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1.	Shafiq, ur Réhman, 1978-, et al. (författare) Using Vibrotactile Language for Multimodal Human Animals Communication and Interaction 2014 Ingår i: Proceedings of the 2014 Workshops on Advances in Computer Entertainment Conference, ACE '14. - New York, NY, USA : Association for Computing Machinery (ACM). - 9781450333146 ; , s. 1:1-1:5 Konferensbidrag (refereegranskat)abstract In this work we aim to facilitate computer mediated multimodal communication and interaction between human and animal based on vibrotactile stimuli. To study and influence the behavior of animals, usually researchers use 2D/3D visual stimuli. However we use vibrotactile pattern based language which provides the opportunity to communicate and interact with animals. We have performed experiment with a vibrotactile based human-animal multimodal communication system to study the effectiveness of vibratory stimuli applied to the animal skin along with audio and visual stimuli. The preliminary results are encouraging and indicate that low-resolution tactual displays are effective in transmitting information.
2.	Ribeiro, Luis, et al. (författare) Industrial Agents for the Fast Deployment of Evolvable Assembly Systems 2015. - 1st ed. Ingår i: Industrial Agents. - Amsterdam, Netherlands : Elsevier. - 9780128003411 ; , s. 301-321, s. 301-322 Bokkapitel (refereegranskat)abstract The current manufacturing scenario is characterized by high market unpredictability. Agility is therefore a central challenge for modern companies that need to understand and be proactive towards their product offer in respect to “what is offered, when it is offered, where, how and by whom” (Brown & Bessant 2003).The “what” and the “when” are particularly relevant to the research in emerging paradigms as they account for variety, customization and volume; and timing, speed and seasonality (Brown & Bessant 2003).In this scenario, several design approaches and models have been proposed in the last decade to enable re-configurability and subsequently enhance the companies’ ability to adjust their offer in nature and time.From a paradigmatic point of view research has concentrated on the organizational structure of the shop-floor and the associated controls aspects. Concepts like Reconfigurable Manufacturing Systems (RMS) (Koren & Shpitalni 2010) and Fractal Factories (FF) (Montreuil 1999) support the physical construction of production systems by regulating their layout and making a few assumptions on their logical organization. On the other hand, concepts like Bionic Manufacturing Systems (BMS)(Ueda 1992), Holonic Manufacturing Systems (HMS)(Van Brussel et al. 1998), Evolvable Assembly Systems (Ribeiro et al. 2010) essentially provide the theoretical guidelines for the logical/computational organization of the system (see (Tharumarajah 1996) for a comparison between BMS, HMS and FF and (Setchi & Lagos 2004) for the rationale supporting the shift from Dedicated Lines to Flexible Manufacturing System and finally RMS).While these paradigms provide the conceptual framework and the main design guidelines their actual interpretation and implementation has led to a wider set of architectures (Monostori, Váncza & Kumara 2006; Leitão 2009; Parunak 2000; Pěchouček & Mařík 2008).These architectures align the high-level principles with the technological offer and limitations while seeking to address the re-configurability requirements of (Mehrabi, Ulsoy & Koren 2000; Rösiö & Säfsten 2013):module mobility – modules are easy and quick to move and install;“diagnosability” – it is quick to identify the sources of quality and reliability problems;“integrability” – modules are easy to integrate into the rest of the system.“convertibility” – it is easy and quick to switch between existing products and it is easy to adapt the system to future products;scalability – it is easy to enlarge and downsize the production system;“automatibility” – a dynamic level of automation is enabled;modularity – all system elements are designed to be modular;customization – the capability and flexibility of the production system is designed according to the products to be produced in the system.Instant deployment, as addressed in the present chapter directly addresses mobility, “integrability”, “convertibility”, scalability and customization. Mechatronic modularity is a prerequisite and is enforced by the proposed architecture and the considered modular design. “Diagnosability” was not specifically tackled.In this context, the chapter analyses the agent-based architecture related with the Instantly Deployable Evolvable Assembly System (IDEAS) project that is inspired by the Evolvable Assembly System (EAS) paradigm (Ribeiro et al. 2010) as a mechanism to enable fast deployment of mechatronic modules. EAS advocates the use of process-oriented modules and envisions the production system as a collection of processes and the associated interacting agents.The architecture and the related test cases are used to draw the main lessons learned in respect to technological and conceptual implications.In this context, the remainder of this text is organized as follows: section 1.1 discusses the main deployment challenges, section 1.2 details the reference architecture and associated concepts, section 1.3 presents the principal implementation decisions, section 1.4 features the main lessons learned, sections 1.5 discusses the benefits of the proposed approach and finally section 1.6 reflects on the main conclusions.
3.	Bengtsson, Lars, 1963 (författare) Mikrodatorteknik 1995 Bok (övrigt vetenskapligt/konstnärligt)abstract Första delen behandlar Microchips "Base-line"-kretsar och andra delen behandlar "Midrange"-kretsarna. De flesta funktioner belyses med konstruktionsexempel. Exempel och övningar är mycket hårdvarunära och boken behandlar konstruktion av mikrodatorer från grunden. Boken är avsedd för kurser i mikrodatorteknik på högskolan eller annan högre teknisk utbildning, men kan även användas som självstudiematerial eftersom de flesta exempel ges med detaljerade och verifierade lösningar av såväl hård- som mjukvaran. Tidigare erfarenhet av assemblerprogrammering är inte nödvändig men grundläggande kunskaper i digitalteknik förutsätts. Boken kan med fördel också läsas av rutinerade assemblerprogrammerare som vill veta hur prestanda hos de nya RISC-baserade PIC-controllerna står sig i konkurrensen med de mer etablerade enchipscontrollerna, t ex HC11 och 8751, som bygger på traditionell CISC-arkitektur.
4.	Pérez-Penichet, Carlos, et al. (författare) Poster abstract : Augmenting WSNs with interoperable 802.15.4 sensor tags 2017 Ingår i: SenSys 2017 - Proceedings of the 15th ACM Conference on Embedded Networked Sensor Systems. - New York, NY, USA : Association for Computing Machinery, Inc. - 9781450354592 Konferensbidrag (refereegranskat)abstract The sensing capabilities of most sensor networks are fixed at the time of deployment. Adding new sensing capabilities to such networks is a costly and cumbersome process. We present Passive Sensor Tags, battery-free sensing devices that could be used to extend the sensing capabilities of an existing network. Sensor tags feature our new 802.15.4 receiver design which is suitable for micro-power operation, making battery-free tags possible. Because our tags can both transmit and receive 802.15.4 frames there is no need for any modification to the deployed hardware. We present preliminary measurements of transmission and reception range.
5.	Jang, Jeong Keun, et al. (författare) Area-efficient scheduling scheme based FFT processor for various OFDM systems 2018 Ingår i: 2018 IEEE ASIA PACIFIC CONFERENCE ON CIRCUITS AND SYSTEMS (APCCAS 2018). - : IEEE. - 9781538682401 ; , s. 338-341 Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract This paper presents an area-efficient fast Fouriertransform (FFT) processor for orthogonal frequency-division multiplexing systems based on multi-path delay commutator architecture. This paper proposes a data scheduling scheme to reduce the number of complex constant multipliers. The proposed mixed-radix multi-path delay commutator FFT processor can support 128-, 256-, and 512-point FFT sizes. The proposed processor was synthesized using the Samsung 65-nm CMOS standard cell library. The proposed processor with eight parallel data paths can achieve a high throughput rate of up to 2.64 GSample/s at 330 MHz.
