This thesis describes the implementation of a Time Management Unit (TMU) in hardware as specified by Gregertsen and Skavhaug, the specification and implementation of several improvements to the proposed specification, and the creation of a software framework to enable use of the module in a convenient way. A set of thorough automatic functional tests are also described and provided. The performance of the module is assessed and discussed. A user description similar to the AVR32 UC3 datasheets is also created.The TMU has been implemented as a hardware module on the peripheral bus (APB) on the AVR32 UC3 microcontroller, which makes it easy to develop and test stand-alone, and simple to integrate into future UC3 microcontrollers. Also, as the APB interface of the AMBA standard is an open standard used by several System-on-a-chip (SoC) designs, the module can be implemented on other microcontrollers with very low effort.The final product makes it possible to measure and control the execution time of tasks with high precision and low overhead. It supports atomic swapping of registers in a manner closely related to a context switch.Gregertsen and Skavhaugs’s research in implementing support for the Ada language and run-time environment on the UC3 microcontroller will benefit directly from this project, as the system relies on the hardware support provided by the TMU. Also, as the project can be used in proving that hardware support of execution time monitoring may allow for new ways of ensuring schedulability in real-time systems, it can possibly be a part of a new direction in real-time research.

Summary and conclusionsThis master thesis investigates Principal Component Analysis (PCA) methods used in the field of Early Fault and Disturbance Detection (EFDD). Statoil and ABB have in collaboration developed an application for EFDD that among others consist of PCA methods. The applications are used to run condition monitoring on oil- and gas processes, and are a software prototype currently being tested in Statoil. To make the method more robust and convincing to the operators it is desirable to improve the application.This thesis will focus on the Principal Component Analysis (PCA) method and some extension to it based on Model Based PCA (MBPCA). The PCA in its simplest form have some severe restrictions due to linear and stationary data. The motivation will therefore be to see how PCA and extension based on MBPCA and Nonlinear PCA (NLPCA) methods operates when used on non-linear data. For the PCA to describe a process adequately a certain amount of data is required. In the industry the process is often sort of instrumentation. The next motivation would be to investigate if lack of instrumentation could be replaced by some estimates and then approve the ability for the PCA analysis. Another issue concerning instrumentation is the use of virtual tags. Virtual tags are mathematical functions based on already available measurements. The idea is based on process insight. If we know the process well and the cause of nonlinearities some additional nonlinear functions could be incorporated to increase the performance of the PCA method. To verify the factors mention above some of the methods would use data from a heat exchanger – and Centrifugal pump process, and some using only one of the processes.The conclusion from the work is as follows: Based on the simulations preformed it’s evident that using MBPCA do improve the PCA method for fault detection, even if the model is not entirely correct to the real process. When it comes to using virtual tags the simulations on centrifugal pump increased the performance of the PCA method. NLPCA here based on Autoassociative Neural Networks did not perform as well as MBPCA but the method is harder to tune and therefore it would be wrong to brush aside this method. The improvement of using estimates for missing measurement gave small improvement.

Oppgaven er en fortsettelse av tidligere arbeid med å utvikle en EPPbasertprotsese med to frihetsgrader til en ung dysmelipasient som hartransversell armdysmeli med en rudimenter nger. Denne ngeren skalbrukes til å styre protesen. Det er gjort et litteratursøk for å kartleggemetoder og utfordringer for reguleringsteknisk analyse av epp- og telemanipulatorsystemer,og satt opp et sett kriterier som er viktige å ta hensyntil under realisering av systemet. Det er beskrevet et programstruktur,som siden er realisert på to AVR Buttery, en for hver frihetsgrad. Disseer koblet til en protesemodell og en proksimal styringsmodul tilpasset ennormal hånd for testing av konseptet.