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The aim of this thesis is to understand the current implementation, how different hardware and output frequency affects the hydraulic actuators in the current platform and Then an improve the controller should be presented. This needs to be both faster then the current controller and should not use more CPU recurses then necessary. With the understanding of current controller, three new regulators where implemented and tested. One uses a PI regulator and the other two uses an adaptive algorithm to generate the control signal. All where faster than the current one and the PI-implementation uses the lowest amount of CPU recurses, on the other hand this needs to be calibrated for the different hardware and output frequency’s. ThetwoadaptivecontrollersrequiresahigheramountofCPUrecurses, instead it requires less calibration to work.

Testing is one of the most important aspects in the development of new products. There are different types of testing a product can undergo, either hardware durability tests or software tests. Embedded systems are closely related to hardware and a key feature of them is the reliability and dependability. In order to assure that these features will remain intact no matter where the embedded systems operate it is very important to conduct standardized testing and give validation. The purpose of this thesis is to research the temperature testing procedure and develop a measurement guideline based on several key moments. The guideline is closely related to the standards and due to this reason some of the most frequently used standards are taken in consideration. The temperature measurement technology involves different tools or equipment. One interesting technology used for this purpose is the infrared technology through the investigation provided by the IR cameras. It is benefcial to integrate this technology in the contact measurements because it describes the temperature variation by colors, information which is very important in the first steps of the test procedure.

It is the period of the World's history, where the technological progress reached a level that enables the first steps towards the development of vehicles with automated driving capabilities. The swift response from the significant portion of the industry resulted in a race, the final line set at the introduction of vehicles with full automated driving capabilities. Vehicles with automated driving capabilities target making driving safer, more comfortable, and economically more efficient by assisting the driver or by taking responsibilities for different driving tasks. While vehicles with assistance and partial automation capabilities are already in series production, the ultimate goal is in the introduction of vehicles with full automated driving capabilities. Reaching this level of automation will require shifting all responsibilities, including the responsibility for the overall vehicle safety, from the human to the computer-based system responsible for the automated driving functionality (i.e., the Automated Driving System (ADS)). Such a shift makes the ADS highly safe-critical, requiring a safety level comparable to an aircraft system. It is paramount to understand that ensuring such a level of safety is a complex interdisciplinary challenge. Traditional approaches for ensuring safety require the use of fault-tolerance techniques that are unproven when it comes to the automated driving domain. Moreover, existing safety assurance methods (e.g., ISO 26262) suffer from requirements incompleteness in the automated driving context. The use of artificial intelligence-based components in the ADS further complicate the matter due to their non-deterministic behavior. At present, there is no single straightforward solution for these challenges. Instead, the consensus of cross-domain experts is to use a set of complementary safety methods that together are sufficient to ensure the required level of safety. In the context of that, runtime monitors that verify the safe operation of the ADS during execution, are a promising complementary approach for ensuring safety. However, to develop a runtime monitoring solution for ADS, one has to handle a wide range of challenges. On a conceptual level, the complex and opaque technology used in ADS often make researchers ask the question ``how should ADS be verified in order to judge it is operating safely?". Once the initial Runtime Verification (RV) concept is developed, researchers and practitioners have to deal with research and engineering challenges encountered during the realization of the RV approaches into an actual runtime monitoring solution for ADS. These challenges range from, estimating different safety parameters of the runtime monitors, finding solutions for different technical problems, to meeting scalability and efficiency requirements. The focus of this thesis is to propose novel runtime monitoring solutions for verifying the safe operation of ADS. This encompasses (i) defining novel RV approaches explicitly tailored for automated driving, and (ii) developing concepts, methods, and architectures for realizing the RV approaches into an actual runtime monitoring solution for ADS. Contributions to the former include defining two runtime RV approaches, namely the Computer Vision Monitor (CVM) and the Safe Driving Envelope Verification. Contributions to the latter include (i) estimating the sufficient diagnostic test interval of the runtime verification approaches (in particular the CVM), (ii) addressing the out-of-sequence measurement problem in sensor fusion-based ADS, and (iii) developing an architectural solution for improving the scalability and efficiency of the runtime monitoring solution. / RetNet

