moved files around, added to chap design

1-Introduction/Introduction.tex

@@ -6,7 +6,7 @@
 
 It is necessary in several industries, including those of mining and manufacturing, to transport bulk material from one on-site location to another. In mining, it may be sand or gravel. In manufacturing, it may be powdered chemicals.
 
-The transportation of this bulk material typically involves the use of a belt conveyor. These belt conveyors are designed especially with the purpose of containing bulk material, as well as applying the necessary forces to transport them. \citep{protogerakis_discussion_2020}\todo{remove test citation}
+The transportation of this bulk material typically involves the use of a belt conveyor. These belt conveyors are designed especially with the purpose of containing bulk material, as well as applying the necessary forces to transport them.
 
 \subsection{Measuring Bulk Material Flow}
 
@@ -76,5 +76,32 @@ Analysis of the research question as well as the other requirements have led us
 \end{itemize}
 
 
-
 \section{Approach}
+The following lays out an overview of the steps taken in order to realize the final product of this project. For more details on the specifics of the steps, please see \autoref{chap:design}.
+
+\subsection{Interfacing with the LIDAR sensor}
+The initial step of this project was naturally to establish an interface with the sensor itself. This includes:
+\begin{itemize}
+\item Preparing the development environment
+\item Building the necessary libraries and drivers
+\item Writing basic test software to manipulate sensor data
+\end{itemize}
+
+\subsection{Proof-of-Concept Software}
+After being able to successfully interface with the sensor, a proof-of-concept software was designed and written. Later, a GUI interface was also added the software to improve ease-of-use. The software was designed to be able to do the following things:
+\begin{itemize}
+\item Remotely acquire the raw sensor data over the network
+\item Display the raw sensor data in a meaningful way
+\item Display, calibrate and use the sensor data as a line scanner, with \textbf{instantaneous cross-sectional area} as an output
+\end{itemize}
+
+\subsection{Laboratory Prototype}
+Once the proof-of-concept software was stable, the setup was moved into a laboratory environment in order to further develop the main functionalities of the prototype. Among the functionalities that were developed:
+\begin{itemize}
+\item Image preparation (offset, rotation, skew)
+\item Cross-Correlation methods to determine band speed
+\item Profinet interface to deliver processed data
+\end{itemize}
+
+\subsection{Field Testing and Refinement}
+Eventually a staged was reached where development on the prototype in a small-scale laboratory setting was no longer adequate. Development and testing was then continued on-site at a gravel pit in order to validate laboratory results and further refine the software.

