<p>Dealing properly with electronics and software will be a strong competitive advantage in the automotive sector in the near future. Electronics are driving current innovations and are at the same time becoming a larger part of the cost of the vehicle. In order to be successful as an automotive manufacturer, innovations must be introduced in the vehicle without compromising the final price tag. Also, the electronics has to compete with, and win over, the dependability of well known and proven mechanical solutions.</p><p>Structure related costs can be reduced by designing a modular system, volume related costs can be reduced by utilizing fewer electronic control units that shares software performing a variety of functions. To achieve a modular system careful consideration must be applied in the architecture design process. Architecting is commonly referred to as an art, performed in a qualitative manner. This thesis provides a quantitative method for architecture design and evaluation targeting modular architectures.</p><p>The architecture design method is based on a simple underlying information model. This model is extended through practical experiences in case studies to include support for configuration and documentation.</p><p>An information model is a key enabler for managing the increasing complexity of automotive embedded systems. The model provides the basis for establishing the analyzable documentation that is required to ensure the dependability of the systems, specifically in terms of need for reliability, maintainability and safety. An information model supports traceability both within the product, across components, and also between different organizational units using different views of the product throughout the lifecycle.</p><p>Further, some general issues of systems engineering and model based development related to the engineering of automotive embedded systems are discussed. Considerations for introducing a model based development process are covered. Also, the maturity of development processes and requirements on tools in an automotive context are evaluated. The ideas and methods presented in this thesis have been developed and tried in an industrial setting through a range of case studies.</p>

<p>ABB Surge Arrestors in Ludvika have for a long time had a problem to keep the moisture at a steady state in the production of their ZnO-powder, that is used to produce varistors.</p><p>Some black-box models of the spray drying process have been designed and evaluated to find a solution for the problem. After evaluating the collected data it has been found that variations in the supply voltage causes control difficulties for the operator. A cascade control system was designed, consisting of three PI control loops designed with lambda tuning. The disturbance in the supply voltagewas used as a feed forward in the control system.</p><p>At the end of the project the control system was installed, and tests were made to verify the functionality of the regulator. It was shown that most of the variations in the moisture of the powder could be eliminated using small resources, through purchase of a process controller and four power meters. The</p><p>standard deviation in the moisture was decreased from a level of 0.32%, measured when the process was manually controlled, down to 0.07% measured when the control system was used. This also solved the given problem.</p>

<p>Idag är det möjligt att modellera de hydrauliska och mekaniska systemen hos en hjullastare. Det går även i viss omfattning att simulera omgivningen samt de förarkommandon som krävs för utförandet av en önskad uppgift. Däremot är det enda sättet att få reda på hur en förare kommer att uppleva maskinen, dess körbarhet, att bygga en fungerande prototyp och be en förare att testa den.</p><p>Syftet med det här examensarbetet var att hitta en korrelation mellan förarens bedömningar och mätdata insamlade från en hjullastare under körning. Resultaten är sedan tänkta att användas i framtida simuleringar. Olika hjullastare testades av en grupp provförare och deras subjektiva bedömningar såväl som mätdata från hjullastarna samlades in.</p><p>Slutsatsen är att det går till en viss del att förutsäga körbarheten från insamlade data om förarens körstil är känd. Då förarnas körstil skiljer väldigt mycket är det är inte möjligt att dra allmänna slutsatser om körbarheten.</p> / <p>Today it is possible to model all hydraulic and mechanical systems of a wheel loader. To an extent the surrounding environment and the operator input required for a desired operation can also be simulated. However the only way to determine how an operator will perceive the handling qualities, the operability, of the wheel loader is to assemble a working prototype and ask an operator to try it out.</p><p>The purpose of this Master thesis was to find some correlation between the drivers’ opinions and data recorded from the machines during operation. The results are intended to be used in future simulations. Different machines were tested by a group of drivers and their subjective impressions, as well as measurements from the machines were collected.</p><p>The findings from the analysis are that the operability can be determined to a certain extent if the driver’s behaviour is known. Because of the differences in the way the drivers operate the machine it has not been possible to draw any general conclusions.</p>

With autonomous trucks on the road where the driver is absent requires new diagnostic methods. The driver possess several abilities which a machine does not. In this thesis, the use of machine learning as a method was investigated. A more concrete problem description was formed where the main objective was detecting anomalies in wheel configurations. More specifically, the machine learning model was used to detect incorrect wheel settings. Three different algorithms was used, SVM, LDA and logistic regression. Overall, the classifier predicts with high accuracy supporting that machine learning can be used for diagnosing autonomous vehicles.

This thesis designs, and partially implements, an architecture for running an embedded Linux application on a regular PC, without access to the target device. This thesis shows how a standard Linux User space filesystem, in the right environment, can be used to emulate the most common User space GPIO interface in Linux, SysFS. Furthermore, this thesis sets up a template for how this architecture can be used to run both the embedded application and an application emulating the connected hardware.

Today in farming of vegetables large amounts of water and pesticide are used, the farming is also weather and climate dependent and in Sweden the farming season is short. So, there is a need to make farming more efficient and determine how to make farming more stable and independent from unpredictable events. The goal of this project is to develop a prototype which make it possible to improve the resource usage and at the same time automate the process to increase the predictability. This project is going to use aeroponics which is way of growing in the air without soil and a single board computer is going to be used.