6.	Al Nahas, Beshr, 1985, et al. (författare) Low-power listening goes multi-channel 2014 Ingår i: Proceedings - IEEE International Conference on Distributed Computing in Sensor Systems, DCOSS 2014. ; , s. 2-9 Konferensbidrag (refereegranskat)abstract Exploiting multiple radio channels for communication has been long known as a practical way to mitigate interference in wireless settings. In Wireless Sensor Networks, however, multi-channel solutions have not reached their full potential: the MAC layers included in TinyOS or the Contiki OS for example are mostly single-channel. The literature offers a number of interesting solutions, but experimental results were often too few to build confidence. We propose a practical extension of low-power listening, MiCMAC, that performs channel hopping, operates in a distributed way, and is independent of upper layers of the protocol stack. The above properties make it easy to deploy in a variety of scenarios, without any extra configuration/scheduling/channel selection hassle. We implement our solution in Contiki and evaluate it in a 97-node~testbed while running a complete, out-of-the-box low-power IPv6 communication stack (UDP/RPL/6LoWPAN). Our experimental results demonstrate increased resilience to emulated WiFi interference (e.g., data yield kept above 90% when Contiki MAC drops in the 40% range). In noiseless environments, MiCMAC keeps the overhead low in comparison to Contiki MAC, achieving performance as high as 99% data yield along with sub-percent duty cycle and sub-second latency for a 1-minute inter-packet interval data collection. © 2014 IEEE.
7.	Behdadi, Dorna, 1988, et al. (författare) A Normative Approach to Artificial Moral Agency 2020 Ingår i: Minds and Machines. - : Springer Science and Business Media LLC. - 0924-6495 .- 1572-8641. ; 30:2, s. 195-218 Tidskriftsartikel (refereegranskat)abstract This paper proposes a methodological redirection of the philosophical debate on artificial moral agency (AMA) in view of increasingly pressing practical needs due to technological development. This “normative approach” suggests abandoning theoretical discussions about what conditions may hold for moral agency and to what extent these may be met by artificial entities such as AI systems and robots. Instead, the debate should focus on how and to what extent such entities should be included in human practices normally assuming moral agency and responsibility of participants. The proposal is backed up by an analysis of the AMA debate, which is found to be overly caught in the opposition between so-called standard and functionalist conceptions of moral agency, conceptually confused and practically inert. Additionally, we outline some main themes of research in need of attention in light of the suggested normative approach to AMA.
8.	Di Orio, Giovanni, et al. (författare) The PRIME Semantic Language: Plug and Produce in Standard- based Manufacturing Production Systems 2015 Ingår i: Proceedings of the Flexible Automation and Intelligent Manufacturing Conference. Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract Nowadays manufacturing production systems are becoming more and more responsive in order to succeed in ahighly unstable environment. The capability of a production system to effectively and efficiently adapt and evolveto face the changing requirements – imposed by volatile and dynamic global markets – is a necessary conditionto enable manufacturing enterprises to be agile. Since the agility of a manufacturing enterprise is always limitedby the agility of its own building blocks than it needs to be spread over the whole enterprise including the operationand information technologies (OT/IT). Turning to production systems, one of the significant challenges isrepresented by the possibility to provide easy and rapid (re-)configuration of their internal components and/orprocesses. Innovative technologies and paradigms have been explored during the years that combined with theincreasing advancement in manufacturing technologies enable the implementation of the “plug and produce”paradigm. The “plug and produce” paradigm is the foundation of any agile production system, since to be agile itis inevitably required to reduce the installation and (re-)engineering activities time – changing/adapting the systemto new requirements – while promoting configuration rather than programming. Therefore, the “plug andproduce” paradigm is a necessary but not sufficient condition for implementing agile production systems. Modernproduction systems are typically known for their plethora of heterogeneous component/equipment. In this complexscenario, the implementation of the “plug and produce” paradigm implies the existence of a well-definedontological model to support components/equipment abstraction with the objective to allow interactions,collaboration and knowledge sharing between them. The PRIME semantic language specifies the semanticstructure for the knowledge models and overall system communication language.
9.	Kruglov, Dmitrii, 1994, et al. (författare) Enhancing mmWave On-Chip-Antennas Using In-Package Electromagnetic Bandgap Structures 2021 Ingår i: European Microwave Conference. - 1527-3342 .- 1557-9581. - 9782874870637 ; , s. 885-888 Konferensbidrag (refereegranskat)abstract We propose a silicon on-Chip-in-Package antenna design featuring a simulated radiation efficiency of > 70% and an S11 matching better than −10 dB in the 112–125 GHz frequency range. High radiation performance is achieved by: (i) thinning the silicon substrate down to 100 μm through wafer-level grinding; (ii) embedding the IC in-between two PCBs, one of which forms an electromagnetic bandgap structure that attenuates the EM leakage inside the silicon substrate. Furthermore, since the die-embedding concept employs the gap-waveguide packaging technology, a universal contactless waveguide interconnect is realized between the IC and the radiating gap waveguide in the package. This will also enable modular antenna designs.
10.	Bengtsson, Lars, 1963 (författare) Single-Chip Implementation of Level-Crossing ADC for ECG sampling 2017 Ingår i: Journal of Electrical & Electronic Systems. - : OMICS Publishing Group. - 2332-0796. ; 6:1 Tidskriftsartikel (refereegranskat)abstract This work demonstrates for the first time the implementation of a level-crossing analog-to-digital converter (LC-ADC) in a single, commercially available IC (that costs less than $2). The implementation utilizes adaptive threshold levels in order to prevent overload distortions for fast-changing signals. The entire design is based on a 20-pin PIC16F1769 microcontroller from Microchip and no external components are required. In fact, the only external circuitry required is a single jumper wire. This is due to the fact that the new generation of microcontrollers have integrated core-independent hardware, analog as well as digital. This design takes full advantage of the core-independent logic and analog blocks in a PIC16F17xx circuit to implement the LC-ADC technique that so far has required multiple-circuit designs or ASIC implementation. The design is demonstrated on a standard electrocardiogram (ECG) signal.
11.	Bengtsson, Lars, 1963 (författare) Embedded Measurement Systems 2013 Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract The subject of Embedded Measurement Systems (EMS) is the merging of embedded systems and electrical measurement systems. This indicates that EMSs are hardware-software systems dedicated to measuring one or a few physical quantities. Applications are numerous; EMSs measure the temperature in refrigerators, freezers, irons, ovens and automobile combustion engines, they sense vibrations in tilt alarms and game consoles, they measure airflow in engines and ventilation systems, they measure shock impact in crash detectors and are used as shock and temperature loggers for transport goods, they measure air pressure in airplane cabins, humidity in air-conditioned environments, they measure liquid levels in fuel tanks, they detect smoke in fire alarms, they measure the viscosity of lubricant oil in engines, they measure the rotation speed of spinning wheels (in any engine), they measure torque in engines and are used as heart rate and ECG detectors in medicine etc. The commercial demand for ever cheaper products and worldwide environmental legislations force vendors to continuously look for more cost-efficient and less power-consuming solutions for their embedded measurement systems. This thesis is concerned most of all with the implementation of cost-efficient/low-power measurement systems in embedded controllers. This includes some novel ideas in voltage, time and resistance measurements with embedded controllers and it will demonstrate how these quantities, analog in nature, can be measured accurately and precisely by inherently digital embedded controllers.
12.	Bengtsson, Lars, 1963 (författare) New design ideas for TDR-based liquid level detectors 2017 Ingår i: I2MTC 2017 - 2017 IEEE International Instrumentation and Measurement Technology Conference. 22-25 May 2017. Turin, Italy. Proceedings. - : IEEE. - 1091-5281. - 9781509035960 Konferensbidrag (refereegranskat)abstract This work suggests some new solutions to TDR-based liquid level detectors. A 3D-printed waveguide cylinder has been designed in order to increase the sensitivity of the level measurement. By wrapping the probing waveguide-pair around a cylinder, an inclination angle ϕ is introduced which increases the time-of-flight by a factor of 1/sinϕ and hence the level resolution is increased (by the same factor). This work also illustrates how nanosecond pulses (for TDR systems) can be generated by applying a technique usually found in FIMs (Field Ion Microscopes). A time resolution of 2 ns/mm (of liquid level) is reported and a generic nanosecond pulse generator isdemonstrated.
