Thesis (MScIng)--Stellenbosch University, 2004. / ENGLISH ABSTRACT: This dissertation's research aims at studying the viability of using both low cost consumer Commodity Off The Self (COTS) PCs and libn~software in implementing a distributed real-time system modeled on a real-world engineering problem. Debugging and developing a modular satellite system is both time consuming and complex, to this end the SUNSATteam has envisioned the Interactive Test System that would be a dual mode simulator/monitoring system. It is this system that requires a real-time back-end and is used as a real world problem model to implement. The implementation was accomplished by researching the available parallel processing software and real-time extensions to GNU/Linux and choosing the appropriate solutions based on the needs of the model. A monitoring system was also implemented, for system verification, using freely available system monitoring utilities. The model was successfully implemented and verified with a global synchronization of < 10ms. It was shown that GNU/Linux and libn~ software is both mature enough and appropriate in solving a real world distributed real-time problem. / AFRIKAANSE OPSOMMING: Die tesis se navorsing is daarop gemik om die toepaslikheid van beide lae koste verbruikers Komoduteits Van Die Rak (KVDR)persoonlike rekenaars en vemiet sagteware in die implementasie van verspreide intydse stelsels te ondersoek aan die hand van die oplossing van 'n gemodelleerde ingenieurs probleem. Die ontfouting en ontwikkeling van 'n modulere satelliet is beide tyd rowend en kompleks, om hierdie te vergemaklik het die SUNSAT span die Interaktiewe Toets Stelsel gekonseptualiseer, wat in wese'n dubbel modus simulator/moniteerings stelsel sou wees. Dit is hierdie stelsel wat 'n verspreide intydse onderstel benodig en dien as die regte wereld probleem model om op te los. Die implementasie is bereik deur die beskikbare verspreide verwerkings sagteware en intydse uitbreidings vir GNU/Linux te ondersoek en die toepaslike opsies te kies gegrond op die behoeftes van die model. 'n Moniteerings stelsel is ook geimplimenteer, met behulp van libn~sagteware, vir stelsel verifikasie. Die model was suksesvol geimplimenteer en geverifieer met 'n globale sinkronisasie van < 10ms. Daar is getoon dat GNU/Linux en libn~sagteware beide volwaardig en geskik is vir die oplossing van regte wereld verspreide intydse probleme.

