Characterization and mitigation of process variation in digital circuits and systems

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2009.Cataloged from PDF version of thesis.Includes bibliographical references (p. 155-166).Process variation threatens to negate a whole generation of scaling in advanced process technologies due to performance and power spreads of greater than 30-50%. Mitigating this impact requires a thorough understanding of the variation sources, magnitudes and spatial components at the device, circuit and architectural levels. This thesis explores the impacts of variation at each of these levels and evaluates techniques to alleviate them in the context of digital circuits and systems. At the device level, we propose isolation and measurement of variation in the intrinsic threshold voltage of a MOSFET using sub-threshold leakage currents. Analysis of the measured data, from a test-chip implemented on a 0. 18[mu]m CMOS process, indicates that variation in MOSFET threshold voltage is a truly random process dependent only on device dimensions. Further decomposition of the observed variation reveals no systematic within-die variation components nor any spatial correlation. A second test-chip capable of characterizing spatial variation in digital circuits is developed and implemented in a 90nm triple-well CMOS process. Measured variation results show that the within-die component of variation is small at high voltages but is an increasing fraction of the total variation as power-supply voltage decreases. Once again, the data shows no evidence of within-die spatial correlation and only weak systematic components. Evaluation of adaptive body-biasing and voltage scaling as variation mitigation techniques proves voltage scaling is more effective in performance modification with reduced impact to idle power compared to body-biasing.(cont.) Finally, the addition of power-supply voltages in a massively parallel multicore processor is explored to reduce the energy required to cope with process variation. An analytic optimization framework is developed and analyzed; using a custom simulation methodology, total energy of a hypothetical 1K-core processor based on the RAW core is reduced by 6-16% with the addition of only a single voltage. Analysis of yield versus required energy demonstrates that a combination of disabling poor-performing cores and additional power-supply voltages results in an optimal trade-off between performance and energy.by Nigel Anthony Drego.Ph.D

Lessons Learned in Engineering

This Contractor Report (CR) is a compilation of Lessons Learned in approximately 55 years of engineering experience by each James C. Blair, Robert S. Ryan, and Luke A. Schutzenhofer. The lessons are the basis of a course on Lessons Learned that has been taught at Marshall Space Flight Center. The lessons are drawn from NASA space projects and are characterized in terms of generic lessons learned from the project experience, which are further distilled into overarching principles that can be applied to future projects. Included are discussions of the overarching principles followed by a listing of the lessons associated with that principle. The lesson with sub-lessons are stated along with a listing of the project problems the lesson is drawn from, then each problem is illustrated and discussed, with conclusions drawn in terms of Lessons Learned. The purpose of this CR is to provide principles learned from past aerospace experience to help achieve greater success in future programs, and identify application of these principles to space systems design. The problems experienced provide insight into the engineering process and are examples of the subtleties one experiences performing engineering design, manufacturing, and operations

A Methodology Towards Comprehensive Evaluation of Shape Memory Alloy Actuators for Prosthetic Finger Design

Presently, DC motors are the actuator of choice within intelligent upper limb prostheses. However, the weight and dimensions associated with suitable DC motors are not always compatible with the geometric restrictions of a prosthetic hand; reducing available degrees of freedom and ultimately rendering the prosthesis uncomfortable for the end-user. As a result, the search is on-going to find a more appropriate actuation solution that is lightweight, noiseless, strong and cheap. Shape memory alloy (SMA) actuators offer the potential to meet these requirements. To date, no viable upper limb prosthesis using SMA actuators has been developed. The primary reasons lie in low force generation as a result of unsuitable actuator designs, and significant difficulties in control owing to the highly nonlinear response of SMAs when subjected to joule heating. This work presents a novel and comprehensive methodology to facilitate evaluation of SMA bundle actuators for prosthetic finger design. SMA bundle actuators feature multiple SMA wires in parallel. This allows for increased force generation without compromising on dynamic performance. The SMA bundle actuator is tasked with reproducing the typical forces and contractions associated with the human finger in a prosthetic finger design, whilst maintaining a high degree of energy efficiency. A novel approach to SMA control is employed, whereby an adaptive controller is developed and tuned using the underlying thermo-mechanical principles of operation of SMA wires. A mathematical simulation of the kinematics and dynamics of motion provides a platform for designing, optimizing and evaluating suitable SMA bundle actuators offline. This significantly reduces the time and cost involved in implementing an appropriate actuation solution. Experimental results show iii that the performance of SMA bundle actuators is favourable for prosthesis applications. Phalangeal tip forces are shown to improve significantly through bundling of SMA wire actuators, while dynamic performance is maintained owing to the design and implementation of the selected control strategy. The work is intended to serve as a roadmap for fellow researchers seeking to design, implement and control SMA bundle actuators in a prosthesis design. Furthermore, the methodology can also be adopted to serve as a guide in the evaluation of other non-conventional actuation technologies in alternative applications

