Submitted by Automa??o e Estat?stica (sst@bczm.ufrn.br) on 2016-03-31T22:51:29Z No. of bitstreams: 1 EridenesFernandesDeQueiroz_DISSERT.pdf: 2172856 bytes, checksum: c0623801f61f91802fc4d7deb05fbca0 (MD5) / Approved for entry into archive by Arlan Eloi Leite Silva (eloihistoriador@yahoo.com.br) on 2016-04-04T20:18:39Z (GMT) No. of bitstreams: 1 EridenesFernandesDeQueiroz_DISSERT.pdf: 2172856 bytes, checksum: c0623801f61f91802fc4d7deb05fbca0 (MD5) / Made available in DSpace on 2016-04-04T20:18:39Z (GMT). No. of bitstreams: 1 EridenesFernandesDeQueiroz_DISSERT.pdf: 2172856 bytes, checksum: c0623801f61f91802fc4d7deb05fbca0 (MD5) Previous issue date: 2015-05-28 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior - CAPES / Este trabalho tem como objetivo propor, implementar e validar um modelo para o consumo de energia em n?s de uma Rede de Sensores Sem Fio (RSSF). O modelo proposto foi implementada uma m?quina de estados finitos utilizando a ferramenta de modelagem e simula??o SystemC-AMS com o objetivo de simular o consumo de energia de um n?-sensor em um ambiente de comunica??o real. A mesma m?quina de estados tamb?m foi implementada na plataforma Stateflow com o objetivo de comparar os resultados obtidos na simula??o com SystemC-AMS. O consumo de energia nos diferentes estados de opera??o foi determinado medindo a corrente de dreno utilizada para aquisi??o de dados do sensor e para a comunica??o com os outros n?s da rede. Al?m de simular o consumo de energia, o ambiente de simula??o tamb?m utiliza um modelo de descarga para fazer a an?lise da situa??o energ?tica atual da bateria. Esta an?lise resulta em um gr?fico de varia??o de tens?o e estado de carga da bateria (SOC). Por fim, ? realizado um estudo de caso do consumo de energia em RSSF aplicado a aquicultura. Tal estudo tem como objetivo analisar o modo de aquisi??o e comunica??o de dados da rede. Com esta an?lise ? poss?vel fazer ajustes nos n?-sensores de modo a reduzir o consumo de energia total da rede. / This work aims at modeling power consumption at the nodes of a Wireless Sensor Network (WSN). For doing so, a finite state machine was implemented by means of SystemC-AMS and Stateflow modeling and simulation tools. In order to achieve this goal, communication data in a WSN were collected. Based on the collected data, a simulation environment for power consumption characterization, which aimed at describing the network operation, was developed. Other than performing power consumption simulation, this environment also takes into account a discharging model as to analyze the battery charge level at any given moment. Such analysis result in a graph illustrating the battery voltage variations as well as its state of charge (SOC). Finally, a case study of the WSN power consumption aims to analyze the acquisition mode and network data communication. With this analysis, it is possible make adjustments in node-sensors to reduce the total power consumption of the network.

abstract: This thesis introduces the Model-Based Development of Multi-iRobot Toolbox (MBDMIRT), a Simulink-based toolbox designed to provide the means to acquire and practice the Model-Based Development (MBD) skills necessary to design real-time embedded system. The toolbox was developed in the Cyber-Physical System Laboratory at Arizona State University. The MBDMIRT toolbox runs under MATLAB/Simulink to simulate the movements of multiple iRobots and to control, after verification by simulation, multiple physical iRobots accordingly. It adopts the Simulink/Stateflow, which exemplifies an approach to MBD, to program the behaviors of the iRobots. The MBDMIRT toolbox reuses and augments the open-source MATLAB-Based Simulator for the iRobot Create from Cornell University to run the simulation. Regarding the mechanism of iRobot control, the MBDMIRT toolbox applies the MATLAB Toolbox for the iRobot Create (MTIC) from United States Naval Academy to command the physical iRobots. The MBDMIRT toolbox supports a timer in both the simulation and the control, which is based on the local clock of the PC running the toolbox. In addition to the build-in sensors of an iRobot, the toolbox can simulate four user-added sensors, which are overhead localization system (OLS), sonar sensors, a camera, and Light Detection And Ranging (LIDAR). While controlling a physical iRobot, the toolbox supports the StarGazer OLS manufactured by HAGISONIC, Inc. / Dissertation/Thesis / Model-Based Development of Multi-iRobot Toolbox (version 1.0) / M.S. Computer Science 2012

abstract: As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation. / Dissertation/Thesis / M.S. Computer Science 2013