Thesis (MPhil)--Stellenbosch University, 2004. / ENGLISH ABSTRACT: The rise of the network economy had a resounding impact on the world economy. Business remains transfixed between choosing between hierarchical organizational structures suited to a control and command mindset or transforming to an organizational structure intent on sensing and responding. Flexible and adaptive enterprises are more suitable to an increasingly volatile business environment. Current business trends worldwide seem to point in this direction. This may be an indication of the way in which organizations strive to avoid running the risk of business insignificance. Driven by business volatility, organizational structures are turning increasingly to naturally occurring ‘organizations’ to construct their own malleable versions. The redesign of an organizational structure is as important as reviewing information flows, optimizing technology and most importantly, finding the right type of employee to set the wheels of a real-time enterprise (RTE) in motion. Any discussion pertaining to real-time will touch on time. A reflection on hierarchical organizations highlights their stability, but also their inflexibility and sufficing information practices. It then becomes clear that the new business direction in an intensely competitive environment will have little tolerance for any measure of organizational rigidity. But how driven and fast can information really be processed and still enhance the value of an enterprise? The RTE is not a fully automated enterprise. Its employees may be less involved in its everyday tasks, but remain part of its decision-making process. To what degree does the RTE business model then facilitate value-adding information processing by both automation and manual interventions? Do limits exist where speed and time wastage in business are concerned? Is speed at all costs the only concern of the RTE? The aim of this paper is to answer these questions conceptually. Cognizance was taken of the impact of the volatile business environment on organizational structures influencing the current understanding. The highlighted business trends are based on recently published global and authoritative industry papers, business analyses and academic interpretations. Some of the best material was sourced from professional journals discussing the infinite angles of real-time information. Castells’s work on the network society proved to be extremely valuable to gain a holistic understanding. The latest developments were obtained from well-established research companies. During the investigative phase of this paper, the author encountered one thesis on real-time information focusing on information technology. It was evident that more research is required to answer the questions posed. The eventual findings were in line with the complexity and scope of the subject. The current demands of a global network economy necessitate agile and adaptive networked enterprises, not hierarchies. Roles are becoming more important than positions in the organizational transition phase to a networked, flat structure. A failure to start with such a transformation programme will result in a failure to survive in a fiercely competitive global business environment. It was clear that the RTE is dependent on the establishment of a balance struck between business entities in their interactions with one another as parts of a whole, replete with conditions and requirements. It is only in this sense that access to real-time information could be seen as a differentiating factor in global business. / AFRIKAANSE OPSOMMING: Die ontstaan van die netwerk-ekonomie het ‘n beduidende invloed op wêreldhandel gehad. Besigheid het nog nie uitsluitsel verkry tussen twee soorte organisatoriese strukture nie, naamlik, ‘n hiërargiese organisasiestruktuur wat pas by ’n beheer-en-regeer denkwyse en die ander, ’n veranderende organiese struktuur wat aanvoeling en reaksie belangriker ag. Buigsame, aanpasbare organisasies is uitstekend aangepas by ’n toenemend onsekere besigheidsomgewing. Dit wil voorkom of organisasies tans in hierdie rigting neig om die risiko van onbeduidenheid in die hedendaagse sakewêreld op dié manier te systap. Onsekerheid in besigheid noop organisatoriese strukture om hul toenemend te wend na organisasiestrukture wat natuurlik voorkom, ten einde ‘n eiesoortige buigsame weergawe daarvan te skep. Organisatoriese herstrukturering is ewe belangrik as die hersiening van inligtingsvloei, die optimisering van tegnologie en bowenal, die soektog na die regte soort werknemer wat dryfkrag aan die ‘real-time enterprise’ of RTE sal verleen. ‘Real-time’ besprekings sluit noodwendig die tydskwessie in, terwyl enige nabetragting oor hiërargiese organisasies sal fokus op stabiliteit, maar ook op onbuigsaamheid en ontoereikende inligtingspraktyke. Die nuwe besigheidsrigting in ’n uiters mededingende omgewing laat min ruimte vir enige mate van organisatoriese onbuigsaamheid. Die vraag ontstaan egter hoe vinnig en gedrewe inligting verwerk kan word ten einde besigheidswaarde te vermeerder? RTE’s is nie volledig geoutomatiseerde organisasies nie. Hoewel werknemers nie ten volle betrek word by alledaagse werk nie, is hulle steeds deel van die besluitnemingsproses. Maar vergemaklik die RTE-besigheidsmodel inderdaad die verwerking van inligting deur gedeeltelike outomatisering? Hoe word spoed en tydsvermorsing in organisasies hanteer? Sou spoed byvoorbeeld ten alle koste die enigste belang wees van die RTE? Die doel van hierdie proefskrif is om hierdie vrae in beginsel te beantwoord. Die invloed van besigheidsonsekerheid op organisatoriese strukture wat die huidige denkwyse beïnvloed, word erken. Die aanduiding oor organisatoriese ontwikkeling is gebaseer op internasionale, gesaghebbende spesialisgeskrifte, besigheidsontledings, sowel as akademiese vertolkings. Voortreflike literatuur is bekom in professionele joernale oor die ontelbare nuanses van ‘real-time’ inligting. Castells se werk oor die netwerkgemeenskap was van onskatbare waarde vir ’n oorsigtelike insig, terwyl die jongste ontwikkelinge verkry is uit artikels afkomstig van gevestigde navorsingsinstansies. Die skrywer het gedurende die navorsingsfase slegs een proefskrif teengekom oor ‘real-time’ inligting met inligtingstegnologie as die hooffokus. Dit is duidelik dat toenemende navorsing steeds ontbreek. Die uiteindelike bevindings het ooreengestem met die ingewikkeldheid en omvang van die onderwerp. Die eise van ’n internasionale netwerk kan slegs beantwoord word deur ratse en aanpasbare netwerk organisasies, allermins deur hiërargieë. ’n Rol, pleks van ’n aanstelling, raak van toenemende belang in die organisatoriese oorgangsfase na ’n plat struktuur wat deel is van ’n netwerk. Versuim om te begin met so ’n oorgangsprogram sal mislukking tot gevolg hê in die geweldig mededingende besigheidsomgewing wat dwarsoor die wêreld heers. Die RTE is afhanklik van die daarstelling van ‘n balans tussen besighede as dele van ’n geheel in hul omgang met mekaar wat die nodige voorwaardes en vereistes insluit. Dis slegs binne hierdie raamwerk dat toegang tot ‘real-time’ inligting beskou kan word as ’n unieke faktor wat aan besigheidsorganisasies wêreldwyd gebied word.