Lock-based concurrency control suffers from programmability, scalability, and composability challenges. These challenges are exacerbated in emerging multicore architectures, on which improved software performance must be achieved by exposing greater concurrency. Transactional memory (TM) is an emerging alternative synchronization model for shared memory objects that promises to alleviate these difficulties. In this dissertation, we consider software transactional memory (STM) for concurrency control in multicore real-time software, and present a suite of real-time STM contention managers for resolving transactional conflicts. The contention managers are called ECM, RCM, LCM, PNF, and FBLT. RCM and ECM resolve conflicts using fixed and dynamic priorities of real-time tasks, respectively, and are naturally intended to be used with the fixed priority (e.g., G-RMA) and dynamic priority (e.g., G-EDF) multicore real-time schedulers, respectively. LCM resolves conflicts based on task priorities as well as atomic section lengths, and can be used with G-EDF or G-RMA schedulers. Transactions under ECM, RCM, and LCM may retry due to conflicts with higher priority tasks even when there are no shared objects, i.e., transitive retry. PNF avoids transitive retry and optimizes processor usage by lowering the priority of retrying transactions, thereby enabling other non-conflicting transactions to proceed. PNF, however, requires a priori knowledge of all requested objects for each atomic section, which is inconsistent with the semantics of dynamic STM. Moreover, its centralized design increases overhead. FBLT avoids transitive retry, do not require a priori knowledge of requested objects, and has a decentralized design. We establish upper bounds on transactional retry costs and task response times under the contention managers through schedulability analysis. Since ECM and RCM preserve the semantics of the underlying real-time scheduler, their maximum transactional retry cost is double the maximum atomic section length. This is improved in the design of LCM, which achieves shorter retry costs and tighter upper bounds. As PNF avoids transitive retry and improves processor usage, it yields shorter retry costs and tighter upper bounds than ECM, RCM, and LCM. FBLT\'s upper bounds are similarly tight because it combines the advantages of PNF and LCM. We formally compare the proposed contention managers with each other, with lock-free synchronization, and with multiprocessor real-time locking protocols. Our analysis reveals that, for most cases, ECM, RCM, and LCM achieve higher schedulability than lock-free synchronization only when the atomic section length does not exceed half of lock-free synchronization\'s retry loop length. With equal periods and greater access times for shared objects, atomic section length under ECM, RCM, and LCM can be much larger than the retry loop length while still achieving better schedulability. With proper values for LCM\'s design parameters, atomic section length can be larger than the retry loop length for better schedulability. Under PNF, atomic section length can exceed lock-free\'s retry loop length and still achieve better schedulability in certain cases. FBLT achieves equal or better schedulability than lock-free with appropriate values for design parameters. The schedulability advantage of the contention managers over multiprocessor real-time locking protocols such as Global OMLP and RNLP depends upon the value of $s_{max}/L_{max}$, the ratio of the maximum transaction length to the maximum critical section length. FBLT\'s schedulability is equal or better than Global OMLP and RNLP if $s_/L_ le 2$. Checkpointing enables partial roll-back of transactions by recording transaction execution states (i.e., checkpoints) during execution, allowing roll-back to a previous checkpoint instead of transaction start, improving task response time. We extend FBLT with checkpointing and develop CP-FBLT, and identify the conditions under which CP-FBLT achieves equal or better schedulability than FBLT. We implement the contention managers in the Rochester STM framework and conduct experimental studies using a multicore real-time Linux kernel. Our studies reveal that among the contention managers, CP-FBLT has the best average-case performance. CP-FBLT\'s higher performance is due to the fact that PNF\'s and LCM\'s advantages are combined into the design of FBLT, which is the base of CP-FBLT. Moreover, checkpointing improves task response time. The contention managers were also found to have equal or better average-case performance than lock-free synchronization: more jobs meet their deadlines using CP-FBLT, FBLT, and PNF than lock-free synchronization by 34.6%, 28.5%, and 32.4% (on average), respectively. The superiority of the contention managers is directly due to their better conflict resolution policies. Locking protocols such as OMLP and RNLP were found to perform better: more jobs meet their deadlines under OMLP and RNLP than any contention manager by 12.4% and 13.7% (on average), respectively. However, the proposed contention managers have numerous qualitative advantages over locking protocols. Locks do not compose, whereas STM transactions do. To allow multiple objects to be accessed in a critical section, OMLP assigns objects to non-conflicting groups, where each group is protected by a distinct lock. RNLP assumes that objects are accessed in a specific order to prevent deadlocks. In contrast, STM allows multiple objects to be accessed in a transaction in any order, while guaranteeing deadlock-freedom, which significantly increases programmability. Moreover, STM offers platform independence: the proposed contention managers can be entirely implemented in the user-space as a library. In contrast, real-time locking protocols such as OMLP and RNLP must be supported by the underlying platform (i.e., operating system or virtual machine). / Ph. D.

