Plataforma de monitorização remota dos parâmetros dos veículos e interações da estrada

With the recent evolution of the Internet of Things (IoT), as in different areas of everyday life, the Automotive Industry has also been having to adapt with the Internet of Vehicles (IoV). In consequence of this, the number of electronic systems and devices in an automobile is ever increasing. By one hand, this is a growing tendency of using these technologies to improve road safety, by decreasing the probability of human error. On the other hand, to guarantee the safety and proper function in the operation of vehicles it becomes necessary to acquire information and monitor these devices, so as to determine the cause of failures that may happen and of the equipment wear to prevent malfunctions and accidents. With that in mind, this work will have two branches. First, a program will be presented to read the data from the vehicle’s diagnostic system with the purpose of storing it in a database by using a data logger and of analysing the data to monitor the engine’s working parameters. With this analysis it will be possible to visualize the main parameters of the car and its devices, acquiring information to define the normal driving conditions so as to determine when some problem occurs, as well as to examine how the parameters change in consequence from the equipment wear. Meanwhile sensors will also be installed in the car that will be used for object detection of possible obstacles that the vehicle may come across in normal conditions, be it another vehicle, a person or objects. The readings acquired by the sensors will also be stored for analysis and treatment in order to get the desired information from them. This work also proposes that all the information stored in the database be easily consulted, in a web page, accessible at any time through any device connected to the internet with a Web browser. Therefore, drivers would be helped with the awareness of the vehicle’s surroundings and also be able to monitor the vehicle’s proper function and discover if problems should appear before it could cause major failures and safety breaches. In order to accomplish those goals, a solution using a LiDAR sensor, a GPS module, a Bluetooth module, an ELM327 diagnostic device and three Esp32 microcontrollers was developed. In this Dissertation will be described the developing processes and the solutions obtained that led to the solution of the problems approached here.Com a recente evolução trazida pela Internet das Coisas (IoT), tal como ocorreu em diversas áreas da vida cotidiana, a Industria Automobilística teve que se reinventar e adaptar, com a Internet dos Veículos (IoV). Consequentemente, o número de sistemas e equipamentos eletrónicos presentes em um automóvel é cada vez maior. Por um lado, é uma tendência crescente o uso dessas tecnologias para garantir a segurança rodoviária, de modo a diminuir a probabilidade de erros humanos. Por outro lado, para ser possível garantir a segurança e o funcionamento adequado dos veículos tornou-se necessário monitorizar estes equipamentos, com o propósito de determinar as causas de possíveis falhas e do desgaste durante o uso destas partes para prevenir falhas e acidentes. Com estes objectivos, o trabalho desenvolvido nessa dissertação terá duas vertentes. Primeiramente, será apresentado um programa usado para ler as informações adquiridas pela centralina do carro com o propósito de armazenar essas informações em uma base de dados por meio de um Data Logger e também de realizar uma análise para monitorizar os parâmetros do motor. Com isto será possível visualizar os principais parâmetros de condução, identificando como seria a condição normal de funcionamento com o propósito de determinar quando há algum problema e para examinar a variação dos parâmetros devido ao desgaste. Enquanto isso, também serão instalados sensores no veículo com o intuito de identificar objetos comuns de serem encontrados em condições normais, sejam estes outros veículos, peões ou ciclistas. As leituras adquiridas também serão armazenadas para análise e tratamento dos dados, para conseguir as informações desejadas. Neste trabalho também é proposto que a informação armazenada na base de dados seja facilmente consultável a partir de uma página Web, acessível a qualquer momento por meio de um equipamento conectado `a Internet e com um Web Browser. Desta forma, os motoristas seriam auxiliados com a perceção dos arredores do veículo e seriam capazes de monitorizar o funcionamento do seu veículo e identificar o aparecimento de problemas antes que estes causem falhas e apresentem maior risco de segurança. Para atingir esses objetivos, foi desenvolvida uma solução utilizando um sensor LiDAR, um módulo GPS, um módulo Bluetooth, um dispositivo de diagnóstico ELM327 e três microcontroladores Esp32. Nesta Dissertação serão descritos os processos de desenvolvimento e as soluções obtidas que levaram à solução dos problemas aqui abordados.Mestrado em Engenharia Mecânic

Event and Time-Triggered Control Module Layers for Individual Robot Control Architectures of Unmanned Agricultural Ground Vehicles

