance of a simple RBC model augmented with a serially correlated noise component against several specifications belonging to classes of dynamic factor and VAR models. Although the performance of the RBC model is comparable<p>to that of the reduced form models, a formal test of predictive accuracy reveals that the weak restrictions are more useful at forecasting than the strong behavioral assumptions imposed by the microfoundations in the model economy.<p><p>The last chapter, “What are Shocks Capturing in DSGE modeling”, contributes to current debates on the use and interpretation of larger DSGE<p>models. Recent tendency in academic work and at central banks is to develop and estimate large DSGE models for policy analysis and forecasting. These models typically have many shocks (e.g. Smets and Wouters, 2003 and Adolfson, Laseen, Linde and Villani, 2005). On the other hand, empirical studies point out that few large shocks are sufficient to capture the covariance structure of macro data (Giannone, Reichlin and<p>Sala, 2005, Uhlig, 2004). In this Chapter, we propose to reconcile both views by considering an alternative DSGE estimation approach which<p>models explicitly the statistical agency along the lines of Sargent (1989). This enables us to distinguish whether the exogenous shocks in DSGE<p>modeling are structural or instead serve the purpose of fitting the data in presence of misspecification and measurement problems. When applied to the original Smets and Wouters (2007) model, we find that the explanatory power of the structural shocks decreases at high frequencies. This allows us to back out a smoother measure of the natural output gap than that<p>resulting from the original specification. / Doctorat en Sciences économiques et de gestion / info:eu-repo/semantics/nonPublished

L'enforcement à l'exécution est une technique efficace de vérification et de validation dont le but est de corriger les exécutions incorrectes d'un système, par rapport à un ensemble de propriétés désirées. En utilisant un moniteur d'enforcement, une exécution (possiblement incorrecte), vue comme une séquence d'événements, est passée en entrée du moniteur, puis corrigée en sortie par rapport à la propriété. Durant les dix dernières années, l'enforcement à l'exécution a été étudiée pour des propriétés non temporisées. Dans cette thèse, nous considérons l'enforcement à l'exécution pour des systèmes où le temps entre les actions du système influence les propriétés à valider. Les exécutions sont donc modélisées par des séquences d'événements composées d'actions avec leurs dates d'occurence (des mots temporisés). Nous considérons l'enforcement à l'exécution pour des spécifications régulières modélisées par des automates temporisés. Les moniteurs d'enforcement peuvent, soit retarder les actions, soit les supprimer lorsque retarder les actions ne permet pas de satisfaire la spécification, permettant ainsi à l'exécution de continuer. Pour faciliter leur conception et la preuve de leur correction, les mécanismes d'enforcement sont modélisés à différents niveaux d'abstraction : les fonctions d'enforcement qui spécifient le comportement attendu des mécanismes en termes d'entrées-sorties, les contraintes qui doivent être satisfaites par ces fonctions, les moniteurs d'enforcement qui décrivent les mécanismes de manière opérationnelle, et les algorithmes d'enforcement qui fournissent une implémentation des moniteurs d'enforcement. La faisabilité de l'enforcement à l'exécution pour des propriétés temporisées est validée en prototypant la synthèse des moniteurs d'enforcement à partir d'automates temporisés. Nous montrons également l'utilité de l'enforcement à l'exécution de spécifications temporisées pour plusieurs domaines d'application. / Runtime enforcement is a verification/validation technique aiming at correcting possibly incorrect executions of a system of interest. It is a powerful technique to ensure that a running system satisfies some desired properties. Using an enforcement monitor, an (untrustworthy) input execution (in the form of a sequence of events) is modified into an output sequence that complies with a property. Over the last decade, runtime enforcement has been mainly studied in the context of untimed properties. In this thesis, we consider enforcement monitoring for systems where the physical time elapsing between actions matters. Executions are thus modeled as sequences of events composed of actions with dates (called timed words). We consider runtime enforcement for timed specifications modeled as timed automata, in the general case of regular timed properties. The proposed enforcement mechanism has the power of both delaying events to match timing constraints, and suppressing events when no delaying is appropriate, thus allowing the enforcement mechanisms and systems to continue executing. To ease their design and correctness-proof, enforcement mechanisms are described at several levels: enforcement functions that specify the input-output behavior in terms of transformations of timed words, constraints that should be satisfied by such functions, enforcement monitors that describe the operational behavior of enforcement functions, and enforcement algorithms that describe the implementation of enforcement monitors. The feasibility of enforcement monitoring for timed properties is validated by prototyping the synthesis of enforcement monitors from timed automata. We also show the usefulness of enforcement monitoring of timed specifications for several application-domains.