13.	Liu, Yang, et al. (författare) A Study Towards Enhanced Reliability Performance of Remote Control and Monitoring Application Over Commercial Wireless Communication Networks 2006 Ingår i: 2006 International Conference on Wireless Communications, Networking and Mobile Computing. - : Institute of Electrical and Electronics Engineers (IEEE). - 1424405173 - 1424405173 ; , s. 1-4 Konferensbidrag (refereegranskat)abstract Remote control and monitoring systems provide many useful operating advantages in industrial automation and demand highly reliable and secure communication means. Their widespread use is, however, limited because of the high cost of current communications in use making them economically infeasible. Hence, there is a need to develop new low cost communication and control concepts by making such solutions economically feasible. In this paper, we present a scheme for implementing reliable wireless communication links for application of remote control and monitoring system based on current available commercial wireless communication networks, e.g. GPRS/EDGE/UMTS. The reliability enhancement over wireless networks has been proposed and its performance has been studied. This paper examines the proposed solution by means of both analytical and numerical evaluation, and has shown that the demanded reliability performance can be met by using only commercial wireless communication networks.
14.	Birk, Wolfgang, et al. (författare) Road surface networks technology enablers for enhanced ITS 2010 Ingår i: 2010 IEEE Vehicular Networking Conference, VNC 2010. - Piscataway, NJ : IEEE Communications Society. - 9781424495269 ; , s. 152-159 Konferensbidrag (refereegranskat)abstract The increased need for mobility has led to transportation problems like congestion, accidents and pollution. In order to provide safe and efficient transport systems great efforts are currently being put into developing Intelligent Transport Systems (ITS) and cooperative systems. In this paper we extend proposed solutions with autonomous on-road sensors and actuators forming a wireless Road Surface Network (RSN). We present the RSN architecture and design methodology and demonstrate its applicability to queue-end detection. For the use case we discuss the requirements and technological solutions to sensor technology, data processing and communication. In particular the MAC protocol is detailed and its performance assessed through theoretical verification. The RSN architecture is shown to offer a scalable solution, where increased node density offers more precise sensing as well as increased redundancy for safety critical applications. The use-case demonstrates that RSN solutions may be deployed as standalone systems potentially integrated into current and future ITS. RSN may provide both easily deployable and cost effective alternatives to traditional ITS (with a direct impact independent of penetration rate of other ITS infrastructures - i.e., smart vehicles, safe spots etc.) as well as provide fine grain sensory information directly from the road surface to back-end and cooperative systems, thus enabling a wide range of ITS applications beyond current state of the art.
15.	Nielsen, Stig Anton, 1981, et al. (författare) Propositional Architecture using Induced Representation 2014 Ingår i: What’s the Matter? Materiality and Materialism at the Age of Computation. - 9789608932067 ; , s. 297-312 Konferensbidrag (refereegranskat)abstract The paper describes a method and an approach to using sensor data, machine-learning and pattern recognition for proposing and guiding immediate modifications to the existing built environment. The proposed method; Induced Representation, consists of a few steps which we have identified as crucial for such an approach. The steps are A: data collection from the environment, B: machine cognition, learning, prediction, and, c: proposition, visualization, and embodied representations for quick implementation. In the paper we outline the factual and theoretical basis for this approach, and we present and discuss three experiments that each deal with the steps A, B and C.
16.	Rosenstatter, Thomas, et al. (författare) Modelling the Level of Trust in a Cooperative Automated Vehicle Control System 2018 Ingår i: IEEE transactions on intelligent transportation systems (Print). - Piscataway, NJ : IEEE Press. - 1524-9050 .- 1558-0016. ; 19:4, s. 1267-1247 Tidskriftsartikel (refereegranskat)abstract Vehicle-to-vehicle communication is a key technology for achieving increased perception for automated vehicles, where the communication enables virtual sensing by means of sensors in other vehicles. In addition, this technology also allows detection and recognition of objects that are out-of-sight. This paper presents a trust system that allows a cooperative and automated vehicle to make more reliable and safe decisions. The system evaluates the current situation and generates a trust index indicating the level of trust in the environment, the ego vehicle, and the surrounding vehicles. This research goes beyond secure communication and concerns the verification of the received data on a system level. The results show that the proposed method is capable of correctly identifying various traffic situations and how the trust index is used while manoeuvring in a platoon merge scenario.
17.	Bengtsson, Lars, 1963 (författare) Embedded FPGA systems : VHDL programming and soft CPU systems 2018 Bok (övrigt vetenskapligt/konstnärligt)abstract This textbook introduces the reader to VHDL which is a Hardware Description Language, i.e. a means to describe digital electronic circuits in a text editor and how to compile this text into electronics. The first part is concluded by writing VHDL code for a simple CPU (a "soft CPU"). In the second part, a commercial soft CPU is downloaded to the FPGA target circuit and programmed in C.
18.	Bengtsson, Lars, 1963 (författare) RISC-baserad 50 MHz räknare med alfanumerisk display 1995 Ingår i: Allt om elektronik. ; 6, s. 35-37 Tidskriftsartikel (övrigt vetenskapligt/konstnärligt)abstract Denna artikel presenterar en konstruktion som använder en RISC-kontroller (PIC16C54) som frekvensräknare. Frekvensen räknas på controllerns RTCC-ingång och signalfrekvensen, uttryckt i kHz visas på en alfanumerisk display.
19.	Bengtsson, Lars, 1963 (författare) Single-chip Implementation of LVDT Signal Conditioning 2018 Ingår i: American Journal of Sensor Technology. - 2373-3454 .- 2373-3462. ; 5:1, s. 7-16 Tidskriftsartikel (refereegranskat)abstract The aim of this work was to prove that the signal conditioning electronics for linear variable transformers (LVDTs) can be implemented in inexpensive, general-purpose 8-bit microcontrollers, making expensive dedicated signal conditioning chips redundant. A low-cost, high-resolution signal conditioning solution for LVDTs is presented. Apart from a few external passive components, the entire solution is implemented in a low-cost, analog-digital hybrid microcontroller. The excitation sinusoid is generated by filtering out the fundamental frequency of a (self-sustained) pwm-generated square wave and the secondary coils’ signals are demodulated with classic peak detector circuits implemented in the microcontroller using a combination of its embedded analog and digital building blocks. A resolution of 1 μm over a range of ±6.35 mm for a commercial LVDT is reported and an uncertainty of 6 μm in the absolute value is deduced. The entire solution is implemented as surface mounted components on a small printed circuit board and the LVDT core displacement is displayed on an LCD display. Due to the simplicity and low-cost components required, this signal conditioning proposal has the potential to have a significant impact on commercial LVDT signal conditioning chips in the future since it is significantly less expensive than the present state-of-the-art signal conditioning chips offered by the main commercial suppliers and other solutions previously suggested in scientific literature.
20.	Fougstedt, Christoffer, 1990, et al. (författare) ASIC Design Exploration for DSP and FEC of 400-Gbit/s Coherent Data-Center Interconnect Receivers 2020 Ingår i: 2020 Optical Fiber Communications Conference and Exhibition, OFC 2020 - Proceedings. - : Optical Society of America. - 9781943580712 Konferensbidrag (refereegranskat)abstract We perform exploratory ASIC design of key DSP and FEC units for 400-Gbit/s coherent data-center interconnect receivers. In 22-nm CMOS, the considered units together dissipate 5W, suggesting implementation feasibility in power-constrained form factors.
