Embedded controller system in crane application

The thesis studies possibility of using embedded controller in a crane application and furthermore defines requirements when designing such a controller. Basic crane control architectures are considered and compared. Then embedded controller product life cycle is described: considering such issues like microcontroller selection, software/hardware design and application development tools. Finally, available embedded controller is described and used for implementing crane control.

Customized agile development process for embedded software development

Agile software development has grown in popularity starting from the agile manifesto declared in 2001. However there is a strong belief that the agile methods are not suitable for embedded, critical or real-time software development, even though multiple studies and cases show differently. This thesis will present a custom agile process that can be used in embedded software development. The reasons for presumed unfitness of agile methods in embedded software development have mainly based on the feeling of these methods providing no real control, no strict discipline and less rigor engineering practices. One starting point is to provide a light process with disciplined approach to the embedded software development. Agile software development has gained popularity due to the fact that there are still big issues in software development as a whole. Projects fail due to schedule slips, budget surpassing or failing to meet the business needs. This does not change when talking about embedded software development. These issues are still valid, with multiple new ones rising from the quite complex and hard domain the embedded software developers work in. These issues are another starting point for this thesis. The thesis is based heavily on Feature Driven Development, a software development methodology that can be seen as a runner up to the most popular agile methodologies. The FDD as such is quite process oriented and is lacking few practices considered commonly as extremely important in agile development methodologies. In order for FDD to gain acceptance in the software development community it needs to be modified and enhanced. This thesis presents an improved custom agile process that can be used in embedded software development projects with size varying from 10 to 500 persons. This process is based on Feature Driven Development and by suitable parts to Extreme Programming, Scrum and Agile Modeling. Finally this thesis will present how the new process responds to the common issues in the embedded software development. The process of creating the new process is evaluated at the retrospective and guidelines for such process creation work are introduced. These emphasize the agility also in the process development through early and frequent deliveries and the team work needed to create suitable process.

A contabilidade ambiental em empresas certificadas pelas normas ISO 14001 na região metropolitana de Belo Horizonte-MG

As empresas que adotaram um Sistema de Gestão Ambiental necessitam cumprir as normas ISO 14001 e ter o controle dos recursos para tomar decisões. A contabilidade exerce importante papel no fornecimento de informações aos gestores, possibilitando-lhes maior eficiência na gestão do meio ambiente. Assim, este estudo teve como propósito analisar a utilização do conceito e instrumentos da Contabilidade Ambiental nas empresas certificadas pela ISO 14001. Os dados foram obtidos por meio da aplicação de questionários semiestruturados aos contadores e gestores ambientais de 10 empresas da região metropolitana de Belo Horizonte. Constatou-se que as empresas estudadas não utilizam os instrumentos de Contabilidade Ambiental para tomar as decisões relacionadas ao meio ambiente e, sim, a contabilidade tradicional. Quanto à ocorrência de mudanças na contabilidade após a obtenção da certificação ambiental, verificou-se que não houve mudança nas demonstrações contábeis tradicionais. Algumas empresas apenas incluíram contas específicas em seus planos de contas, destinadas à contabilização de eventos ambientais. Destaca-se, ainda, a falta de conhecimento, por parte de alguns contadores e gestores entrevistados, dos benefícios que a utilização da Contabilidade Ambiental pode trazer para os negócios da empresa.

Hiilijalanjäljen laskenta ISO 14064-1 -standardin ja PAS 2050 -ohjeen mukaisesti. Case: Metsähallitus Laatumaa

Tämän kandidaatintyö on osa Laatumaan kestävän kehityksen periaatteiden määrittämisprojektia ja sen tarkoituksena on tuottaa tietoa toiminnan ilmastovaikutuksista, edesauttaa päästövähennys- ja kompensaatiotavoitteita sekä edistää ympäristötietoutta yrityksen sisällä. Työssä tarkastellaan SFS-ISO 14064-1 -standardin sekä PAS 2050 -ohjeistuksen asettamia hiilijalanjäljen laskennan laatuvaatimuksia sekä selvitetään Laatumaan toiminnan ilmastovaikutusta standardiin pohjautuvan kasvihuonekaasuinventaarion kautta.

