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Design of a dynamic distributed CPS application for unmanned ground vehicles
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

New challenges and opportunities arise as a result of an increasing demand of connecting devices in the context of the Internet of Things. Synergy eects can be achieved by connecting local devices through both wireless local networks and global infrastructures. These thoughts were applied in a military use case where the challenge was identied to reduce the risk of human lives in combat by letting an Unmanned Ground Vehicle (UGV) take over the highest risks during re control. This thesis covers the design and evaluation of a system that enhances the aiming control performance of a UGV by allocating image processing tasks to an adaptive local wireless distributed computation network. Background research was conducted through a state of the art survey, literature study and through structured interviews. The system was developed both as a simulation model in TrueTime, and a physical proof of concept demonstrator. A hypothesis was developed that involves a categorization of two classes of QoS arguments including sample rate and end-to-end delay. These two classes were used as a basis foran alyzing the control performance of the UGV in terms of accuracy and precision, and for analyzing the individual impact of the technical parameters of the system. Based on the initial hypothesis, the analysis concludes a potential theoretical speed-up in terms of sample rate of approximately 6 times when implementing wireless distributed computing over Wi-Fi compared, to when the processing tasks are completely managed by the UGV. However, the analysis confirms that the resulting control performance of the UGV is a clear trade-off between the dynamic distribution of computation and communication overheads.

Abstract [sv]

Nya utmaningar och möjligheter kan identifieras till följd av en ökande efterfrågan av att koppla ihop enheter i sammanhanget Internet of Things. Synergieffekter kan uppnås genom att koppla ihop lokala enheter både trådlöst och genom global infrastruktur. Dessa tankar applicerades på ett militärt scenario där en utmaning identifierades att reducera risken för mänskliga liv i strid genom att låta en obemannad markfarkost överta de högsta riskerna under eldledning. Detta examensarbete har som mål att utvärdera ett system som förbättrar reglerprestandan hos en obemannad markfarkost genom att allokera bildbehandlingsuppgifter till ett adaptivt trådlöst distribuerat beräkningsnätverk. Forskningen genomfördes genom en state of the art undersökning, litteraturstudie, och strukturerade intervjuer. Systemet utvecklades både i form av en simuleringsmodell i TrueTime, samt som en fysisk konceptvalidering. En hypotes togs fram som innebar en kategorisering av två klasser för quality of service, samplingshastighet och end-to-end fördröjning. Dessa två klasser anvandes som grund för analysen av reglerprestandan i termer av noggranhet och precision, samt för att analyserade inviduella effekterna av de olika tekniska parametrarna i systemet. Baserat på den initiala hypotesen är slutsatsen av analysen att en potentiell teoretisk prestandaökning i termer av samplingshastighet på 6 gånger uppnås vid implementering av ett trådlost distribueringsnätverk av beräkningskraft över Wi-Fi jämfört med när processeringen hanteras enbart av fordonet. Vidare visar även analysen att den resulterande reglerprestandan är en tydlig avvägning mellan den dynamiska distributionen av beräkningsuppgifter och overhead vid kommunikation.

Place, publisher, year, edition, pages
2016. , 113 p.
Series
MMK 2016:170
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-200840OAI: oai:DiVA.org:kth-200840DiVA: diva2:1071074
Supervisors
Examiners
Available from: 2017-02-03 Created: 2017-02-03Bibliographically approved

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