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Object detection and tracking
Fejfar, Petr ; Obdržálek, David (advisor) ; Bureš, Tomáš (referee)
This work focuses on object recognition and tracking by using laser range finder sensor. The topic examines various solutions proposed by other authors and analyzes the issue as a whole. The application of the task then takes place in a robot competition, which is used as a reference problem and solved subsequently. Port solutions are emphasized over PC platform solutions. The basis of the solution utilizes the principle of Kalman filters and the identification of objects by their position and speed. Powered by TCPDF (www.tcpdf.org)
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Autonomous Robot Control System
Pilát, Ondřej ; Obdržálek, David (advisor) ; Bureš, Tomáš (referee)
This master thesis describes the design and implementation of control sys- tem for autonomous robot which is able to run through user defined points in unknown environment without colliding with obstacles. The work contains analysis of the available hardware and software solutions, modular design with control system implementation divided into separate subsystems (control, lo- calization, route planning, driving the robot using Hermit curves and low-level hardware control). The work also contains explanation of rework of the school robotic platform. The implementation was tested on a created robotic platform. Driving the robot along the Hermit curve allows smooth and in some cases quicker passage through defined points, than passage consisting of rotations on the spot and direct movements. 1
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Dynamic Software Architectures for Resilient Distributed Systems
Keznikl, Jaroslav ; Bureš, Tomáš (advisor) ; Becker, Steffen (referee) ; Loreti, Michele (referee)
Resilient Distributed Systems (RDS) are large-scale distributed systems that remain de-pendable despite their very dynamic, open-ended, and inherently unpredictable environ-ments. This combination of system and environment properties makes development of soft-ware architectures for RDS using contemporary architecture models and abstractions very challenging. Therefore, the thesis proposes: (1) new architecture abstractions that are tailored for building dynamic software architectures for RDS, (2) design models and processes that endorse these abstractions at design time, and (3) means for efficient implementation, execu-tion, and analysis of architectures based on these abstractions. Specifically, the thesis delivers (1) by introducing the DEECo component model, based on the concept of component ensembles. Contributing to (2), the thesis presents the Invari-ant Refinement Method, governing dependable, formally-grounded design of DEECo-based architectures, and the ARCAS method, focusing on dependable realization of open-ended dynamic component bindings typical for DEECo. Furthermore, it pursues (3) by presenting a formal operational semantics of DEECo and its mapping to Java in terms of an execution environment prototype - jDEECo. Additionally, the semantics is used as a basis for formal analysis via model...
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DEECo Cloudlets Exploratory Study
Kinšt, Jakub ; Bureš, Tomáš (advisor) ; Horký, Vojtěch (referee)
This thesis explores possibilities of using recently introduced ensemble-based component models (represented by the DEECo model) as a management layer in a cloudlet-like environment for mobile computation offloading, which can lead to savings of limited mobile-specific resources such as battery life. As a part of the solution, the goal is analyzed, possible issues and problems are identified and then addressed by designing and implementing a reference architecture for computation offloading of parts of mobile applications managed by a DEECo-based control layer. The implementation is presented in the form of an offloading framework, whose use is demonstrated on two applications for the Android platform. Finally, the framework's performance and utility is evaluated by comparing offloaded and local executions of the same application. Powered by TCPDF (www.tcpdf.org)
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Security and Trust in the DEECo Component Model
Štumpf, Ondřej ; Bureš, Tomáš (advisor) ; Kruliš, Martin (referee)
DEECo represents an example of a Cyber-Physical System (CPS) consisting of potentially vast number of components able to share data with each other. So far, access to data was not restricted, thus enabling components to exploit sensitive data owned by other components. The goal of this work is to analyze security threats in distributed environments such as DEECo and propose a security solution which would provide both physical security of component data and introduce an access control mechanism. However, while confidentiality may be critical to certain applications, data integrity is crucial to almost every one. This work therefore also proposes a trust model, which prevents components operating with defective or malicious data. Both proposed models are realized in jDEECo, a Java implementation of DEECo.