Wireless sensor networks (WSNs) are used in all kinds of different sectors ranging from agriculture, environment, healthcare and the military. Embedded systems such as sensor nodes are low-power and consist of low memory, which creates a challenge for its security. One of WSN’s worst enemies is interference radio jamming attacks. They are easy to construct and execute, but hard to detect and identify. In this thesis, we tackle the problems of detecting, but most importantly identifying, and distinguishing the most commonly used interference radio jamming attacks. Presenting SpeckSense++, a firmware that makes it possible for low-power embedded systems to detect, identify and distinguish interference radio jamming attacks and unintentional interference such as Bluetooth and WiFi to a certain degree. Showing an accuracy of 96 to 90 % for proactive jammers, 89% for reactive, and 92 to 85 % for unintentional interference.

The purpose of this project was to investigate if it is possible to have local wireless control of an industrial robot. This was achieved by first doing a diversity of research. Based on the research, the project was conceptualized and a real-life product was developed showcasing the functionality. The standard robot set up as of today consists of three main parts: A robot, a control unit and a handheld controller device, called Teach Pendant. All of these parts are connected with long aggravating cables. The cables cause inconvenience and can in some cases introduce unnecessary risks in the factory. Can this hardware be removed, and an overall more convenient use case be developed? The product was developed by programming an application on a Windows tablet. Further, a Bluetooth Low Energy server was created to handle the communication between the tablet and the robot control unit. The final product consisted of a tablet, a single-board computer, a robot and a control unit. The tablet is what replaces the Teach Pendant as a handheld device. The tablet is connected to the singleboard computer via Bluetooth. The single-board computer acts as a Bluetooth server and sends out advertisements for the tablet to detect. When the tablet detects a nearby robot it can then connect to it and send start and stop commands. The server then forwards it to the control unit which finally sends the data to the robot control unit to execute. The project shows that it is possible to develop wireless robot control. It showcases a potential solution on how one could set it up. However, the final product developed had a simple functionality compared to the wired Teach Pendant. To manage the same capacity as the wired Teach Pendent, further development is required.

To set up port forwarding rules on network gateways, certain technical skills are requiredfrom end-users. These assumptions in the gateway software stack, can lead to an increasein support calls to network operators and resellers of customer premises equipment. Theuser interface itself is also an important part of the product and a complicated interfacewill contribute to a lessened user experience. Other issues with an overwhelming userinterface include the risk of faulty configuration by the user, potentially leaving the networkvulnerable to attacks.We present an enhancement of the current port forwarding configuration in the gatewaysoftware, with an extensible library of presets along with usability improvements. To helpusers with detecting available services, a wrapper for a network scanner is implemented, fordetecting devices and services on the local network. These parts combined relieves end-usersof looking up forwarding rules for ports and protocols to configure their gateway, basingtheir decisions on data collected by the network scanner or by using an applications nameinstead of looking up its ports. Another usability improvement is an internal DNS service,which enables access to the gateway interface through a human-memorable domain name,instead of using the LAN IP address.Using the Nmap utility for identifying services on the network, could be consideredharmful activity by network admins and intrusion detection systems. The preset libraryis extensible and generic enough to be included in the default software suite shipping withthe network equipment. Working within the unified configuration system of OpenWrt, thepreset design will add value and allow resellers to easily customize it to their services. Thisproposal could reduce support costs for the service operators and improve user experiencein configuring network gateways. / Vid portmappning i nätverksgateways krävs det vissa tekniska förkunskaper av användaren.Höga krav på kunskapsnivå kan leda till ett ökat antal supportsamtal för återförsäljareoch nätverksoperatörer. Användargränssnittet i sig är också en viktig del i produkten ochett komplicerat gränssnitt bidrar till försämrad användarupplevelse. Övriga problem medkomplicerade användargränssnitt är risken för felaktig konfiguration, vilket kan försämraIT-säkerheten på nätverket.En förändring av nuvarande inställningar för portmappning presenteras, tillsammansmed ett utbyggbart bibliotek med förinställda regler, samt generella förbättringar av an-vändargränssnittet. Ytterligare förbättringar av användarvänligheten sker i form av nä-tadressöversättning, som möjliggör åtkomst till nätverksgateway via domännamn som ärenklare att minnas än IP adressens siffror. För att hjälpa användare med identifikationav enheter och att göra rätt inställningar, utvecklas en wrapper för en portskanner, somautomatiskt kan identifiera enheter och nättjänster på det lokala nätverket. Tillsammansunderlättar dessa delar för slutanvändaren, befriar den från att referera till regler för portaroch protokoll och möjliggör inställningar enbart genom att använda portskanning eller väljanamnet på önskad tjänst från en lista.Användandet av verktyget Nmap för att identifiera nättjänster på nätverket kan kommaatt betraktas som dataintrång av nätverksadministratörer och intrångdetekteringssystem.Konfigurationsfilerna med förinställningar är utbyggbar, fungerar och passar in tillräck-ligt bra för att levereras med standardmjukvaran. Via det centraliserade konfigurationssys-temet i OpenWrt, kommer utformningen av systemet med förinställningar för portmappningmöjliggöra för komplementering av återförsäljare, för att innefatta deras respektive nät-tjänster och enheter som kräver vidarebefodring av särskilda portar. Systemet kan minskasupportkostnader för bredbandsleverantörer och bidra till en förbättrad användarupplevelsevid konfiguration av nätverksgateways.