3-Design/Design.tex

@@ -0,0 +1,110 @@
+\chapter{Design and Implementation}\label{chap:design}
+This chapter outlines and further describes in details the design decisions behind the end-product of this project, as well as the specifics on the implementation of the project.
+
+\section{Phases of Development}
+The following phases of development are not grouped chronologically over the span of the project schedule, rather into conceptual groups.
+
+\subsection{Preparing Development and Build Environment}
+Setting up the development environment for this project was a non-trivial task, due to a lack of pre-compiled binaries for the intended architecture, the ARM chipset of the Raspberry Pi.
+
+The Raspberry Pi 4B used in this project was delivered with a Quad Core Cortex-A72 64-bit SOC. However, a 32-bit kernel OS was used in this project, due to the netHAT drivers only delivered as 32-bit compiled binaries.
+
+\subsubsection{Intel RealSense SDK}
+The Intel RealSense SDK, or librealsense, is a cross-platform library provided by Intel for use with their RealSense devices. Pre-compiled binaries for 32-bit ARM were not provided, and therefore must be compiled\cite{realsense_git}.
+
+\subsubsection{ZeroMQ}
+ZeroMQ is a lightweight asynchronous messaging library which extends the traditional socket interfaces\cite{zeromq_git}. In this project, ZeroMQ is used in order to:
+\begin{itemize}
+\item Broadcast raw sensor data to remote controllers using a publish/subscribe model
+\item Exchange configuration parameters between the remote controller and the local processor using a request/reply model
+\end{itemize}
+
+In this project, TCP sockets are used for communications.
+
+ZeroMQ was chosen to provide the aforementioned functionalities for the following reasons:
+\begin{itemize}
+\item Simple to implement
+\item Data can be transferred as binary data, instead of requiring it to be serialized
+\item Availability on numerous platforms, as well as pre-compiled binaries
+\end{itemize}
+
+\subsubsection{Real-Time Kernel Patch}
+Traditionally, the Linux kernel only allows one process to preempt another process in specific circumstances. This means, that even a high-priority thread may not preempt kernel code, until the kernel explicitly yields control.
+
+This is particularly disadvantageous for any operations requiring real-time performance. In order to circumvent this, the \verb|CONFIG_PREEMPT_RT| Kernel Patch is used in order to allow kernel code to be preempted\cite{rtwiki}.
+
+In the case of this project, this means that the local processor can process and deliver data in a more deterministic fashion\todo{maybe insert some test data here}.
+
+\subsubsection{GUI with Qt}
+The Qt GUI framework was used in order to create a GUI for the remote controller. This allowed for the sensor data to be more easily calibrated and aligned, as well as providing a consistent interface for end-user configuration.\todo{insert image of the interface}
+
+\subsection{Main Functionality}
+This subsection elaborates the fundamental building blocks of the program.
+
+\subsubsection{Transmission of Raw Sensor Data}
+
+\subsubsection{Calibration of Sensor Data}
+
+\subsubsection{Configuration for Processing}
+
+\subsubsection{Transmission of Configuration Parameters}
+
+
+\subsection{Testing and Validation}
+
+\section{Process Overview}
+\begin{figure}[h]
+	\centering
+	\includegraphics[width=0.8\textwidth]{./design/ProcessOverview}
+	\caption{Overview of the communication and processing process between the remote controller and the local processor.}
+\end{figure}
+
+\section{Software Architecture}\label{sec:softarch}
+\begin{figure}[h]
+	\centering
+	\includegraphics[width=0.7\textwidth]{./design/SoftwareArchitecture}
+	\caption{Overview of the interactions between the various software components and their communication.}
+\end{figure}
+
+What is being referred to \textit{the program} for the entirety of this document actually refers a two-part software suite consisting of:
+\begin{itemize}
+\item \textbf{FlowPi:} The local processing software that runs on the Raspberry Pi, and
+\item \textbf{FlowRemote: } The remote control software that is meant to run on an external PC for configuration purposes
+\end{itemize}
+
+\subsection{Development Language Choice}
+The program is written in \cpp\ for compatibility and performance reasons. All the device drivers provide libraries in either \clang\ or \cpp, while some drivers such as the CIFX library for the netHAT are only provided in \clang. 
+
+The topic of performance between languages and systems are a topic of much heated debate, however \cpp\ was chosen for this project do to the ability to program comfortably in a higher-level language, while having the ability to \textit{\enquote{drop-down}} into \clang. The \clang\ Programming Language is often the benchmark for higher-level programming languages when programming for Real-Time Systems due its predictability and the ability to run operations with few layers of abstraction on memory directly\cite{pizlo2010}. 
+
+Furthermore, since the scale of the processing unit of the program is relatively small, the benefits that come from using a higher-level programming language --- such as increased productivity, organization, and re-usability\cite{pizlo2010} --- are not strictly necessary.
+
+\begin{figure}[H]
+	\centering
+    \includegraphics[width=0.8\textwidth]{./design/ProcessingLibrary}
+    \caption{Representation of the how the processing unit is called by different components of the program.}
+    \label{fig:processinglib}
+\end{figure}
+
+As shown in \autoref{fig:processinglib}, the main functionality of the processing unit which include:
+
+\begin{itemize}
+\item Image Pre-Processing i.e. rotation, skew, cropping
+\item Curve-Fitting
+\item Cross-Correlation
+\end{itemize}
+
+are implemented in \clang\ as much as possible. This is then encapsulated by a \cpp\ wrapper. This provides ease-of-use on the remote side, where processing is not real-time critical, while still allowing the local side to directly call the \clang\ processing functions.
+
+\subsection{FlowRemote -- Remote Control GUI}
+
+\begin{figure}[h]
+	\centering
+	\includegraphics[width=0.9\textwidth]{./design/FlowRemote}
+	\caption{Overview of the FlowRemote features and configurable parameters.}
+\end{figure}
+
+
+
+
+\section{Data Processing Details}