Human Factors Considerations in System Design

Human factors considerations in systems design was examined. Human factors in automated command and control, in the efficiency of the human computer interface and system effectiveness are outlined. The following topics are discussed: human factors aspects of control room design; design of interactive systems; human computer dialogue, interaction tasks and techniques; guidelines on ergonomic aspects of control rooms and highly automated environments; system engineering for control by humans; conceptual models of information processing; information display and interaction in real time environments

Cognitive aspects of work with digital maps

Digital maps of geographic areas are increasingly common in many types of workplace, in education and in the public domain. Their interactivity and visual features, and the complexity of geographic(al) information systems (GIS) which create, edit and manipulate them, create special cognitive demands on the end-user which are not present in traditional cartographic maps or in most human-computer interaction (HCI). This thesis reviews cross-disciplinary literature regarding cognitive aspects of viewing and interacting with digital maps. Data from an observational study of GIS use, including real-time recordings of normal workplace activities, was analysed using various approaches to examine the interactive and visual aspects of people's work. The implications for cartographic, psychological and HeI aspects of GIS are discussed, in the context of the actual tasks people perform with them (rather than the computationally advanced analyses assumed by most literature). The second phase of the research examined the spatial knowledge attained and used during this interaction. The relevance of specific concepts in cognitive psychology, and of factors that create individual differences in cognition, are discussed in depth, alongside work in environmental and educational psychology, cartography and geography. A controlled experiment examined the degree to which task characteristics induce a different spatial model or reference frame when viewing a digital map. It was shown that even novice users can switch between considering the map as an abstract geometric display or as a geographical representation, without affecting performance. However, tasks forcing subjects to focus entirely on the geometry rather than the geography did affect performance in a surprise post-test photograph identification task. Map users' mental model or reference frame is apparently affected by these task constraints; this has implications for GIS design and practice as well as for understanding spatial cognition The study also considered the role of expertise and other individual difference factors, although conclusions were limited by sample size. Further research issues are highlighted, particularly regarding the knowledge structures and spatial language used in interpreting digital maps

On Energy Efficient Computing Platforms

In accordance with the Moore's law, the increasing number of on-chip integrated transistors has enabled modern computing platforms with not only higher processing power but also more affordable prices. As a result, these platforms, including portable devices, work stations and data centres, are becoming an inevitable part of the human society. However, with the demand for portability and raising cost of power, energy efficiency has emerged to be a major concern for modern computing platforms. As the complexity of on-chip systems increases, Network-on-Chip (NoC) has been proved as an efficient communication architecture which can further improve system performances and scalability while reducing the design cost. Therefore, in this thesis, we study and propose energy optimization approaches based on NoC architecture, with special focuses on the following aspects. As the architectural trend of future computing platforms, 3D systems have many bene ts including higher integration density, smaller footprint, heterogeneous integration, etc. Moreover, 3D technology can signi cantly improve the network communication and effectively avoid long wirings, and therefore, provide higher system performance and energy efficiency. With the dynamic nature of on-chip communication in large scale NoC based systems, run-time system optimization is of crucial importance in order to achieve higher system reliability and essentially energy efficiency. In this thesis, we propose an agent based system design approach where agents are on-chip components which monitor and control system parameters such as supply voltage, operating frequency, etc. With this approach, we have analysed the implementation alternatives for dynamic voltage and frequency scaling and power gating techniques at different granularity, which reduce both dynamic and leakage energy consumption. Topologies, being one of the key factors for NoCs, are also explored for energy saving purpose. A Honeycomb NoC architecture is proposed in this thesis with turn-model based deadlock-free routing algorithms. Our analysis and simulation based evaluation show that Honeycomb NoCs outperform their Mesh based counterparts in terms of network cost, system performance as well as energy efficiency.Siirretty Doriast