21.	Grudén, Mathias (författare) Wireless Sensor Network Systems in Harsh Environments and Antenna Measurement Techniques 2014 Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract Wireless sensor network (WSN) has become a hot topic lately. By using WSN things that previously were difficult or impossible to measure has now become available. One of the main reasons using WSN for monitoring is to save money by cost optimization and/or increase safety by letting the user knowing the physical status of the monitored structure. This thesis considers four main topics, empirical testing of WSN in harsh environments, antenna designs, antenna measurements and radio environment emulation.The WSN has been tested in train environment for monitoring of ball bearings and inside jet engines to monitor strain of blades and temperatures. In total, two investigations have been performed aboard the train wagon and one in the jet engine. The trials have been successful and provide knowledge of the difficulties with practical WSN applications. The key issues for WSN are robust communication, energy management (including scavenging) and physical robustness.For the applications of WSN in harsh environments antennas has to be designed. In the thesis, two antennas has been designed, one for train environment and one for the receiver in the jet engine. In the train environment, a more isotropic radiation pattern is preferable; hence a small dual layered patch antenna is designed. The antenna is at the limit of being electrically small; hence slightly lower radiation efficiency is measured. For the WSN in the jet engine, a directive patch array is designed on an ultra-thin and flexible substrate. The thin substrate of the antenna causes rather lower radiation efficiency. But the antenna fulfils the requirements of being conformal and directive.In reverberation chambers are used to measure antennas, but there are difficulties to provide a realistic radio environment, for example outdoor or on-body. In this thesis, a large reverberation chamber is designed and verified. It enables measurement between 400 MHz and 3 GHz. Also, a sample selection method is designed to provide a post processing possibilities to emulate the radio environment inside the chamber. The method is to select samples from a data set that corresponds to a desired probability density function. The method presented in this thesis is extremely fast but the implementation of the method is left for future research.
22.	Jiang, Yuning, 1993- (författare) Vulnerability Analysis for Critical Infrastructures 2022 Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract The rapid advances in information and communication technology enable a shift from diverse systems empowered mainly by either hardware or software to cyber-physical systems (CPSs) that are driving Critical infrastructures (CIs), such as energy and manufacturing systems. However, alongside the expected enhancements in efficiency and reliability, the induced connectivity exposes these CIs to cyberattacks exemplified by Stuxnet and WannaCry ransomware cyber incidents. Therefore, the need to improve cybersecurity expectations of CIs through vulnerability assessments cannot be overstated. Yet, CI cybersecurity has intrinsic challenges due to the convergence of information technology (IT) and operational technology (OT) as well as the crosslayer dependencies that are inherent to CPS based CIs. Different IT and OT security terminologies also lead to ambiguities induced by knowledge gaps in CI cybersecurity. Moreover, current vulnerability-assessment processes in CIs are mostly subjective and human-centered. The imprecise nature of manual vulnerability assessment operations and the massive volume of data cause an unbearable burden for security analysts. Latest advances in machine-learning (ML) based cybersecurity solutions promise to shift such burden onto digital alternatives. Nevertheless, the heterogeneity, diversity and information gaps in existing vulnerability data repositories hamper accurate assessments anticipated by these ML-based approaches. Therefore, a comprehensive approach is envisioned in this thesis to unleash the power of ML advances while still involving human operators in assessing cybersecurity vulnerabilities within deployed CI networks.Specifically, this thesis proposes data-driven cybersecurity indicators to bridge vulnerability management gaps induced by ad-hoc and subjective auditing processes as well as to increase the level of automation in vulnerability analysis. The proposed methodology follows design science research principles to support the development and validation of scientifically-sound artifacts. More specifically, the proposed data-driven cybersecurity architecture orchestrates a range of modules that include: (i) a vulnerability data model that captures a variety of publicly accessible cybersecurity-related data sources; (ii) an ensemble-based ML pipeline method that self-adjusts to the best learning models for given cybersecurity tasks; and (iii) a knowledge taxonomy and its instantiated power grid and manufacturing models that capture CI common semantics of cyberphysical functional dependencies across CI networks in critical societal domains. This research contributes data-driven vulnerability analysis approaches that bridge the knowledge gaps among different security functions, such as vulnerability management through related reports analysis. This thesis also correlates vulnerability analysis findings to coordinate mitigation responses in complex CIs. More specifically, the vulnerability data model expands the vulnerability knowledge scope and curates meaningful contexts for vulnerability analysis processes. The proposed ML methods fill information gaps in vulnerability repositories using curated data while further streamlining vulnerability assessment processes. Moreover, the CI security taxonomy provides disciplined and coherent support to specify and group semanticallyrelated components and coordination mechanisms in order to harness the notorious complexity of CI networks such as those prevalent in power grids and manufacturing infrastructures. These approaches learn through interactive processes to proactively detect and analyze vulnerabilities while facilitating actionable insights for security actors to make informed decisions.
23.	Jobs, Magnus, 1984- (författare) Wireless Interface Technologies for Sensor Networks 2015 Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract The main focus of the work presented in this thesis concerns the development and improvement of Wireless Sensor Networks (WSNs) as well as Wireless Body Area Networks (WBANs). WSN consist of interlinked, wireless devices (nodes) capable of relaying data wirelessly between the nodes. The applications of WSNs are very broad and cover both wireless fitness monitoring systems such as pulse watches or wireless temperature monitoring of buildings, among others.The topics investigated in the work presented within this thesis covers antenna design, wireless propagation environment evaluation and modeling, adaptive antenna control and wireless nodes system design and evaluation. In order to provide an end-user suitable solution for wireless nodes the devices require both small form factor and good performance in order to be competitive on the marked and thus the main part of this thesis focuses on techniques developed and data collected to help achieve these goals. Several different prototype systems have been developed which have been used to measure data by the Swedish Defence Research Agency (FOI), GKN Aerospace Sweden AB, the Swedish Transport Administration. The system developed with GKN Aerospace was used to do real-time test measurements inside a running RM12 jet engine and required a substantial amount of measurements, environmental modeling and system validation in order to properly design a wireless system suitable for the harsh and fast fading environment inside a jet engine. For FOI improvements were made on a wearable wireless body area network initially developed during the authors master thesis work. Refinements included work on new generation wireless nodes, antenna packaging and node-supported diversity techniques.Work and papers regarding the design of different types of antennas suitable for wireless nodes are presented. The primary constraints on the presented antennas are the limited electrical size. The types of antennas developed include electrically small helix antennas manufactured both on stretchable substrates consisting of a PDMS substrate with Galinstan as the liquid metal conductors, screen printed silver ink for helix antennas and conformal dual patch antennas for wireless sensor nodes. Other standard type antennas are included on the wireless sensors as well.
24.	Mahdavi, Mojtaba (författare) Baseband Processing for 5G and Beyond: Algorithms, VLSI Architectures, and Co-design 2021 Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract In recent years the number of connected devices and the demand for high data-rates have been signiﬁcantly increased. This enormous growth is more pronounced by the introduction of the Internet of things (IoT) in which several devices are interconnected to exchange data for various applications like smart homes and smart cities. Moreover, new applications such as eHealth, autonomous vehicles, and connected ambulances set new demands on the reliability, latency, and data-rate of wireless communication systems, pushing forward technology developments. Massive multiple-input multiple-output (MIMO) is a technology, which is employed in the 5G standard, offering the beneﬁts to fulﬁll these requirements. In massive MIMO systems, base station (BS) is equipped with a very large number of antennas, serving several users equipments (UEs) simultaneously in the same time and frequency resource. The high spatial multiplexing in massive MIMO systems, improves the data rate, energy and spectral efﬁciencies as well as the link reliability of wireless communication systems. The link reliability can be further improved by employing channel coding technique. Spatially coupled serially concatenated codes (SC-SCCs) are promising channel coding schemes, which can meet the high-reliability demands of wireless communication systems beyond 5G (B5G). Given the close-to-capacity error correction performance and the potential to implement a high-throughput decoder, this class of code can be a good candidate for wireless systems B5G. In order to achieve the above-mentioned advantages, sophisticated algorithms are required, which impose challenges on the baseband signal processing. In case of massive MIMO systems, the processing is much more computationally intensive and the size of required memory to store channel data is increased signiﬁcantly compared to conventional MIMO systems, which are due to the large size of the channel state information (CSI) matrix. In addition to the high computational complexity, meeting latency requirements is also crucial. Similarly, the decoding-performance gain of SC-SCCs also do come at the expense of increased implementation complexity. Moreover, selecting the proper choice of design parameters, decoding algorithm, and architecture will be challenging, since spatial coupling provides new degrees of freedom in code design, and therefore the design space becomes huge. The focus of this thesis is to perform co-optimization in different design levels to address the aforementioned challenges/requirements. To this end, we employ system-level characteristics to develop efﬁcient algorithms and architectures for the following functional blocks of digital baseband processing. First, we present a fast Fourier transform (FFT), an inverse FFT (IFFT), and corresponding reordering scheme, which can signiﬁcantly reduce the latency of orthogonal frequency-division multiplexing (OFDM) demodulation and modulation as well as the size of reordering memory. The corresponding VLSI architectures along with the application speciﬁc integrated circuit (ASIC) implementation results in a 28 nm CMOS technology are introduced. In case of a 2048-point FFT/IFFT, the proposed design leads to 42% reduction in the latency and size of reordering memory. Second, we propose a low-complexity massive MIMO detection scheme. The key idea is to exploit channel sparsity to reduce the size of CSI matrix and eventually perform linear detection followed by a non-linear post-processing in angular domain using the compressed CSI matrix. The VLSI architecture for a massive MIMO with 128 BS antennas and 16 UEs along with the synthesis results in a 28 nm technology are presented. As a result, the proposed scheme reduces the complexity and required memory by 35%–73% compared to traditional detectors while it has better detection performance. Finally, we perform a comprehensive design space exploration for the SC-SCCs to investigate the effect of different design parameters on decoding performance, latency, complexity, and hardware cost. Then, we develop different decoding algorithms for the SC-SCCs and discuss the associated decoding performance and complexity. Also, several high-level VLSI architectures along with the corresponding synthesis results in a 12 nm process are presented, and various design tradeoffs are provided for these decoding schemes.