Conformidade de acessos e de saídas de postos de operação em tratores agrícolas segundo norma NBR/ISO 4252

Este trabalho teve como objetivo avaliar a conformidade dos acessos e de saídas dos postos de operação em tratores agrícolas, por meio de população amostral dos tratores fabricados no Brasil. Para a avaliação, diversos itens referentes aos acessos e às saídas dos postos de operação foram analisados qualitativa e quantitativamente com base nos padrões da Norma NBR/ISO 4252. Ao final do trabalho, foi observado que os tratores classificados na Classe III, quanto à potência nominal do motor, atendem ao maior número de requisitos da Norma em comparação a tratores da Classe II. Dentre os itens avaliados, a altura da plataforma até o teto dos postos de operação foi atendida por todos os modelos. As presenças de batentes de proteção sobre os degraus e de corrimão para o operador foram os itens em maior desconformidade sobre os tratores. Como resultado médio, a população amostral foi conforme em 66% dos itens analisados. Os tratores dotados de motores de maior potência apresentaram, em geral, acessos e saídas dos postos de operação mais ergonômicos e seguros. De maneira geral, conclui-se pela baixa conformidade dos itens de ergonomia e de segurança dispostos ao operador sobre os postos de operação em tratores agrícolas nacionais.

Iso kirja aseena

Kirjallisuusarvostelu

Immunohistochemical detection of Clostridia species in paraffin-embedded tissues of experimentally inoculated guinea pigs

Blackleg is caused by Clostridium chauvoei, whereas malignant oedema is caused by C. chauvoei, C. septicum, C. sordellii, C. perfringens type A, and/or C. novyi type A. Anti-C. chauvoei, anti-C. septicum, anti-C. sordellii and anti-C. novyi type A polyclonal antibodies were produced in rabbits and purified in a column of DEAE-cellulose. Aliquots of the antisera were conjugated with fluorescein isothiocyanate and the remaining was used for the streptavidin biotin peroxidase technique (SBPT). SBPT was standardized to detect C. chauvoei, C. septicum, C. sordellii and C. novyi type A in formalin-fixed, paraffin-embedded tissues of guinea pigs. SBPT was compared to a fluorescent antibody technique (FAT). Sections and smears of muscle from inoculation area (MIA), heart, liver, spleen and kidney, were obtained for both SBPT and FAT. Cross-reactions between the different Clostridial species were not observed. C. chauvoei and C. septicum were detected in all specimens from the animals inoculated with these microorganisms, while only sections of muscle obtained from all the animals inoculated with C. sordellii and C. novyi type A were positive. The same results observed by the SBPT, were obtained on tissue smears of these microorganisms stained by the FAT. The results indicate that SBPT is suitable for detection of C. chauvoei, C. septicum, C. sordellii and C. novyi type A in formalin-fixed, paraffin-embedded tissues of guinea pigs.

Nested-PCR for the detection of Mycoplasma hyopneumoniae in bronchial alveolar swabs, frozen tissues and formalin-fixed paraffin-embedded swine lung samples: comparative evaluation with immunohistochemical findings and histological features

The diagnosis of Mycoplasma hyopneumoniae infection is often performed through histopathology, immunohistochemistry (IHC) and polymerase chain reaction (PCR) or a combination of these techniques. PCR can be performed on samples using several conservation methods, including swabs, frozen tissue or formalin-fixed and paraffin-embedded (FFPE) tissue. However, the formalin fixation process often inhibits DNA amplification. To evaluate whether M. hyopneumoniae DNA could be recovered from FFPE tissues, 15 lungs with cranioventral consolidation lesions were collected in a slaughterhouse from swine bred in herds with respiratory disease. Bronchial swabs and fresh lung tissue were collected, and a fragment of the corresponding lung section was placed in neutral buffered formalin for 48 hours. A PCR assay was performed to compare FFPE tissue samples with samples that were only refrigerated (bronchial swabs) or frozen (tissue pieces). M. hyopneumoniae was detected by PCR in all 15 samples of the swab and frozen tissue, while it was detected in only 11 of the 15 FFPE samples. Histological features of M. hyopneumoniae infection were presented in 11 cases and 7 of these samples stained positive in IHC. Concordance between the histological features and detection results was observed in 13 of the FFPE tissue samples. PCR was the most sensitive technique. Comparison of different sample conservation methods indicated that it is possible to detect M. hyopneumoniae from FFPE tissue. It is important to conduct further research using archived material because the efficiency of PCR could be compromised under these conditions.