End-user action-sound mapping design for mid-air music performance

How to design the relationship between a performer’s actions and an instrument’s sound response has been a consistent theme in Digital Musical Instrument (DMI) research. Previously, mapping was seen purely as an activity for DMI creators, but more recent work has exposed mapping design to DMI musicians, with many in the field introducing soware to facilitate end-user mapping, democratising this aspect of the DMI design process. This end-user mapping process provides musicians with a novel avenue for creative expression, and offers a unique opportunity to examine how practising musicians approach mapping design.Most DMIs suffer from a lack of practitioners beyond their initial designer, and there are few that are used by professional musicians over extended periods. The Mi.Mu Gloves are one of the few examples of a DMI that is used by a dedicated group of practising musicians, many of whom use the instrument in their professional practice, with a significant aspect of creative practice with the gloves being end-user mapping design. The research presented in this dissertation investigates end-user mapping practice with the Mi.Mu Gloves, and what influences glove musicians’ design decisions based on the context of their music performance practice, examining the question: How do end-users of a glove-based mid-air DMI design action–sound mapping strategies for musical performance?In the first study, the mapping practice of existing members of the Mi.Mu Glove community is examined. Glove musicians performed a mapping design task, which revealed marked differences in the mapping designs of expert and novice glove musicians, with novices designing mappings that evoked conceptual metaphors of spatial relationships between movement and music, while more experienced musicians focused on designing ergonomic mappings that minimised performer error.The second study examined the initial development period of glove mapping practice. A group of novice glove musicians were tracked in a longitudinal study. The findings supported the previous observation that novices designed mappings using established conceptual metaphors, and revealed that transparency and the audience’s ability to perceive their mappings was important to novice glove musicians. However, creative mapping was hindered by system reliability and the novices’ poorly trained posture recognition.The third study examined the mapping practice of expert glove musicians, who took part in a series of interviews. Findings from this study supported earlier observations that expert glove musicians focus on error minimisation and ergonomic, simple controls, but also revealed that the expert musicians embellished these simple controls with performative ancillary gestures to communicate aesthetic meaning. The expert musicians also suffered from system reliability, and had developed a series of gestural techniques to mitigate accidental triggering.The fourth study examined the effects of system-related error in depth. A laboratory study was used to investigate how system-related errors impacted a musician’s ability to acquire skill with the gloves, finding that a 5% rate of system error had a significant effect on skill acquisition.Learning from these findings, a series of design heuristics are presented, applicable for use in the fields of DMI design, mid-air interaction design and end-user mapping design