5-Conclusion/Conclusion.tex

@@ -1 +1,9 @@
 \chapter{Conclusion and Outlook}\label{chap:sum}
+
+\section{Final State of the Project}
+
+\section{Remaining Work}
+
+\section{Challenges and Obstacles}
+
+\section{Feasibility as Commercial Product}

6-Thanks/Thanks.tex

@@ -6,4 +6,6 @@ Mr. N. Stuhrmann and Mr. M. Meilchen too have my gratitude for their tireless as
 
 Thank you to Prof. Dr.-Ing. Ralf Beck for offering to be the second examiner of this thesis.
 
+Mr. M. Viehöfer from Siep Kieswerk GmbH \& Co. KG has my deepest appreciation for their generous support, allowing me to test my prototypes on their site.
+
 Finally I would like to thank XX\todo{fill in proofreader} for their proofreading of this work, and my partner I. Gvazdaityte whose everlasting support made this work possible.

Main.tex

@@ -4,7 +4,11 @@
 %\usepackage{pdfpages}
 \usepackage{amsfonts}
 \usepackage{amssymb}
-\usepackage{natbib}
+
+%\usepackage{natbib}
+\usepackage{biblatex}
+\addbibresource{literatur.bib}
+
 \usepackage{subcaption}
 \usepackage[plain]{fancyref}
 \usepackage{rotating}
@@ -19,6 +23,8 @@
 
 \usepackage{hyperref}
 
+\usepackage{csquotes}
+
 \usepackage{amsmath}
 \numberwithin{equation}{section}
 
@@ -50,6 +56,16 @@
 
 %% CUSTOM MACROS %%
 \newcommand{\todoi}[1]{\todo[inline]{#1}}
+\newcommand{\cpp}{\texttt{C++}}
+\newcommand{\clang}{\texttt{C}}
+\newcommand{\fullWidthImage}[3]{
+\begin{figure}[h]
+	\includegraphics[width=0.9\textwidth]{#1}
+	\caption{#2}
+	\label{#3}
+	\centering
+\end{figure}
+}
 %% END CUSTOM MACROS %%
 
 \hypersetup{
@@ -63,27 +79,32 @@ pdfkeywords={LIDAR, conveyor belt}
 \pagestyle{plain}
 \emergencystretch 1.5em
 \addtolength{\jot}{1em}
+\addtokomafont{disposition}{\rmfamily}
+\RedeclareSectionCommand[afterskip=1pt]{subsection}
 \frontmatter
 
-\include{./1-Cover/Cover}
+\include{./0-Cover/Cover}
 
 %\include{Abstract}
 
 %\include{./I-Eides/Eides}
 %\include{./II-Abkuerzungen/Abkuerzungen}
 
-\setcounter{secnumdepth}{1}
+\setcounter{secnumdepth}{2}
 \setcounter{tocdepth}{1}
 \tableofcontents 
 
 \mainmatter
 
-\include{./2-Introduction/Introduction}
+\include{./1-Introduction/Introduction}
+
+\include{./3-Design/Design}
 
 \include{./5-Conclusion/Conclusion}
 
-\bibliographystyle{plain}
-\bibliography{literatur}
+%\bibliographystyle{plain}
+%\bibliography{literatur}
+\printbibliography
 