Os sistemas embarcados automotivos são caracterizados por sistemas computacionais que suportam funcionalidades na forma de softwares embarcados para proporcionar aos usuários maior conforto, segurança e desempenho. Entretanto, existe uma grande quantidade de funções integradas que elevam o nível de complexidade de forma que se deve utilizar métodos e ferramentas de projetos adequados para garantir os requisitos funcionais e não funcionais do sistema. Todo o projeto de software embarcado automotivo deve iniciar com a definição de requisitos funcionais e de acordo com a dinâmica do subsistema que uma ECU (Electronic Control Unit) irá controlar e/ou gerenciar, deve-se ainda definir os requisitos temporais. Uma função automotiva pode ter requisitos temporais do tipo, período de ativação, atraso fim-a-fim, deadline entre outras que por sua vez estão estritamente relacionadas com as características da arquitetura de hardware utilizada. Em um sistema automotivo, tem-se uma arquitetura de computação embarcada distribuída em que existem tarefas e mensagens que trocam sinais entre si e podem ter requisitos temporais que devam ser atendidos. A análise temporal para verificação e validação dos requisitos temporais pode ser realizada ao nível de arquitetura distribuída, tarefas e instruções sendo que a utilização adequada de métodos e ferramentas é uma condição necessária para sua verificação. Desta forma, apresenta-se uma descrição do estado da arte de análise temporal em sistemas embarcados automotivos, suas propriedades e a utilização das ferramentas da Gliwa para avaliar se os requisitos temporais são atendidos. Um exemplo ilustrativo foi implementado com o propósito de apresentar como os métodos, processos e ferramentas devem ser aplicados para verificar se os requisitos temporais definidos previamente no início do projeto foram atendidos e para que em um sistema já existente possam suportar funções adicionais com requisitos temporais a serem garantidos. É importante verificar que as ferramentas de análise temporal, tem o propósito ainda de verificar se os recursos computacionais estão sendo utilizados de acordo com o especificado no início do projeto. / Automotive embedded systems are characterized by computer systems that support embedded software functionalities to provide users with greater comfort, security and performance. However, there are a number of integrated functions that raise the level of complexity so that appropriate design methods and tools must be used to guarantee the functional and non-functional requirements of the system. All automotive embedded software design must begin with the definition of functional requirements and according to the dynamics of the subsystem that an ECU (Electronic Control Unit) will control and/or manage, it is necessary to define the time requirements. An automotive function may have time requirements of type, activation period, end-to-end delay and deadline among others which in turn are strictly related to the characteristics of the hardware architecture used. In an automotive system there is a distributed embedded computing architecture in which there are tasks and messages that exchange signals between them and may have timing requirements that must be met. The timing analysis for verification and validation of timing constrains can be carried out at the level of distributed architecture, tasks and instructions, and the proper use of methods and tools is a necessary condition for their verification. In this way, a description of the state of the art of timing analysis in automotive embedded systems, their properties and the use of the tools of Gliwa to evaluate if the timing constrains are met. An illustrative example has been implemented with the purpose of presenting how the methods, processes and tools should be applied to verify that the time requirements defined at the beginning of the project are met and that in an existing system can support additional functions with requirements to be guaranteed. It is important to note that timing analysis tools are still intended to verify that computational resources are being used as specified at the beginning of the project.

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%.

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%.

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.

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