25.	Selvaraj, Yuvaraj, 1990 (författare) On Provably Correct Decision-Making for Automated Driving 2020 Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract The introduction of driving automation in road vehicles can potentially reduce road traffic crashes and significantly improve road safety. Automation in road vehicles also brings several other benefits such as the possibility to provide independent mobility for people who cannot and/or should not drive. Many different hardware and software components (e.g. sensing, decision-making, actuation, and control) interact to solve the autonomous driving task. Correctness of such automated driving systems is crucial as incorrect behaviour may have catastrophic consequences. Autonomous vehicles operate in complex and dynamic environments, which requires decision-making and planning at different levels. The aim of such decision-making components in these systems is to make safe decisions at all times. The challenge of safety verification of these systems is crucial for the commercial deployment of full autonomy in vehicles. Testing for safety is expensive, impractical, and can never guarantee the absence of errors. In contrast, formal methods , which are techniques that use rigorous mathematical models to build hardware and software systems can provide a mathematical proof of the correctness of the system. The focus of this thesis is to address some of the challenges in the safety verification of decision-making in automated driving systems. A central question here is how to establish formal verification as an efficient tool for automated driving software development. A key finding is the need for an integrated formal approach to prove correctness and to provide a complete safety argument. This thesis provides insights into how three different formal verification approaches, namely supervisory control theory, model checking, and deductive verification differ in their application to automated driving and identifies the challenges associated with each method. It identifies the need for the introduction of more rigour in the requirement refinement process and presents one possible solution by using a formal model-based safety analysis approach. To address challenges in the manual modelling process, a possible solution by automatically learning formal models directly from code is proposed.
26.	Åberg, Victor, 1992 (författare) CMOS Data Converters for Closed-Loop mmWave Transmitters 2020 Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract With the increased amount of data consumed in mobile communication systems, new solutions for the infrastructure are needed. Massive multiple input multiple output (MIMO) is seen as a key enabler for providing this increased capacity. With the use of a large number of transmitters, the cost of each transmitter must be low. Closed-loop transmitters, featuring high-speed data converters is a promising option for achieving this reduced unit cost. In this thesis, both digital-to-analog (D/A) and analog-to-digital (A/D) converters suitable for wideband operation in millimeter wave (mmWave) massive MIMO transmitters are demonstrated. A 2×6 bit radio frequency digital-to-analog converter (RF-DAC)-based in-phase quadrature (IQ) modulator is demonstrated as a compact building block, that to a large extent realizes the transmit path in a closed-loop mmWave transmitter. The evaluation of an successive-approximation register (SAR) analog-to-digital converter (ADC) is also presented in this thesis. Methods for connecting simulated and measured performance has been studied in order to achieve a better understanding about the alternating comparator topology. These contributions show great potential for enabling closed-loop mmWave transmitters for massive MIMO transmitter realizations.
27.	Åberg, Victor, 1992, et al. (författare) RF PA Predistortion using Non-Linear RF-DACs 2022 Ingår i: 2022 IEEE Nordic Circuits and Systems Conference, NORCAS 2022 - Proceedings. Konferensbidrag (refereegranskat)abstract Analog and/or digital predistortion may be used to linearize power amplifiers (PAs) at the cost of additional hardware. We present a novel scheme which uses segmented non-linear RF-DACs to linearize PAs at no additional hardware cost. An expanding segmented scaling chosen at design time may be adjusted using DAC bias, allowing linearization to be adapted. Simulations demonstrate the robustness and flexibility of the approach, achieving excellent overall linearity over a large range of DAC and PA bias conditions.
28.	Åberg, Victor, 1992 (författare) Wideband CMOS Data Converters for Linear and Efficient mmWave Transmitters 2022 Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract With continuously increasing demands for wireless connectivity, higher carrier frequencies and wider bandwidths are explored. To overcome a limited transmit power at these higher carrier frequencies, multiple input multiple output (MIMO) systems, with a large number of transmitters and antennas, are used to direct the transmitted power towards the user. With a large transmitter count, each individual transmitter needs to be small and allow for tight integration with digital circuits. In addition, modern communication standards require linear transmitters, making linearity an important factor in the transmitter design. In this thesis, radio frequency digital-to-analog converter (RF-DAC)-based transmitters are explored. They shift the transition from digital to analog closer to the antennas, performing both digital-to-analog conversion and up-conversion in a single block. To reduce the need for computationally costly digital predistortion (DPD), a linear and wellbehaved RF-DAC transfer characteristic is desirable. The combination of non-overlapping local oscillator (LO) signals and an expanding segmented non-linear RF-DAC scaling is evaluated as a way to linearize the transmitter. This linearization concept has been studied both for the linearization of the RF-DAC itself and for the joint linearization of the cascaded RF-DAC-based modulator and power amplifier (PA) combination. To adapt the linearization, observation receivers are needed. In these, high-speed analog-to-digital converters (ADCs) have a central role. A high-speed ADC has been designed and evaluated to understand how concepts used to increase the sample rate affect the dynamic performance.
29.	Theorin, Alfred, et al. (författare) An Event-Driven Manufacturing Information System Architecture 2015 Ingår i: 15th IFAC Symposium onInformation Control Problems inManufacturing - INCOM 2015. - : Elsevier BV. ; 48:3, s. 547-554 Konferensbidrag (refereegranskat)abstract Future manufacturing systems need to be more flexible, to embrace tougher and constantly changing market demands. They also need to make better use of plant data, ideally utilizing all data from the entire plant. Low-level data should be refined to real-time information for decision making, to facilitate competitiveness through informed and timely decisions. The Line Information System Architecture, LISA, is designed to enable flexible factory integration and data utilization. In LISA, international standards and established off-the-shelf technologies have been combined with the main objective to be industrially applicable. LISA is an event-driven architecture with a prototype-oriented information model and formalized transformation services. It features loose coupling, flexibility, and ease of retrofitting legacy devices. The architecture has been evaluated on both real industrial data and industrial demonstrators and is also being installed at a large automotive company.
30.	Mubeen, Saad, et al. (författare) How to Design Source Routing for Mesh Topology Network on Chip? 2012 Ingår i: Introduction to Routing Issues. - : iConcept Press Ltd.. - 9781461098713 Bokkapitel (refereegranskat)abstract This chapter discusses a step-by-step method to design source routing for Network on Chip, especially for platforms with small sizes and regular topologies like mesh. The design steps include routing algorithm selection, path computation, link load analysis, load balancing, path encoding, simulation and performance evaluation.