This report is about the evaluation of different microcontrollers and their current con-sumption, specifically microcontrollers that will run AI models. The company Sensorbeeneeds a new microcontroller for their future projects. One of the areas of use will be AImodels. The most important parameter for Sensorbee is current consumption, minimizingcurrent consumption is a top priority as their products are powered by batteries or solarpanels. At the beginning of the project, the focus was on which microcontroller had thelowest current consumption. For AI models in particular, however, it turned out to be avery big difference in the optimization of the software. A well-optimized AI model canquickly classify data, which in turn leads to the microcontroller being able to spend muchof its time in sleep mode. This meant that not only the current consumption of the micro-controller could be taken into account, but how fast it ran through an AI model was at leastas important, if not more important. Even how easy it was for Sensorbee to get startedwith the new processor had to be evaluated, as Sensorbee is a small company that has littleresources to move around with. The candidate that was most promising in the beginningproved to be useless as the performance of the AI model was too poor and the general sup-port for the microcontroller was unsatisfactory. It turns out that there are a lot of variablesto consider when choosing a microcontroller and not just what is in the datasheet.

The heart disease Atrial Fibrillation (AFib) has increased worldwide in recent years. Untreated AFib can lead to cardiovascular complications such as stroke and heart failure. AFib is detected by physicians using Electrocardiogram (ECG). Since this disease can occur without symptoms for some patients, it can lead to late detection. Therefore, smart solutions for continuous monitoring of ECG to detect AFib is needed. This paper presents an approach to model an low-cost intelligent health monitoring system (IHMS) to classify and detect AFib in ECG using 1D Convolutional Neural Network (CNN). The core objective of this paper were to investigate the suitability of the computing architecture, edge and cloud, for an IHMS, and how complex 1D-CNN could be deployed to an edge device. Three 1D-CNN models with increased complexity was designed, trained and tested on AFib and NSR episodes collected from 25 records of the LTAF database. Each record were noise filtered and segmented into 10 sec. The best 1D-CNN model presented an accuracy of 83.93 %, 89.83 % in AUC, 84.32 % in sensitivity (AFIb), 83.46 % in specificity (NSR), 84.81 % in F1-score and 68.23 % in MCC. Two experiments into end-to-end delay and prediction time were performed todetermine the computing architectures suitability. The end-to-end delay were measured by sending ECG segments of different sizes to both computing architectures, while the prediction time were measured by deploying the designed 1D-CNN models on both computing architectures. Both measurements were added together to form the response time of the computing architectures. The edge computing architecture produced a delay around 0.019-0.377 sec and prediction time around 0.00X sec compared to cloud’s delay around 1.32-4.43 sec and 0.000X in prediction time. Resulting, that the edge computing architecture produced a lower response time and therefore considered the more suitable architecture for an IHMS. The designed 1D-CNN models had no issues in executing on the edge device, resulting in the conclusion that the most complex model to execute had 6 convolutional layers. The presented result in this paper contributes to the development of a health monitoring system in terms of choosing computing architecture platform and model complexity for a resource constraint device.