Le travail décrit dans cette thèse fait partie d'un effort de recherche au laboratoire VERIMAG pour créer une chaîne d'outils basée sur modèles (model-based) pour la conception et l'implantation des systèmes embarquées. Nous utilisons une approche en trois couches, qui séparent le niveau d'application du niveau implantation/architecture. L'application est décrite dans un langage de haut niveau qui est indépendante des détails d'implantation. L'application est ensuite transférée à l'architecture d'exécution en utilisant des techniques spécifiques pour que les propriétés demandées soient bien préservées.<br />Dans cette thèse, l'application est décrite en Simulink/Stateflow, un langage de modélisation très répandu dans le milieu de l'industrie, comme celui de l'automobile. Au niveau de l'architecture, nous considérons des implantation sur une plate-forme "mono-processeur" et "multi-tâches". Multi-tâches signifie que l'application est répartie en un nombre des tâches qui sont ordonnées par un système d'exploitation temps-réel (RTOS) en fonction d'une politique d'ordonnancement préemptive comme par exemple la priorité statique (static-priority SP) ou la date-limite la plus proche en priorité (earliest deadline first EDF).<br />Entre ces deux couches, on rajoute une couche de représentation intermédiaire basée sur le langage de programmation synchrone Lustre, développé à VERIMAG durant les 25 dernières années. Cette représentation intermédiaire permet de profiter des nombreux outils également développés à VERIMAG tels que des simulateurs, des générateurs de tests, des outils de vérification et des générateurs de code.<br />Dans la première partie de cette thèse, on étudie comment réaliser une traduction automatique de modèle Simulink/Stateflow en modèles Lustre. Coté Simulink, le problème est relativement simple mais nécessite néanmoins l'utilisation d'algorithmes sophistiqués pour inférer correctement les informations de temps et de types (de signaux) avant de générer les variables correspondantes dans le programme Lustre. La traduction de Stateflow est plus difficile à cause d'un certain nombre de raisons ; d'abord Stateflow présent un certain nombre de comportements "non-sûr" tels que la non-terminaison d'un cycle synchrone ou des sémantiques qui dépendent de la disposition graphique des composants sur un modèle. De plus Stateflow est un langage impératif, tandis que Lustre un langage de flots de données. Pour le premier problème nous proposons un ensemble de conditions vérifiables statiquement servant à définir un sous-ensemble "sûr" de Stateflow. Pour le deuxième type de problèmes nous proposons un ensemble de techniques pour encoder des automates et du code séquentiel en équations de flots de données.<br />Dans la deuxième partie de la thèse, on étudie le problème de l'implantation de programmes synchrones dans l'architecture mono-processeur et multi-tâche décrite plus haut. Ici, l'aspect le plus important est comment implanter les communications entre tâches de manière à ce que la sémantique synchrone du système soit préservée. Des implantations standards, utilisant des buffers de taille un, protégés par des sémaphores pour assurer l'atomicité, ou d'autres protocoles "lock-free" proposés dans la littérature ne préservent pas la sémantique synchrone. Nous proposons un nouveau schéma de buffers, qui préserve la sémantique synchrone tout en étant également "lock-free". Nous montrons de plus que ce schéma est optimal en terme d'utilisation des buffers.

This thesis is focused on problematics of control of brushless DC motor in the sensor and also in the sensorless mode. Also it interprets possibilities of BLDC motor control with one faulty sensor and derivation and simulation of mathematical model. First part mentions options of rotor position sensing as well as existing methods of sensorless BLDC motor control. Second part describes control algorithms of sensor and sensorless motor control realised on device dSPACE and also realisation of faulty sensor control algorithm. Third part deals with derivation of mathematical model, its realisation using Matlab Simulink software and identification of its parameters. Last part concludes results and compares control methods used on the real system.

This thesis describes the design work for the measurement of air values. The first part describes the airflow, pressure build-up in pipes and losses due to airflow losses. There is also a description of fans and explain their characteristics depending on the pressure generated by airflow. The next part describes the design of the measuring chamber, electronics and control for fully automatic measurement of air quantities.