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Analysis of Knowledge Obsolescence in Ensemble-Based Component Systems
Pavliš, Filip ; Bureš, Tomáš (advisor) ; Kofroň, Jan (referee)
Designing Resilient Distributed embedded Systems is a challenging task. One of the design issues is to guarantee correct behavior of the system during the runtime. It demands verification that information propagated through the system is reliable. The goal of this thesis is a research and implementation of an analysis that should identify obsolescence of variables due to delays caused by scheduling and communication in real-time systems. Analysis will be designed for Ensemble-Based Component System (EBCS) semantics because it enables precise specification and analysis of important properties. The main problem is to find a suitable input model of the analysis and find its possible limits. Effort should be put in balancing between the level of abstraction given to a RDS developer and power of the analysis itself. The main benefit of the analysis will be detection of situations in which data processed in RDS are outdated and can cause incorrect behavior of particular components.
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ProCom middleware
Kunčar, Jiří ; Bureš, Tomáš (advisor) ; Pop, Tomáš (referee)
The goal of this thesis is to develop and implement parts of a middleware that provides necessary support for the execution of ProCom components on top of the real-time operating system FreeRTOS. The ProCom is a component model for embedded systems developed at Mälardalen University. The primary problem is finding an appropriate balance between the level of abstraction and thoughtful utilization of system resources in embedded devices. The defined target platform has limitations in comparison to general purpose computer. These include constraints in available resources such as memory, CPU or bandwidth together with strict requirements in terms of worst-case response time and reliability. We have to also face the problem of limited debugging facilities or their complete absence. In this project, we have examined differences between several real-time and non real- time operating systems. We focus on finding a common subset of core functions that the system must support in order to ensure adequate support for running designed components. We have also identified and tested the suitable libraries to support different types of communication especially TCP/IP. However, we are keenly aware of the limitations of used communication types for analysis of the behavior of real-time systems.
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Deployment of SOFA 2 applications for the LeJOS platform
Baquero Forero, Juan Rodrigo ; Hnětynka, Petr (advisor) ; Bureš, Tomáš (referee)
Embedded systems are ubiquitous in our society, they control vehicles, aircrafts and medical instruments. Some of these systems are distributed, which means they are part of a network and their operation is coordinated. Software development for such systems can be a difficult problem. In this thesis we propose SOFA 2 component system to simplify the software development for distributed embedded systems where the distribution of components is handled entirely by the component system. Lego Mindstorms is proposed as the model of a distributed embedded system. A runtime environment for SOFA 2 and a demo application were developed to evaluate the approach. The proposed approach delivers seamless component distribution. Nevertheless, non-functional requirements such as memory, program size or disk space must be included in the implementation to fully benefit from a component system.
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RTEMS Support for Lego NXT
Kačmarik, František ; Bureš, Tomáš (advisor) ; Děcký, Martin (referee)
RTEMS is an open source real-time operating system used in embedded devices across a wide range of processor architectures. Lego Mindstorms NXT is a programmable robotics kit from Lego, which may be used as an educational tool to build a model of an~embedded system with computer-controlled electromechanical parts. The goal of the thesis is to allow development of RTEMS-based applications for Lego Mindstorms NXT platform with the aim of employing the results of the thesis as a runtime platform used in the Embedded and Real-Time Systems Course. The thesis thus identifies a suitable way of porting RTEMS to Lego NXT, provides the corresponding runtime environment and discusses basic means for deployment and debugging of RTEMS application on Lego Mindstorms NXT. Powered by TCPDF (www.tcpdf.org)
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Deployment of SOFA-HI applications on the nxtOSEK platform
Kaščák, Kamil ; Bureš, Tomáš (advisor) ; Pop, Tomáš (referee)
SOFA-HI is an extension of the SOFA 2 component system,which is developed at Department of distributed and dependable systems. SOFA-HI focuses on support for development of real-time embedded applications using component-based approach. This thesis extends existing SOFA-HI implementation with support for development and deployment of SOFA-HI application to nxtOSEK platform which is a small-footprint real-time operating system and board support package for LEGO Mindstorms NXT. In particular, existing tools for application development and deployment are extended to support nxtOSEK platform. The thesis further provides pre-made components to allow communication with standard NXT sensors and actuators. Powered by TCPDF (www.tcpdf.org)
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