High-performance signal processing applications is computational intensive, complex and large amount of data has to be processed at every instance. Now these complex algorithms combined with real-time requirements requires that we perform tasks parallel and this should be done within specified time constraints. Therefore high computational system like multicore system is needed to fulfill these requirements, now problem lies in scheduling these real time tasks in multicore system. In this thesis we have studied and compared the different scheduling algorithms available in multicore platform along with hierarchical memory architecture. We have evaluated the performance by comparing their schedulability using tasks from the HPEC benchmark suite for radar signal processing applications. Apart from the comparison described above, we have proposed a new algorithm based on the PD2 scheduling algorithm which called Hybrid PD2 for hierarchical shared cache multicore platform. We have compared the Hybrid PD2 algorithm along with other scheduling algorithms using four randomly generated task sets.

The project aims to develop a platform for the demonstration and evaluation of Global Navigation Satellite Systems (GNSSs). The GNSS receivers used in the project are two uBlox NEO-M8P modules, one of which is used as a reference receiver in a differential GNSS setup. The entire platform has been implemented and consists of a network-controlled car (NetCar) which has a GNSS receiver and a 4G module on it, a separate reference GNSS receiver, a computer hosting a control interface for controlling the NetCar and a relay server for relaying data between the control interface and the NetCar. The platform has been tested for evaluating the GNSS. The performance was evaluated in terms of the time to first fix (TTFF), stationary positioning accuracy and tracking accuracy which includes qualitative evaluation of accuracy, statistical evaluation of accuracy and evaluation of absolute accuracy after moving. The test results show that the platform performed well for the demonstration and evaluation of the GNSS. The evaluation results show that the TTFF for the uBlox NEO-M8P used in the project averaged 24.2 s with a worst case of 33 s. The stationary positioning accuracy was found to drift in the order of tens of centimeters when using differential GNSS in RTK float mode and in the order of centimeters in RTK fixed mode. The relative trackingaccuracy between points during either RTK mode was found to be on the order of centimeters while the absolute accuracy was found to be drifting, probably due to the reference receiver position being acquired through self-survey. The current project can be extended further by including automatic navigation, sensor fusion, pathfinding and the like.

Syftet med examensarbetet är att minska avdriften hos en robotgräsklippare med hjälp av en enkel GPS. En avdrift sker då robotgräsklipparen faller av från den riktning som ska följas. Vilket sker på grund av externa krafter. I rapporten är definitionen på avdrift avvikelsen från en rät linje mellan robotgräsklipparens start och stopp position. Rapporten besvarar följande frågeställningar: Vilka olika mått finns för att mäta avdrift och vilken eller vilka av dessa är att föredra i det genomförda experimentet? Hur kan robotgräsklipparens avdrift minskas med mjukvara som använder data från endast en enkel GPS? Utveckling av mjukvara har skett iterativt där varje iteration resulterar i en konfiguration som minskar avdrift. För att besvara den andra frågeställningen har experiment utförts på vardera konfiguration. Resultatet från experimentet har sedan kunnat analyseras med de mått som framkom från den första frågeställningen. Studiens resultat visar att det går att minska avdriften hos en robotgräsklippare med en enkel GPS. / The purpose of this study is to reduce the drift of a robot lawnmower using a simple GPS. A drift occurs when the robot lawnmower falls off the direction that should be followed. This happens due to external forces. In this report the definition of drift is the deviation from a straight line between the robot lawnmower’s start and stop position. The thesis answers the following research questions: What different measurements are available to measure drift and what or which of these are preferred in the experiment done in this study? How can the drift from the robot lawnmower be reduced by software that uses data from only a simple GPS? The development of software has been done iteratively where each iteration results in a configuration that reduces drift. To answer the second research question, experiments have been performed on each configuration. The result of the experiment could then be analyzed with the measurements that emerged from the first research question. The study's results show that it is possible to reduce the drift of a robotic lawnmower with a simple GPS.

In a modern industrial system, the requirement on computational capacity has increased dramatically, in order to support a higher number of functionalities, to process a larger amount of data or to make faster and safer run-time decisions. Instead of using a traditional single-core processor where threads can only be executed sequentially, multi-core and many-core processors are gaining more and more attentions nowadays. In a multi-core processor, software programs can be executed in parallel, which can thus boost the computational performance. Many-core processors are specialized multi-core processors with a larger number of cores which are designed to achieve a higher degree of parallel processing. An on-chip communication bus is a central intersection used for data-exchange between cores, memory and I/O in most multi-core processors. As the number of cores increases, more contention can occur on the communication bus which raises a bottleneck of the overall performance. Therefore, in order to reduce contention incurred on the communication bus, a many-core processor typically employs a Network-on-Chip (NoC) to achieve data-exchange. Real-time embedded systems have been widely utilized for decades. In addition to the correctness of functionalities, timeliness is also an important factor in such systems. Violation of specific timing requirements can result in performance degradation or even fatal problems. While executing real-time applications on many-core processors, the timeliness of a NoC, as a communication subsystem, is essential as well. Unfortunately, many real-time system designs over-provision resources to guarantee the fulfillment of timing requirements, which can lead to significant resource waste. For example, analysis of a NoC design yields that the network is already saturated (i.e. accepting more traffic can incur requirement violation), however, in reality the network actually has the capacity to admit more traffic. In this thesis, we target such resource wasting problems related to design and analysis of NoCs that are used in real-time systems. We propose a number of solutions to improve the schedulability of real-time traffic over wormhole-switched NoCs in order to further improve the resource utilization of the whole system. The solutions focus mainly on two aspects: (1) providing more accurate and efficient time analyses; (2) proposing more cost-effective scheduling methods.