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91	The Effect Of Sub Tx Heat Treatments On The Magnetic Properties Of An Fe-based Bulk Metallic Glass Jakob, Grunditz January 2022 (has links) Metallic glasses produced with Selective Laser Melting (SLM) often contain internal mechanic stress. This internal stress can have an impact on the magnetic properties of the material due to its connection to the magnetic anisotropy of the material. Therefore the effect of different heat treatments aimed to reduce the effect of internal stress on the magnetic properties of an Fe-based Metallic Glass (MG) and how this relates to the crystallization of the material was examined in this project. The magnetic properties were measured with a Vibrating Sample Magnetometer (VSM) and the Longitudinal Magneto-Optic Kerr Effect (L-MOKE) and structural changes to the material from the heat treatments, such as crystallization, was examined with X-Ray powder Diffraction (XRD) before and after heat treatment. From the measurements we found that heat treatments close to and above the crystallization temperature Tx lead to crystallization and a decrease in magnetic saturation MS. Heat treatments below Tx around 430°C showed a smaller reduction in MS but did not show any crystallization. The measurements with L-MOKE showed no consistent change in coercivity so no conclusion could be drawn from these. / Metallglas som tillverkats med den additiva tillverkningstekniken Selective Laser Melting (SLM) innehåller ofta interna mekaniska spänningar. Dessa spänningar kan på grund av deras koppling till materialets magnetiska anisotropi ha en påverkan på materialets magnetiska egenskaper. I detta projekt har därför effekten av olika värmebehandlingar utförda för att minska de interna spänningarnas påverkan på de magnetiska egenskaperna av ett Fe-baserad metallglas och hur detta relaterar till kristalliseringen av materialet undersökts. De magnetiska egenskaperna av materialet mättes med en Vibrating Sample Magnetometer (VSM) och Longitudinal Magneto-Optic Kerr Effect (L-MOKE). Strukturella förändringar, så som kristallisering, hos materialet orsakade värmebehandlingarna undersöktes med X-Ray powder Diffraction (XRD). Samtliga mätningar genomfördes före och efter värmebehandling. Från mätningarna fann vi att värmebehandlingar nära kristalliseringstemperaturen Tx gav kristalltillväxt samt minskade mättnadsmagnetisering MS. Värmebehandlingar under Tx runt 430°C gav en lägre reducering av MS samt gav ej någon kristalltillväxt. L-MOKE-mätningarna gav ingen konsekvent förändring i materialets koercivitet och inga slutsatser kunde därmed dras från dessa. Bulk metallic glass annealing heat treatment MOKE Magnetic Fe-based Coercivity Magnetic properties Magnetic saturation coercivity saturation magnetic coercivity sub crystallization sub Tx Relaxation Condensed Matter Physics Den kondenserade materiens fysik
92	Modeling, Simulation, and Injection of Camera Images/Video to Automotive Embedded ECU : Image Injection Solution for Hardware-in-the-Loop Testing Lind, Anton January 2023 (has links) Testing, verification and validation of sensors, components and systems is vital in the early-stage development of new cars with computer-in-the-car architecture. This can be done with the help of the existing technique, hardware-in-the-loop (HIL) testing which, in the close loop testing case, consists of four main parts: Real-Time Simulation Platform, Sensor Simulation PC, Interface Unit (IU), and unit under test which is, for instance, a Vehicle Computing Unit (VCU). The purpose of this degree project is to research and develop a proof of concept for in-house development of an image injection solution (IIS) on the IU in the HIL testing environment. A proof of concept could confirm that editing, customizing, and having full control of the IU is a possibility. This project was initiated by Volvo Cars to optimize the use of the HIL testing environment currently available, making the environment more changeable and controllable while the IIS remains a static system. The IU is an MPSoC/FPGA based design that uses primarily Xilinx hardware and software (Vivado/Vitis) to achieve the necessary requirements for image injection in the HIL testing environment. It consists of three stages in series: input, image processing, and output. The whole project was divided in three parts based on the three stages and carried out at Volvo Cars in cooperation by three students, respectively. The author of this thesis was responsible for the output stage, where the main goal was to find a solution for converting, preferably, AXI4 RAW12 image data into data on CSI2 format. This CSI2 data can then be used as input to serializers, which in turn transmit the data via fiber-optic cable on GMSL2 format to the VCU. Associated with the output stage, extensive simulations and hardware tests have been done on a preliminary solution that partially worked on the hardware, producing signals in parts of the design that could be read and analyzed. However, a final definite solution that fully functions on the hardware has not been found, because the work is at the initial phase of an advanced and very complex project. Presented in this thesis is: important theory regarding, for example, protocols CSI2, AXI4, GMSL2, etc., appropriate hardware selection for an IIS in HIL (FPGA, MPSoC, FMC, etc.), simulations of AXI4 and CSI2 signals, comparisons of those simulations with the hardware signals of an implemented design, and more. The outcome was heavily dependent on getting a certain hardware (TEF0010) to transmit the GMSL2 data. Since the wrong card was provided, this was the main problem that hindered the thesis from reaching a fully functioning implementation. However, these results provide a solid foundation for future work related to image injection in a HIL environment. ADAS AD ADS HIL Hardware in the loop Hardware-in-the-loop ECU VCU Automotive Embedded System Systems Camera Image Video Injection FPGA MPSoC Vivado Vitis VHDL Volvo Cars FMC HPC LPC MIPI CSI2 GMSL2 AMBA AXI4 Xilinx RTL Implementation Synthesis Intelectual Property IP Vehicle computing unit Electronic control unit TEB0911 TEF0007 TEF0010 CSI2 Tx CSI2 Tx Subsystem Zynq SerDes AXI4 AXI4-Lite Programmable Logic PL Processor System PS C C++ Video test pattern generator VTPG Axi traffic generator ATG Ultrascale+ Virtual input/output VIO Integrated logic analyzer ILA Interface Unit Embedded Systems Inbäddad systemteknik
93	PDA software pro robotický fotbal / PDA software for robot soccer Uhlíř, Luděk January 2008 (has links) Robotic soccer is a game like a real soccer but here the game is played by robots. The rules are the same, only there are few exceptions (foul, penalty kick, stalemate situation). Game is running without the human intervention. Just a human referee is supervising the game. Two teams are attending the game. Each of them has a control computer. The control computer is the brain of the game. It has a camera, it is making decisions for the next step of robots and sending them configuration data. The thesis deals with testing of communication interface and designs the new communication protocol for the next generation of the robots. The testing is provided by pocket pc Palm TX. It will send data over the Bluetooth interface to the control pc and will configure particular constants, like constants of PID regulator and an address of a robot. This will be provided by the IrDA interface.

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