31.	Rosenstatter, Thomas, 1992, et al. (författare) Extending AUTOSAR's Counter-based Solution for Freshness of Authenticated Messages in Vehicles 2019 Ingår i: Proceedings of IEEE Pacific Rim International Symposium on Dependable Computing, PRDC. - 1541-0110. ; 2019-December, s. 1-109 Konferensbidrag (refereegranskat)abstract Nowadays vehicles have an internal network consisting of more than 100 microcontrollers, so-called Electronic Control Units (ECUs), which control core functionalities, active safety, diagnostics, comfort and infotainment. The Controller Area Network (CAN) bus is one of the most widespread bus technologies in use, and thus is a primary target for attackers. AUTOSAR, an open system platform for vehicles, introduced in version 4.3 SecOC Profile 3, a counter-based solution to provide freshness in authenticated messages to protect the system against replay attacks. In this paper, we analyse and assess this method regarding safety constraints and usability, and discuss design considerations when implementing such a system. Furthermore, we propose a novel security profile addressing the identified deficiencies which allows faster resynchronisation when only truncated counter values are transmitted. Finally, we evaluate our solution in an experimental setup in regard to communication overhead and time to synchronise the freshness counter.
32.	Leimbach, David, 1992, et al. (författare) Upgrades of the GANDALPH photodetachment detector towards the determination of the electron affinity of astatine 2020 Ingår i: Nuclear Instruments and Methods in Physics Research, Section B: Beam Interactions with Materials and Atoms. - : Elsevier BV. - 0168-583X. ; 463, s. 277-279 Tidskriftsartikel (refereegranskat)abstract © 2019 The Gothenburg ANion Detector for Affinity measurements by Laser PHotodetachment (GANDALPH)has recently been built for measurements of electron affinities (EA)of radioisotopes. A first measurement campaign is aimed towards the determination of the EA of astatine, the rarest naturally occurring element on earth. In this work we present several upgrades of GANDALPH which have been implemented in order to facilitate EA measurements of radioisotopes where only low intensity ion beams (<1 pA)can be produced.
33.	Holstein, Tobias, et al. (författare) Steps Towards Real-world Ethics for Self-driving Cars: Beyond the Trolley Problem 2021 Ingår i: Machine Law, Ethics, and Morality in the Age of Artificial Intelligence. - Hershey, Pennsylvania : IGI Global. - 9781799848943 - 9781799848950 ; , s. 85-107 Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract Research on self-driving cars is transdisciplinary and its different aspects have attracted interest in general public debates as well as among specialists. To this day, ethical discourses are dominated by the Trolley Problem, a hypothetical ethical dilemma that is by construction unsolvable. It obfuscates much bigger real-world ethical challenges in the design, development, and operation of self-driving cars. We propose a systematic approach that connects processes, components, systems, and stakeholders to analyze the real-world ethical challenges for the ecology of socio-technological system of self-driving cars. We take a closer look at the regulative instruments, standards, design, and implementations of components, systems, and services and we present practical social and ethical challenges that must be met and that imply novel expectations for engineering in car industry.
34.	Asplund, Fredrik, 1977-, et al. (författare) Knowing too much? : On bias due to domain-specific knowledge in internal crowdsourcing for explorative ideas 2021 Ingår i: R&D Management. - : John Wiley & Sons. - 0033-6807 .- 1467-9310. Tidskriftsartikel (refereegranskat)abstract Internal crowdsourcing utilizes a firm’s employees, of which many have a strong understanding of the domains in which the firm operates, for contributing with, developing and evaluating ideas. On the one hand, these employees can use their domain-specific knowledge to identify the value of what may seem a far-fetched solution to the average employee. On the other hand, previous research has shown that employees typically evaluate ideas in their domains less favorably if they do not align with ongoing exploitation activities. Hence, this study focuses on whether a higher degree of relevant domain-specific knowledge makes employees participating in internal crowdsourcing prefer exploitative solutions when evaluating ideas. An empirical study of an online platform for firm-internal innovation in a multinational engineering company showed that employees who only infrequently participated in internal crowdsourcing mostly contributed to and evaluated ideas within their own domain. Employees who frequently participated also contributed to and evaluated ideas outside their own domains. By statistically analyzing group differences during idea evaluation, we show that employees participating infrequently favor exploitable solutions, whereas employees participating frequently are more uncertain. The former difference is only seen concerning ideas that require domain-specific knowledge to understand, but the latter is observed for all types of ideas. This study makes three substantial contributions. First, employees with domain-specific knowledge, through their preference for exploitative solutions, bias the outcome of internal crowdsourcing when idea evaluation requires domain-specific knowledge. Second, this bias is aggravated by the overall higher level of uncertainty displayed by employees participating frequently in internal crowdsourcing and thereby tend to reach out to other domains. Third, in order to mitigate this, bias management can build engagement in internal crowdsourcing through idea challenges that do not require domain-specific knowledge and consider avoiding employees with a strongly associated domain knowledge for idea evaluation.
35.	Abbas, Taimoor, et al. (författare) A Measurement Based Shadow Fading Model for Vehicle-to-Vehicle Network Simulations 2015 Ingår i: International Journal of Antennas and Propagation. - : Hindawi Publishing Corporation. - 1687-5869 .- 1687-5877. Tidskriftsartikel (refereegranskat)abstract The vehicle-to-vehicle (V2V) propagation channel has significant implications on the design and performance of novel communication protocols for vehicular ad hoc networks (VANETs). Extensive research efforts have been made to develop V2V channel models to be implemented in advanced VANET system simulators for performance evaluation. The impact of shadowing caused by other vehicles has, however, largely been neglected in most of the models, as well as in the system simulations. In this paper we present a shadow fading model targeting system simulations based on real measurements performed in urban and highway scenarios. The measurement data is separated into three categories, line-of-sight (LOS), obstructed line-of-sight (OLOS) by vehicles, and non-line-of-sight due to buildings, with the help of video information recorded during the measurements. It is observed that vehicles obstructing the LOS induce an additional average attenuation of about 10 dB in the received signal power. An approach to incorporate the LOS/OLOS model into existing VANET simulators is also provided. Finally, system level VANET simulation results are presented, showing the difference between the LOS/OLOS model and a channel model based on Nakagami-m fading.
36.	Alam, Assad, et al. (författare) Cooperative driving according to Scoop 2011 Rapport (övrigt vetenskapligt/konstnärligt)abstract KTH Royal Institute of Technology and Scania are entering the GCDC 2011 under the name Scoop –Stockholm Cooperative Driving. This paper is an introduction to their team and to the technical approach theyare using in their prototype system for GCDC 2011.
37.	Bengtsson, Lars, 1963, et al. (författare) LowLevel C programming for Designers 2015 Bok (övrigt vetenskapligt/konstnärligt)abstract This book is concerned with C programming from an embedded systems engieer's point of view. That inlcudes writing device drivers for hardware with limited resources in terms of available instruction and data memory. A 32-bit soft CPU is implemented on an FPGA and theory is illustrated by detailed examples and cases.
38.	Börjeson, Erik, 1984, et al. (författare) Real-Time Implementation of Machine-Learning DSP 2024 Ingår i: 2024 Optical Fiber Communications Conference and Exhibition, OFC 2024 - Proceedings. Konferensbidrag (refereegranskat)abstract While ML algorithms can learn and adapt to channel characteristics, implementation of ML-based DSP hardware is challenging. We demonstrate a real-time implementation of a model-based ML equalizer that compensates a non-linear and time-varying channel.
39.	Carvajal, Gisela, 1983, et al. (författare) Comparison of Automotive FMCW and OFDM Radar Under Interference 2020 Ingår i: IEEE National Radar Conference - Proceedings. - New York, NY : IEEE. - 1097-5659. ; 2020-September Konferensbidrag (refereegranskat)abstract Automotive radars are subject to interference in spectrally congested environments. To mitigate this interference, various waveforms have been proposed. We compare two waveforms (FMCW and OFDM) in terms of their radar performance and robustness to interference, under similar parameter settings. Our results indicate that under proper windowing both waveforms can achieve similar performance, but OFDM is more sensitive to interference.