Patient wait times and care service times are key performance measures for care processes in hospitals. Managing the quality of care delivered by these processes in real-time is challenging. A key challenge is to correlate source medical events to infer the care process states that define patient wait times and care service times. Commercially available complex event processing engines do not have built in support for the concept of care process state. This makes it unnecessarily complex to define and maintain rules for inferring states from source medical events in a care process. Another challenge is how to present the data in a real-time BI dashboard and the underlying data model to use to support this BI dashboard. Data representation architecture can potentially lead to delays in processing and presenting the data in the BI dashboard. In this research, we have investigated the problem of real-time monitoring of care processes, performed a gap analysis of current information system support for it, researched and assessed available technologies, and shown how to most effectively leverage event driven and BI architectures when building information support for real-time monitoring of care processes. We introduce a state monitoring engine for inferring and managing states based on an application model for care process monitoring. A BI architecture is also leveraged for the data model to support the real-time data processing and reporting requirements of the application’s portal. The research is validated with a case study to create a real-time care process monitoring application for an Acute Coronary Syndrome (ACS) clinical pathway in collaboration with IBM and Osler hospital. The research methodology is based on design-oriented research.

The primary purpose of this thesis is to explore what issues may arise during development of a framework for handling and display of streamed real-time data. In addition to this, it also investigates how the display of different types of data, along with a change of execution platform, impacts execution time. Through the undertaking of two case studies, each split into developmental and an experimental phases, the thesis goes through the development of such a real-time data handling framework. The framework was developed in both stationary and mobile forms, and the developmental issues encountered along each of these paths are highlighted. Afterwards, the results gathered from performance tests run on each framework version were compared, in order to ascertain whether the handling and display of different data types, along with a change in execution platform, had had an impact upon the frameworks execution time. The results from the developmental observations revealed that the most commonly encountered issues were those relating to program latency, commonly due to sub-optimal program architecture along with connectivity issues encountered during data streaming. The second most encountered issue regarded the choice of an appropriate display method, in order to communicate changes in the displayed data along with correlation between several tracked data points. The results from the experimental comparisons revealed that while the impact on execution time caused by the use of calculated data, as opposed to raw data values, was marginal at most, a change of execution platform impacted said time drastically. By porting the framework to the mobile platform, the different processes whose execution time were measured during the tests experienced an increase in execution time ranging from 2405% all the way to 15860%. The authors recommend that the framework be developed towards gaining the ability to connect to any given relational database, and to handle and display the data therein, in order for it to have application areas other than as a test instrument. Further, the authors also recommend that additional tests be run on the framework using a wider variety of stationary and mobile devices, in order to determine whether the conclusions drawn from the results in the thesis hold up in the face of greater hardware variety. / Denna studies primära mål är att utforska vilka problem som kan uppstå under utveckling av ett ramverk för hantering och visande av streamad realtidsdata. Utöver det undersöks även hur visande av olika datatyper, ihop med ett byte av exekveringsplattform, påverkar exekveringstiden. Genom utförandet av två fallstudier, båda uppdelade i utvecklingsoch experimenteringsfaser, går denna studie igenom utvecklingen av ett sådant ramverk för hantering av realtidsdata. Ramverket utvecklades i både stationär och mobil form, och de utvecklingsrelaterade problem som påträffades i vardera fall belyses. Efteråt jämfördes resultaten framtagna genom prestandatester, som kördes på samtliga ramverksversioner, för att upptäcka om hantering och visning av olika datatyper, samt ett skifte av exekveringsplattform, hade påverkat ramverkets exekveringstid. Resultaten från de utvecklingsrelaterade observationerna visade att det mest påträffade problemet hade att göra med programlatens, vanligtvis p.g.a. ickeoptimal programarkitektur kombinerat med konnektivitetsproblem. Det näst mest påträffade problemet hade att göra med valet av en passande visningsmetod, för att kunna förmedla förändringar i den visade datan, samt korrelation mellan flera följda datapunkter. Resultaten från de experimentella jämförelserna visade att medan påverkan av exekveringstiden som uppstått genom användandet av kalkylerad data, till skillnad från rådatavärden, endast var marginell som bäst, påverkade förändringen av exekveringsplattform denna tid drastiskt. Genom att porta ramverket till den mobila plattformen upplevde de processer vars exekveringstid mättes under testerna en ökning från 2405% hela vägen upp till 15860%. Författarna rekommenderar att ramverket utvecklas mot förmågan att koppla till godtycklig databas, och att kunna hantera och visa datan från denna, för att ha ett användningsområde bortom användandet som testinstrument. Vidare rekommenderar även författarna att ytterliggare test utförs på ramverket med en större variation av stationära och mobila enheter, för att kunna bekräfta om slutsatserna som dragits utifrån resultaten av denna studie kvarstår efter att de utsatts för mer varierande hårdvara.