 \include{./6-Thanks/Thanks}
 \end{document}

literatur.bib

@@ -1,6 +1,66 @@
-@misc{protogerakis_discussion_2020,
-	title = {A discussion on the opportunities of {LIDAR}-based volumetric analysis for industrial applications},
-	author = {Protogerakis, Michael},
-	year = {2020},
-	note = {Interviewees: \_:n41},
+
+@article{minDesignExperimentDynamic2020,
+  title = {Design and {{Experiment}} of {{Dynamic Measurement Method}} for {{Bulk Material}} of {{Large Volume Belt Conveyor Based}} on {{Laser Triangulation Method}}},
+  author = {Min, Fusong and Lou, Andong and Wei, Qun},
+  date = {2020-01-17},
+  journaltitle = {IOP Conference Series: Materials Science and Engineering},
+  shortjournal = {IOP Conf. Ser.: Mater. Sci. Eng.},
+  volume = {735},
+  pages = {012029},
+  issn = {1757-899X},
+  doi = {10.1088/1757-899X/735/1/012029},
+  url = {https://iopscience.iop.org/article/10.1088/1757-899X/735/1/012029},
+  urldate = {2021-11-05},
+  file = {/home/naresh/Zotero/storage/L4QCBM6Z/Min et al. - 2020 - Design and Experiment of Dynamic Measurement Metho.pdf}
 }
+
+@inproceedings{pizlo2010,
+  title = {High-Level Programming of Embedded Hard Real-Time Devices},
+  booktitle = {Proceedings of the 5th {{European}} Conference on {{Computer}} Systems},
+  author = {Pizlo, Filip and Ziarek, Lukasz and Blanton, Ethan and Maj, Petr and Vitek, Jan},
+  date = {2010-04-13},
+  series = {{{EuroSys}} '10},
+  pages = {69--82},
+  publisher = {{Association for Computing Machinery}},
+  location = {{New York, NY, USA}},
+  doi = {10.1145/1755913.1755922},
+  url = {http://doi.org/10.1145/1755913.1755922},
+  urldate = {2022-01-13},
+  abstract = {While managed languages such as C\# and Java have become quite popular in enterprise computing, they are still considered unsuitable for hard real-time systems. In particular, the presence of garbage collection has been a sore point for their acceptance for low-level system programming tasks. Real-time extensions to these languages have the dubious distinction of, at the same time, eschewing the benefits of high-level programming and failing to offer competitive performance. The goal of our research is to explore the limitations of high-level managed languages for real-time systems programming. To this end we target a real-world embedded platform, the LEON3 architecture running the RTEMS real-time operating system, and demonstrate the feasibility of writing garbage collected code in critical parts of embedded systems. We show that Java with a concurrent, real-time garbage collector, can have throughput close to that of C programs and comes within 10\% in the worst observed case on realistic benchmark. We provide a detailed breakdown of the costs of Java features and their execution times and compare to real-time and throughput-optimized commercial Java virtual machines.},
+  isbn = {978-1-60558-577-2},
+  keywords = {java virtual machine,memory management,real-time systems},
+  file = {/home/naresh/Zotero/storage/JQHSRQ3V/Pizlo et al. - 2010 - High-level programming of embedded hard real-time .pdf}
+}
+
+@software{realsense_git,
+  title = {{{IntelRealSense}}/Librealsense},
+  shorttitle = {Realsense},
+  date = {2022-01-06T15:30:33Z},
+  origdate = {2015-11-17T20:42:18Z},
+  url = {https://github.com/IntelRealSense/librealsense},
+  urldate = {2022-01-06},
+  abstract = {Intel® RealSense™ SDK},
+  organization = {{Intel® RealSense™}},
+  keywords = {camera-api,computer-vision,developer-kits,hardware,library,librealsense,sdk}
+}
+
+@online{rtwiki,
+  title = {Real-{{Time Linux Wiki}}},
+  url = {https://rt.wiki.kernel.org/index.php/Main_Page},
+  urldate = {2022-01-06},
+  file = {/home/naresh/Zotero/storage/QVWI8QGE/Main_Page.html}
+}
+
+@software{zeromq_git,
+  title = {{{ZeroMQ}}},
+  shorttitle = {Zeromq},
+  date = {2022-01-05T21:55:24Z},
+  origdate = {2009-07-29T09:56:41Z},
+  url = {https://github.com/zeromq/libzmq},
+  urldate = {2022-01-06},
+  abstract = {ZeroMQ core engine in C++, implements ZMTP/3.1},
+  organization = {{The ZeroMQ project}},
+  keywords = {concurrency,libzmq,messaging,network,networking,pubsub,pushpull,stream,zeromq,zmq,zmtp}
+}
+
+