Automation in the agriculture sector has increased to an extent where the accompanying methods for unmanned field management are becoming more economically viable. This manifests in the industry’s recent presentation of conceptual cab-less machines that perform all field operations under the high-level task control of a single remote operator. A dramatic change in the overall workflow for field tasks that historically assumed the presence of a human in the immediate vicinity of the work is predicted. This shift in the entire approach to farm machinery work provides producers increased control and productivity over high-level tasks and less distraction from operating individual machine actuators and implements. The final implication is decreased mechanical complexity of the cab-less field machines from their manned counter types. An Unmanned Agricultural Ground Vehicle (UAGV) electric platform received a portable control module layer (CML) which was modular and able to accept higher-level mission commands while returning system states to high-level tasks. The simplicity of this system was shown by its entire implementation running on microcontrollers networked on a Time-Triggered Controller Area Network (TTCAN) bus. A basic form of user input and output was added to the system to demonstrate a simple instance of sub-system integration. In this work, all major levels of design and implementation are examined in detail, revealing the ‘why’ and ‘how’ of each subsystem. System design philosophy is highlighted from the beginning. A state-space feedback steering controller was implemented on the machine utilizing a basic steering model found in literature. Finally, system performance is evaluated from the perspectives of a number of disciplines including: embedded systems software design, control systems, and robot control architecture. Recommendations for formalized UAGV system modeling, estimation, and control are discussed for the continuation of research in simplified low-cost machines for in-field task automation. Additional recommendations for future time-triggered CML experiments in bus robustness and redundancy are discussed. The work presented is foundational in the shift from event-triggered communications towards time-triggered CMLs for unmanned agricultural machinery and is a front-to-back demonstration of time-triggered design. Advisor: Santosh K. Pitl

A Novel Power-Efficient Wireless Multi-channel Recording System for the Telemonitoring of Electroencephalography (EEG)

This research introduces the development of a novel EEG recording system that is modular, batteryless, and wireless (untethered) with the supporting theoretical foundation in wireless communications and related design elements and circuitry. Its modular construct overcomes the EEG scaling problem and makes it easier for reconfiguring the hardware design in terms of the number and placement of electrodes and type of standard EEG system contemplated for use. In this development, portability, lightweight, and applicability to other clinical applications that rely on EEG data are sought. Due to printer tolerance, the 3D printed cap consists of 61 electrode placements. This recording capacity can however extend from 21 (as in the international 10-20 systems) up to 61 EEG channels at sample rates ranging from 250 to 1000 Hz and the transfer of the raw EEG signal using a standard allocated frequency as a data carrier. The main objectives of this dissertation are to (1) eliminate the need for heavy mounted batteries, (2) overcome the requirement for bulky power systems, and (3) avoid the use of data cables to untether the EEG system from the subject for a more practical and less restrictive setting. Unpredictability and temporal variations of the EEG input make developing a battery-free and cable-free EEG reading device challenging. Professional high-quality and high-resolution analog front ends are required to capture non-stationary EEG signals at microvolt levels. The primary components of the proposed setup are the wireless power transmission unit, which consists of a power amplifier, highly efficient resonant-inductive link, rectification, regulation, and power management units, as well as the analog front end, which consists of an analog to digital converter, pre-amplification unit, filtering unit, host microprocessor, and the wireless communication unit. These must all be compatible with the rest of the system and must use the least amount of power possible while minimizing the presence of noise and the attenuation of the recorded signal A highly efficient resonant-inductive coupling link is developed to decrease power transmission dissipation. Magnetized materials were utilized to steer electromagnetic flux and decrease route and medium loss while transmitting the required energy with low dissipation. Signal pre-amplification is handled by the front-end active electrodes. Standard bio-amplifier design approaches are combined to accomplish this purpose, and a thorough investigation of the optimum ADC, microcontroller, and transceiver units has been carried out. We can minimize overall system weight and power consumption by employing battery-less and cable-free EEG readout system designs, consequently giving patients more comfort and freedom of movement. Similarly, the solutions are designed to match the performance of medical-grade equipment. The captured electrical impulses using the proposed setup can be stored for various uses, including classification, prediction, 3D source localization, and for monitoring and diagnosing different brain disorders. All the proposed designs and supporting mathematical derivations were validated through empirical and software-simulated experiments. Many of the proposed designs, including the 3D head cap, the wireless power transmission unit, and the pre-amplification unit, are already fabricated, and the schematic circuits and simulation results were based on Spice, Altium, and high-frequency structure simulator (HFSS) software. The fully integrated head cap to be fabricated would require embedding the active electrodes into the 3D headset and applying current technological advances to miniaturize some of the design elements developed in this dissertation

A Small Acoustic Goniometer for General Purpose Research

Understanding acoustic events and monitoring their occurrence is a useful aspect of many research projects. In particular, acoustic goniometry allows researchers to determine the source of an event based solely on the sound it produces. The vast majority of the acoustic goniometry research projects used custom hardware targeted to the specific application under test. Unfortunately, due to the wide range of sensing applications, a flexible general purpose hardware/firmware system does not exist for this research. This dissertation focuses on the development of such a system which encourages the continued exploration of general purpose hardware/firmware and lowers barriers to research in projects requiring the use of acoustic goniometry. Simulations have been employed to verify system feasibility, and a complete hardware implementation of the acoustic goniometer has been designed and field tested. The results are reported, and suggested areas for improvement and further exploration are discussed