Maps in mobile devices are appreciated aids for exploring andacquiring information about different geographical locationsaround the world. In these maps, you can, among otherthings, get directions, find restaurants in the local area andnavigate in public transport. To an increasing extent the mapsalso contain real-time data, i.e., information that is current andreflects reality and this information is continuously updatedand can inform the user about traffic situations, extent of airpollution in a specific area or delays of public transport. Theinformation in a map is primarily conveyed visually, whichmeans that people with visual impairments not always canaccess the information that is presented on the screen. Theexisting research on accessibility in maps for people withvisual impairments does not deal with real-time data, and thepurpose of this study was to identify which factors that affectsthe accessibility in maps that contains real-time data and withthese findings develop a model.A qualitative study has been conducted where the datacollection consisted of observations with participants whohave visual impairments to varying degrees observed a mapcontaining real-time data. The observation was followed bysemi-structured interviews. Data were then analyzed using atheoretical framework based on factors that affect accessibilityin mobile maps. Data that could not be associated with theexisting factors were then analyzed thematically.The study shows that factors that affect the availability ofmaps are also significant when the map contains real-timedata. In addition, the study shows the importance of beingable to alter the appearance of the real-time data and howmuch and which real-time data is presented to users. / Kartvyer i mobilen är för många ett uppskattat hjälpmedel föratt utforska och få information om olika geografiska platserrunt om i världen. I kartvyerna kan användaren bland annatfå hjälp med vägbeskrivningar, att hitta restauranger inärområdet och att navigera i kollektivtrafiken. I allt störreutsträckning innehåller kartvyerna idag även realtidsdata, detvill säga information som är aktuell och speglar verklighetenoch uppdateras kontinuerligt. Detta kan vara till exempelinformation om trafiksituationer, halter av luftföroreningar iett specifikt område eller förseningar i kollektivtrafiken.Informationen i en karta förmedlas i första hand visuellt vilketmedför att personer med synnedsättningar inte alltid kan tadel av informationen som finns att tillgå. Den forskning somfinns om tillgänglighet i kartvyer för personer medsynnedsättningar behandlar inte realtidsdata och syftet medstudien var att identifiera vilka faktorer som påverkadetillgängligheten i kartvyer som innehöll realtidsdata ochbaserat på dessa fynd utveckla en modell.En kvalitativ studie har genomförts där datainsamlingenbestått av observationer där studiens deltagare studeratkartvyer innehållandes realtidsdata och semistruktureradeintervjuer med deltagare som i olika utsträckning harsynnedsättningar. Datan analyserades därefter med hjälp avett teoretiskt ramverk innehållandes faktorer som påverkartillgängligheten i mobila kartvyer. Data som inte kundekopplas till de befintliga faktorerna analyserades däreftertematiskt.Studien visar på att de faktorer som påverkar tillgängligheteni kartvyer generellt även är väsentliga när kartvyernainnehåller realtidsdata. Dessutom påvisas ett behov hosstudiens deltagare att kunna anpassa realtidsdatans utseendeoch hur mycket och vilken realtidsdata som presenteras föranvändaren.

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