40.	Haubro, Martin, et al. (författare) TSCH-over-LoRA: Long Range and Reliable IPv6 Multi-hopNetworks for the Internet of Things 2020 Ingår i: Internet Technology Letters. - : Wiley. - 2476-1508. Tidskriftsartikel (refereegranskat)abstract TSCH-over-LoRa is a long range and reliable IPv6 multi-hop solution that aims atcombining the reliability of TSCH (Time-Slotted, Channel Hopping) together withthe long range capabilities of LoRa. TSCH-over-LoRa brings mesh IPv6 network-ing to LoRa devices, enabling the use of standard protocols (such as RPL, UDP, andCoAP) and long range operation to TSCH/6TiSCH industrial wireless IoT networks.We design, implement, and integrate TSCH-over-LoRa into the TSCH/6TiSCH net-working stack of the Contiki-NG operating system and experimentally demonstrateits compatibility with higher-level protocols and its resilience to interference.
41.	Karlsson, Johannes, 1977- (författare) Low-Complexity Encoding in Block-Based Hybrid Video Codecs by Moving Motion Estimation to Decoder Side 2014 Ingår i: International Journal of Adaptive, Resilient and Autonomic Systems. - : IGI Global. - 1947-9220 .- 1947-9239. ; 5:1, s. 19-29 Tidskriftsartikel (refereegranskat)abstract In this paper the authors present an approach to provide efficient low-complexity encoding for the block-based video coding scheme. The authors present a method based on removing the most time-consuming task, that is motion estimation, from the encoder. Instead the decoder will perform motion prediction based on the available decoded frame and send the predicted motion vectors to the encoder. The results presented are based on a modified H.264 implementation. The results show that this approach can provide rather good coding efficiency even for relatively high network delays.
42.	Krook, Jonas, 1986 (författare) Formal Methods and Safety for Automated Vehicles: Modeling, Abstractions, and Synthesis of Tactical Planners 2022 Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract One goal of developing automated road vehicles is to completely free people from driving tasks. Automated vehicles with no human driver must handle all traffic situations that human drivers are expected to handle, possibly more. Though human drivers cause a lot of traffic accidents, they still have a very low accident and failure rate that automated vehicles must match. Tactical planners are responsible for making discrete decisions for the coming seconds or minutes. As with all subsystems in an automated vehicle, these planners need to be supported with a credible and convincing argument of their correctness. The planners interact with other road users in a feedback loop, so their correctness depends on their behavior in relation to other drivers and road users over time. One way to ascertain their correctness is to test the vehicles in real traffic. But to be sufficiently certain that a tactical planner is safe, it has to be tested on 255 million miles with no accidents. Formal methods can, in contrast to testing, mathematically prove that given requirements are fulfilled. Hence, these methods are a promising alternative for making credible arguments for tactical planners’ correctness. The topic of this thesis is the use of formal methods in the automotive industry to design safe tactical planners. What is interesting is both how automotive systems can be modeled in formal frameworks, and how formal methods can be used practically within the automotive development process. The main findings of this thesis are that it is viable to formally express desired properties of tactical planners, and to use formal methods to prove their correctness. However, the difficulty to anticipate and inspect the interaction of several desired properties is found to be an obstacle. Model Checking, Reactive Synthesis, and Supervisory Control Theory have been used in the design and development process of tactical planners, and these methods have their benefits, depending on the application. To be feasible and useful, these methods need to operate on both a high and a low level of abstraction, and this thesis contributes an automatic abstraction method that bridges this divide. It is also found that artifacts from formal methods tools may be used to convincingly argue that a realization of a tactical planner is safe, and that such an argument puts formal requirements on the vehicle’s other subsystems and its surroundings.
43.	La Hera, Pedro (författare) Non-linear dynamics modelling description for simulating the behaviour of forestry cranes 2014 Ingår i: International Journal of Modelling, Identification and Control. - : Inderscience Publishers. - 1746-6172 .- 1746-6180. ; 21, s. 125 - 138 Tidskriftsartikel (refereegranskat)abstract Model-based design is a standard framework widely adopted in modern industry. It is used for designing multi-domain engineering solutions based on computer-aided simulation technology. Currently, this approach is also being considered as a tentative method for designing modern heavy-duty machine technology. Under this motivation, our aim is to present how modelling techniques can be used for simulating dynamics of forestry machines. To this end, we consider a forestry crane, and propose mathematical models and calibration techniques, such that model-based methods can subsequently be applied. The complexity of the machine is represented by first principle laws, in which the mechanical system is modelled by Euler-Lagrange formulations, and the hydraulic system is modelled by principles of fluid dynamics. The calibration algorithms are performed by statistical algorithms based on linear and non-linear least-squares methods. The results of simulation show a significant correspondence between the simulated and observed variables, validating our procedures.
44.	Mårtensson, Jonas, 1976-, et al. (författare) The development of a cooperative heavy-duty vehicle for the GCDC 2011: Team Scoop 2012 Ingår i: IEEE transactions on intelligent transportation systems (Print). - : IEEE Press. - 1524-9050 .- 1558-0016. ; 13:3, s. 1033-1049 Tidskriftsartikel (refereegranskat)abstract The first edition of the Grand Cooperative Driving Challenge (GCDC) was held in the Netherlands in May 2011. Nine international teams competed in urban and highway platooning scenarios with prototype vehicles using cooperative adaptive cruise control. Team Scoop, a collaboration between KTH Royal Institute of Technology, Stockholm, Sweden, and Scania CV AB, Sodertalje, Sweden, participated at the GCDC with a Scania R-series tractor unit. This paper describes the development and design of Team Scoop's prototype system for the GCDC. In particular, we present considerations with regard to the system architecture, state estimation and sensor fusion, and the design and implementation of control algorithms, as well as implementation issues with regard to the wireless communication. The purpose of the paper is to give a broad overview of the different components that are needed to develop a cooperative driving system: from architectural design, workflow, and functional requirement descriptions to the specific implementation of algorithms for state estimation and control. The approach is more pragmatic than scientific; it collects a number of existing technologies and gives an implementation-oriented view of a cooperative vehicle. The main conclusion is that it is possible, with a modest effort, to design and implement a system that can function well in cooperation with other vehicles in realistic traffic scenarios.
45.	Wang, W., et al. (författare) Packet priority assignment for wireless control systems of multiple physical systems 2019 Ingår i: Proceedings - 2019 IEEE 22nd International Symposium on Real-Time Distributed Computing, ISORC 2019. - : Institute of Electrical and Electronics Engineers Inc.. - 9781728101507 ; , s. 143-150 Konferensbidrag (refereegranskat)abstract Wireless control systems (WCSs) have gained much attention lately, due to their easy deployment and flexibility compared to wired control systems. However, this comes at the cost of possibly increased network delay and packet losses, that can significantly impact the control system performance, and possibly its stability. Such problems become even more relevant if the network is shared among different control systems, and thus becomes a scarce resource, like in Industrial Internet of Things applications. In this paper, we describe how to assign packet priorities dynamically when there are many physical systems sharing a given network, aiming at minimizing the performance degradation of the WCS. Towards that, we present a network model including both delay and packet losses, both of which are very important for the control system performance. Our solution is evaluated over two different use cases to show the generality of the approach: the WCS for a set of inverted pendula, and the WCS for small modular reactors in a nuclear power plant. The results show that the proposed approach allows for a more stable performance even in presence of highly nonlinear systems, sensitive to time-varying delays, as well as in presence of high network interference.