Bespoke Security for Resource Constrained Cyber-Physical Systems

Cyber-Physical Systems (CPSs) are critical to many aspects of our daily lives. Autonomous cars, life saving medical devices, drones for package delivery, and robots for manufacturing are all prime examples of CPSs. The dual cyber/physical operating nature and highly integrated feedback control loops of CPSs means that they inherit security problems from traditional computing systems (e.g., software vulnerabilities, hardware side-channels) and physical systems (e.g., theft, tampering), while additionally introducing challenges of their own. The challenges to achieving security for CPSs stem not only from the interaction of the cyber and physical domains, but from the additional pressures of resource constraints imposed due to cost, limited energy budgets, and real-time nature of workloads. Due to the tight resource constraints of CPSs, there is often little headroom to devote for security. Thus, there is a need for low overhead deployable solutions to harden resource constrained CPSs. This dissertation shows that security can be effectively integrated into resource constrained cyber-physical system devices by leveraging fundamental physical properties, & tailoring and extending age-old abstractions in computing. To provide context on the state of security for CPSs, this document begins with the development of a unifying framework that can be used to identify threats and opportunities for enforcing security policies while providing a systematic survey of the field. This dissertation characterizes the properties of CPSs and typical components (e.g., sensors, actuators, computing devices) in addition to the software commonly used. We discuss available security primitives and their limitations for both hardware and software. In particular, we focus on software security threats targeting memory safety. The rest of the thesis focuses on the design and implementation of novel, deployable approaches to combat memory safety on resource constrained devices used by CPSs (e.g., 32-bit processors and microcontrollers). We first discuss how cyber-physical system properties such as inertia and feedback can be used to harden software efficiently with minimal modification to both hardware and software. We develop the framework You Only Live Once (YOLO) that proactively resets a device and restores it from a secure verified snapshot. YOLO relies on inertia, to tolerate periods of resets, and on feedback to rebuild state when recovering from a snapshot. YOLO is built upon a theoretical model that is used to determine safe operating parameters to aid a system designer in deployment. We evaluate YOLO in simulation and two real-world CPSs, an engine and drone. Second, we explore how rethinking of core computing concepts can lead to new fundamental abstractions that can efficiently hide performance overheads usually associated with hardening software against memory safety issues. To this end, we present two techniques: (i) The Phantom Address Space (PAS) is a new architectural concept that can be used to improve N-version systems by (almost) eliminating the overheads associated with handling replicated execution. Specifically, PAS can be used to provide an efficient implementation of a diversification concept known as execution path randomization aimed at thwarting code-reuse attacks. The goal of execution path randomization is to frequently switch between two distinct program variants forcing the attacker to gamble on which code to reuse. (ii) Cache Line Formats (Califorms) introduces a novel method to efficiently store memory in caches. Califorms makes the novel insight that dead spaces in program data due to its memory layout can be used to efficiently implement the concept of memory blacklisting, which prohibits a program from accessing certain memory regions based on program semantics. Califorms not onlyconsumes less memory than prior approaches, but can provide byte-granular protection while limiting the scope of its hardware changes to caches. While both PAS and Califorms were originally designed to target resource constrained devices, it's worth noting that they are widely applicable and can efficiently scale up to mobile, desktop, and server class processors. As CPSs continue to proliferate and become integrated in more critical infrastructure, security is an increasing concern. However, security will undoubtedly always play second fiddle to financial concerns that affect business bottom lines. Thus, it is important that there be easily deployable, low-overhead solutions that can scale from the most constrained of devices to more featureful systems for future migration. This dissertation is one step towards the goal of providing inexpensive mechanisms to ensure the security of cyber-physical system software

The Virtual Bus: A Network Architecture Designed to Support Modular-Redundant Distributed Periodic Real-Time Control Systems

The Virtual Bus network architecture uses physical layer switching and a combination of space- and time-division multiplexing to link segments of a partial mesh network together on schedule to temporarily form contention-free multi-hop, multi-drop simplex signalling paths, or 'virtual buses'. Network resources are scheduled and routed by a dynamic distributed resource allocation mechanism with self-forming and self-healing characteristics. Multiple virtual buses can coexist simultaneously in a single network, as the resources allocated to each bus are orthogonal in either space or time. The Virtual Bus architecture achieves deterministic delivery times for time-sensitive traffic over multi-hop partial mesh networks by employing true line-speed switching; delays of around 15ns at each switching point are demonstrated experimentally, and further reductions in switching delays are shown to be achievable. Virtual buses are inherently multicast, with delivery skew across multiple destinations proportional to the difference in equivalent physical length to each destination. The Virtual Bus architecture is not a purely theoretical concept; a small research platform has been constructed for development, testing and demonstration purposes

Иностранный язык в контексте проблем профессиональной коммуникации: материалы II Международной научной конференции , 27-29 апреля 2015 г., Томск

Сборник предназначен для специалистов и исследователей в области энергоэффективности и энергосбережения, экологии, инженерного образования, технического перевода, межкультурной коммуникации в сфере профессионального общения