Iso-Britannian panssarijoukkojen käyttöperiaatteiden kehittyminen kylmän sodan aikana

Tutkimus käsittelee Iso-Britannian asevoimien panssarijoukkojen käyttöperiaatteiden kehittymistä kylmän sodan aikana. Tutkimuksen tavoitteena on selvittää miten Iso-Britannian doktriinin muutos kylmän sodan aikana on vaikuttanut panssarijoukkojen käyttöperiaatteiden kehittymiseen. Perushypoteesina tutkimuksessa on, että uhkakuvien muutos on saanut aikaan muutostarpeen doktriiniin. Tämä taas on asettanut uudet vaatimukset panssarijoukkojen käyttöperiaatteille osana maavoimien suunniteltua käyttöä. Aihetta lähestytään asiakirja- ja kirjallisuustutkimuksen menetelmin vertailemalla Iso-Britannian ja Naton doktriinin muutoksia käsitteleviä teoksia sekä panssarijoukkoja ja niiden käyttöä käsittelevää kirjallisuutta. Tutkimuksessa ilmeni, että Naton ja Iso-Britannian doktriinin muutos on muuttanut panssarijoukkojen käyttöperiaatteita. Toisen maailmansodan jälkeen brittien kahtiajakautunut ajattelutapa panssarivaunujen käyttöperiaatteista hidasti panssarijoukkojen kootun tai liikesodankäyntiin perustuvan käytön kehittämistä. 1950- ja 1960-luvuilla doktriini asetti panssarijoukoille vaatimuksen kyvystä toimia ydinsodassa. Selkeimmin tämä näkyi panssarivaunun teknisessä kehityksessä. 1970-luvulla panssarijoukkojen käyttöperiaatteet päivittyivät uuden doktriinin vaatimuksista entistä liikkuvimmiksi. 1980-luvulle sijoittuivat merkittävimmät kylmän sodan aikaiset panssarijoukkojen käyttöperiaatteiden muutokset. Uusi doktriini perustui liikesodankäynnin periaatteisiin ja asetti joukkojen joustavan käytön etusijalle. Käytännössä tämä näkyi panssaridivisioonien muodostamien taisteluryhmien ja -osastoiden käytössä. Panssarijoukkojen joustavammalla käytöllä Keski-Euroopassa uskottiin vastattavan paremmin Neuvostoliiton syvän taistelun periaatteisiin perustuvaan hyökkäykseen.

Cost-benefit analysis of using test automation in the development of embedded software

The goal of this thesis is to make a case study of test automation’s profitability in the development of embedded software in a real industrial setting. The cost-benefit analysis is done by considering the costs and benefits test automation causes to software development, before the software is released to customers. The potential benefits of test automation regarding software quality after customer release were not estimated. Test automation is a significant investment which often requires dedicated resources. When done accordingly, the investment in test automation can produce major cost savings by reducing the need for manual testing effort, especially if the software is developed with an agile development framework. It can reduce the cost of avoidable rework of software development, as test automation enables the detection of construction time defects in the earliest possible moment. Test automation also has many pitfalls such as test maintainability and testability of the software, and if those areas are neglected, the investment in test automation may become worthless or it may even produce negative results. The results of this thesis suggest that test automation is very profitable at the company under study.

Project Management Tools in Agile Embedded Systems Development

Agile methods have become increasingly popular in the field of software engineering. While agile methods are now generally considered applicable to software projects of many different kinds, they have not been widely adopted in embedded systems development. This is partly due to the natural constraints that are present in embedded systems development (e.g. hardware–software interdependencies) that challenge the utilization of agile values, principles and practices. The research in agile embedded systems development has been very limited, and this thesis tackles an even less researched theme related to it: the suitability of different project management tools in agile embedded systems development. The thesis covers the basic aspects of many different agile tool types from physical tools, such as task boards and cards, to web-based agile tools that offer all-round solutions for application lifecycle management. In addition to these two extremities, there is also a wide range of lighter agile tools that focus on the core agile practices, such as backlog management. Also other non-agile tools, such as bug trackers, can be used to support agile development, for instance, with plug-ins. To investigate the special tool requirements in agile embedded development, the author observed tool related issues and solutions in a case study involving three different companies operating in the field of embedded systems development. All three companies had a distinct situation in the beginning of the case and thus the tool solutions varied from a backlog spreadsheet built from scratch to plug-in development for an already existing agile software tool. Detailed reports are presented of all three tool cases. Based on the knowledge gathered from agile tools and the case study experiences, it is concluded that there are tool related issues in the pilot phase, such as backlog management and user motivation. These can be overcome in various ways epending on the type of a team in question. Finally, five principles are formed to give guidelines for tool selection and usage in agile embedded systems development.