46.	Lundström, Oskar, et al. (författare) Brief Announcement: Self-stabilizing Total-Order Broadcast 2022 Ingår i: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). - Cham : Springer International Publishing. - 1611-3349 .- 0302-9743. ; 13751 LNCS, s. 358-363 Konferensbidrag (refereegranskat)abstract Our study aims at the design of an even more reliable solution. We do so through the lenses of self-stabilization—a very strong notion of fault-tolerance. In addition to node and communication failures, self-stabilizing algorithms can recover after the occurrence of arbitrary transient faults; these faults represent any violation of the assumptions according to which the system was designed to operate (as long as the algorithm code stays intact). This work proposes the first (to the best of our knowledge) self-stabilizing algorithm for total-order (uniform reliable) broadcast for asynchronous message-passing systems prone to process failures and transient faults. As we show, the proposed solution facilitates the elegant construction of self-stabilizing state-machine replication using bounded memory.
47.	Ribeiro, Luis (författare) The design, deployment, and assessment of industrial agent systems 2015. - 1st ed. Ingår i: Industrial Agents. - Amsterdam, Netherlands : Elsevier. - 9780128003411 ; , s. 45-63 Bokkapitel (refereegranskat)abstract Agent based systems have been explored, if not practically, at least conceptually, in a wide range of domains. The notion of agent has taken, also, many shapes and meanings according to the application area. These have ranged from pure computational applications, such as UNIX daemons, Internet crawlers, optimization algorithms, etc; to embodied agents as in mobile robotics. The notion of cyber-physical system has been very recently coined to denote the next generation of embedded systems. Unlike an embedded system, a cyber-physical system is designed from scratch to promote the symbiosis and fusion between a physical element, its controller, and its abstract or logical representation/existence. To an enormous extent the concept echoes the idea of embodiment (Pfeifer, Lungarella & Iida 2007), whereby the body shapes the cognitive abilities of its control gear, and self-organization (Holland & Melhuish 1999), in the sense that a resilient whole results from the collective interactions of many parts. Some rather similar principles have been the basis for Holonic Manufacturing Systems (HMS) (Bussmann & Mcfarlane 1999), Bionic Manufacturing Systems (BMS) (Ueda 1992), Evolvable Assembly Systems (EAS) (Onori 2002) and an overwhelming number of industrial agent based architectures that have followed them (Van Brussel et al. 1998; Leitao, Colombo & Restivo 2005; Barata 2003; Lastra 2004; Shen et al. 2006; Marik & Lazansky 2007; Vrba et al. 2011; Leitão 2009; Monostori, Váncza & Kumara 2006).It is therefore safe to assert that industrial agent systems are a preceding, probably more restricted, case of cyber-physical systems.Although each application area has its specific challenges arguably, the design, deployment and assessment of industrial agent systems are particularly complex. Given the multidisciplinary nature of today's industrial systems, their cyber-physical realization entails challenges that range from pure computer science and embedded controller design to production optimization and sustainability.The main challenges comprising the design, deployment and assessment of industrial agent-based systems are therefore examined.Multiagent Systems (MAS) have been widely known as the base for inherent robust and available systems and there are many characteristics (Wooldridge & Jennings 1994; Wooldridge & Jennings 1995) such as autonomy, social-ability, proactive response, reactivity, self-organization, etc; which have been identified as core ingredients for the MAS reliability.However, to call "agent" to a software abstraction and create a system based on these abstractions is not a guarantee that the system will exhibit the expected characteristics. Unfortunately this misconception is quite common.There have been significant international and industrial efforts in addressing the different design, deployment and assessment challenges. The reader is naturally referred to the contents of this book to learn about the latest results and technical details. Previous international projects are not limited to but include: SIRENA - early development of a devices profiles for web services (DPWS) stack (Jammes & Smit 2005; Bohn, Bobek & Golatowski 2006) and subsequent project SODA - focusing on the development of a service based ecosystem using DPWS, Inlife - focusing in service oriented diagnosis of distributed intelligent systems (Barata, Ribeiro & Colombo 2007), SOCRADES - investigating the creation of new methodologies, technologies and tools for the modelling, design, implementation and operation of networked hardware/software systems embedded in smart physical objects (De Souza et al. 2008), AESOP - tackling web service-oriented process monitoring and control (Karnouskos et al. 2010), GRACE - exploring process and quality control integration using a MAS framework (Stroppa et al. 2012) and IDEAS - focusing in instant deployment of agentified components (Ribeiro et al. 2011a). The subsequent details are therefore organized to first highlight the commonest structural arrangements considered in current agent architectures and more specifically on bringing some context on their potential applications and limitations. Secondly, since emerging architectures are increasingly inspired by concepts and methods from the complexity sciences, the gaps between them and the concrete instantiation of industrial MAS are discussed. The presentation of the design challenges and opportunities follows as well as the conventional deployment approaches. Finally, the impact of MAS design is discussed from a system validation perspective.
48.	Bengtsson, Lars, 1963 (författare) Generation and measurement of pulses and delays with RISC-controllers 1997 Ingår i: Measurement Science and Technology. - : IOP Publishing. - 0957-0233 .- 1361-6501. ; 8, s. 679-683 Tidskriftsartikel (refereegranskat)abstract An instrument for the generation of pulses and delays has beendeveloped for applications in laserspectroscopy experiments. The pulses from achopped laserbeam are counted, and when a preset value is reached, two signalsare generated: one delayed trigger pulse with constant length and one delayed‘shutter pulse’ (referred to as the ‘shutter window’ below) which opens a light shutterand allows one light pulse to enter the experimental region and excite the sample.The delays of the trigger pulse and the shutter window and the width of the shutterwindow can all be set independently to any value from 0 up to 50 ms with 0.05 mssteps. A separate microcontroller measures the width of the shutter window with anaccuracy of 1micro seconds. The pulse delays and the width of the shutter window are setwith thumbwheel potentiometers connected as voltage dividers. A microcontrollerreads the set values with a four-channel, 12-bit AD converter. This techniquesaves a lot of hardware wiring as well as software writing when compared to thealternative of using separate, BCD-coded thumbwheels for each timesetting.In total, the instrument consists of two independent RISC-controllers: onePIC16C55 for counting chopper pulses and generating pulses and delays, and onePIC16C74 for measuring (and displaying) the width of the shutter window. Thewidth of the shutter window is measured with 1micro second resolution by taking fulladvantage of two different peripherial I/O devices in the PIC16C74: the 16-bit ‘inputcapture’ module and the external interrupt facility.
49.	Vyas, Agin, 1992, et al. (författare) A micromachined coupled-cantilever for piezoelectric energy harvesters 2018 Ingår i: Micromachines. - : MDPI AG. - 2072-666X. ; 9:5 Tidskriftsartikel (refereegranskat)abstract This paper presents a demonstration of the feasibility of fabricating micro-cantilever harvesters with extended stress distribution and enhanced bandwidth by exploiting an M-shaped two-degrees-of-freedom design. The measured mechanical response of the fabricated device displays the predicted dual resonance peak behavior with the fundamental peak at the intended frequency. This design has the features of high energy conversion efficiency in a miniaturized environment where the available vibrational energy varies in frequency. It makes such a design suitable for future large volume production of integrated self powered sensors nodes for the Internet-of-Things
50.	Ouhaichi, Hamza, et al. (författare) Dynamic data management for machine learning in embedded systems: A case study 2019 Ingår i: Lecture Notes in Business Information Processing. - Cham : Springer International Publishing. - 1865-1356 .- 1865-1348. ; 370 LNBIP, s. 145-154 Konferensbidrag (refereegranskat)abstract Dynamic data and continuously evolving sets of records are essential for a wide variety of today’s data management applications. Such applications range from large, social, content-driven Internet applications, to highly focused data processing verticals like data intensive science, telecommunications and intelligence applications. However, the dynamic and multimodal nature of data makes it challenging to transform it into machine-readable and machine-interpretable forms. In this paper, we report on an action research study that we conducted in collaboration with a multinational company in the embedded systems domain. In our study, and in the context of a real-world industrial application of dynamic data management, we provide insights to data science community and research to guide discussions and future research into dynamic data management in embedded systems. Our study identifies the key challenges in the phases of data collection, data storage and data cleaning that can significantly impact the overall performance of the system.

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