Teleoperated robotic surgical systems such as daVinci are widely used for laparoscopic surgeries. The currently available daVinci system does not provide haptic feedback. Prior research has shown that the addition of haptic feedback improves surgeons' performance during minimally invasive surgeries. Other authors have implemented haptic feedback in the daVinci robot, but some issues made them impractical for clinical use. In this work, two strain gauge force-sensing devices were created for the patient side manipulator of the daVinci surgical robot. These devices were designed to be easily added to the existing system and used for the real-time force feedback in the daVinci robot. The proposed system has high sensitivity and resolution, matches the required force measurement range, and has high signal-to-noise ratio, which implies high signal quality. However, the absolute errors of the currently built devices are high due to the manufacturing techniques used on the prototype that could be improved upon for a deployed device. This work demonstrates fast 3-DOF force measurements on the daVinci robot without any robot or instrument modifications. While the present system has significant systematic errors, these can be mitigated by altering the mechanical design to improve the accuracy of the system.

The main subject of this thesis is implementation of operating system based on Linux kernel. The thesis demonstrates ARM architecture and the programming model of this architecture very briefly. Then it explains initialization process of most significant peripherals including serial interfaces and memory controllers and describes booting process form NAND, NOR memory and UART interface. At the end it shows compiling procedures necessary for building u-boot and kernel.

When reading a text, it is common to get stuck on unfamiliar words that are difficult to understand in the local context. In these cases, we use dictionaries or similar online resources to find the general meaning of the word. However, maintaining a handwritten dictionary is highly resource demanding as the language is constantly developing, and using generative language models for producing definitions could therefore be a more efficient option. To explore this possibility, this thesis performs an online survey to examine if GPT could be useful for defining words. It also investigates how well the Swedish language model GPT-SW3 (3.5 b) define words compared to the model text-davinci-003, and how prompts should be formatted when defining words with these models. The results indicate that text-davinci-003 generates high quality definitions, and according to students t-test, the definitions received significantly higher ratings from participants than definitions taken from Svensk ordbok (SO). Furthermore, the results showed that GPT-SW3 (3.5 b) received the lowest ratings, indicating that it takes more investment to keep up with the big models developed by OpenAI. Regarding prompt formatting, the most appropriate prompt format for defining words is highly dependent on the model, and the results showed that text- davinci-003 performed well using zero-shot, while GPT-SW3 (3.5 b) required a few shot setting. Considering both the high quality of the definitions generated by text-davinci-003, and the practical advantages with generating definitions automatically, GPT could be a useful method for defining words.

This master thesis deals with the design devices for automobile driving record with the information on telemetry. Camera placed in the vehicle captures the traffic before the accident, can facilitate the decisions about the offender. The basic element of the camera is DaVinci development kit has been developed for digital video applications. The aim of this thesis is to find ways to effectively implement basic algorithms for processing and evaluation of the scanned image using a single-chip microprocessor.