Novel Validation Techniques for Autonomous Vehicles

The automotive industry is facing challenges in producing electrical, connected, and autonomous vehicles. Even if these challenges are, from a technical point of view, independent from each other, the market and regulatory bodies require them to be developed and integrated simultaneously. The development of autonomous vehicles implies the development of highly dependable systems. This is a multidisciplinary activity involving knowledge from robotics, computer science, electrical and mechanical engineering, psychology, social studies, and ethics. Nowadays, many Advanced Driver Assistance Systems (ADAS), like Emergency Braking System, Lane Keep Assistant, and Park Assist, are available. Newer luxury cars can drive by themselves on highways or park automatically, but the end goal is to develop completely autonomous driving vehicles, able to go by themselves, without needing human interventions in any situation. The more vehicles become autonomous, the greater the difficulty in keeping them reliable. It enhances the challenges in terms of development processes since their misbehaviors can lead to catastrophic consequences and, differently from the past, there is no more a human driver to mitigate the effects of erroneous behaviors. Primary threats to dependability come from three sources: misuse from the drivers, design systematic errors, and random hardware failures. These safety threats are addressed under various aspects, considering the particular type of item to be designed. In particular, for the sake of this work, we analyze those related to Functional Safety (FuSa), viewed as the ability of a system to react on time and in the proper way to the external environment. From the technological point of view, these behaviors are implemented by electrical and electronic items. Various standards to achieve FuSa have been released over the years. The first, released in 1998, was the IEC 61508. Its last version is the one released in 2010. This standard defines mainly: • a Functional Safety Management System (FSMS); • methods to determine a Safety Integrated Level (SIL); • methods to determine the probability of failures. To adapt the IEC61508 to the automotive industry’s peculiarity, a newer standard, the ISO26262, was released in 2011 then updated in 2018. This standard provides guidelines about FSMS, called in this case Safety Lifecycle, describing how to develop software and hardware components suitable for functional safety. It also provides a different way to compute the SIL, called in this case Automotive SIL (ASIL), allowing us to consider the average driver’s abilities to control the vehicle in case of failures. Moreover, it describes a way to determine the probability of random hardware failures through Failure Mode, Effects, and Diagnostic Analysis (FMEDA). This dissertation contains contributions to three topics: • random hardware failures mitigation; • improvementoftheISO26262HazardAnalysisandRiskAssessment(HARA); • real-time verification of the embedded software. As the main contribution of this dissertation, I address the safety threats due to random hardware failures (RHFs). For this purpose, I propose a novel simulation-based approach to aid the Failure Mode, Effects, and Diagnostic Analysis (FMEDA) required by the ISO26262 standard. Thanks to a SPICE-level model of the item, and the adoption of fault injection techniques, it is possible to simulate its behaviors obtaining useful information to classify the various failure modes. The proposed approach evolved from a mere simulation of the item, allowing only an item-level failure mode classification up to a vehicle-level analysis. The propagation of the failure modes’ effects on the whole vehicle enables us to assess the impacts on the vehicle’s drivability, improving the quality of the classifications. It can be advantageous where it is difficult to predict how the item-level misbehaviors propagate to the vehicle level, as in the case of a virtual differential gear or the mobility system of a robot. It has been chosen since it can be considered similar to the novel light vehicles, such as electric scooters, that are becoming more and more popular. Moreover, my research group has complete access to its design since it is realized by our university’s DIANA students’ team. When a SPICE-level simulation is too long to be performed, or it is not possible to develop a complete model of the item due to intellectual property protection rules, it is possible to aid this process through behavioral models of the item. A simulation of this kind has been performed on a mobile robotic system. Behavioral models of the electronic components were used, alongside mechanical simulations, to assess the software failure mitigation capabilities. Another contribution has been obtained by modifying the main one. The idea was to make it possible to aid also the Hazard Analysis and Risk Assessment (HARA). This assessment is performed during the concept phase, so before starting to design the item implementation. Its goal is to determine the hazards involved in the item functionality and their associated levels of risk. The end goal of this phase is a list of safety goals. For each one of these safety goals, an ASIL has to be determined. Since HARA relies only on designers expertise and knowledge, it lacks in objectivity and repeatability. Thanks to the simulation results, it is possible to predict the effects of the failures on the vehicle’s drivability, allowing us to improve the severity and controllability assessment, thus improving the objectivity. Moreover, since simulation conditions can be stored, it is possible, at any time, to recheck the results and to add new scenarios, improving the repeatability. The third group of contributions is about the real-time verification of embedded software. Through Hardware-In-the-Loop (HIL), a software integration verification has been performed to test a fundamental automotive component, mixed-criticality applications, and multi-agent robots. The first of these contributions is about real-time tests on Body Control Modules (BCM). These modules manage various electronic accessories in the vehicle’s body, like power windows and mirrors, air conditioning, immobilizer, central locking. The main characteristics of BCMs are the communications with other embedded computers via the car’s vehicle bus (Controller Area Network) and to have a high number (hundreds) of low-speed I/Os. As the second contribution, I propose a methodology to assess the error recovery system’s effects on mixed-criticality applications regarding deadline misses. The system runs two tasks: a critical airplane longitudinal control and a non-critical image compression algorithm. I start by presenting the approach on a benchmark application containing an instrumented bug into the lower criticality task; then, we improved it by injecting random errors inside the lower criticality task’s memory space through a debugger. In the latter case, thanks to the HIL, it is possible to pause the time domain simulation when the debugger operates and resume it once the injection is complete. In this way, it is possible to interact with the target without interfering with the simulation results, combining a full control of the target with an accurate time-domain assessment. The last contribution of this third group is about a methodology to verify, on multi-agent robots, the synchronization between two agents in charge to move the end effector of a delta robot: the correct position and speed of the end effector at any time is strongly affected by a loss of synchronization. The last two contributions may seem unrelated to the automotive industry, but interest in these applications is gaining. Mixed-criticality systems allow reducing the number of ECUs inside cars (for cost reduction), while the multi-agent approach is helpful to improve the cooperation of the connected cars with respect to other vehicles and the infrastructure. The fourth contribution, contained in the appendix, is about a machine learning application to improve the social acceptance of autonomous vehicles. The idea is to improve the comfort of the passengers by recognizing their emotions. I started with the idea to modify the vehicle’s driving style based on a real-time emotions recognition system but, due to the difficulties of performing such operations in an experimental setup, I move to analyze them offline. The emotions are determined on volunteers’ facial expressions recorded while viewing 3D representa- tions showing different calibrations. Thanks to the passengers’ emotional responses, it is possible to choose the better calibration from the comfort point of view

Novel Validation Techniques for Autonomous Vehicles

L'abstract è presente nell'allegato / the abstract is in the attachmen

Circuit Design

Circuit Design = Science + Art! Designers need a skilled "gut feeling" about circuits and related analytical techniques, plus creativity, to solve all problems and to adhere to the specifications, the written and the unwritten ones. You must anticipate a large number of influences, like temperature effects, supply voltages changes, offset voltages, layout parasitics, and numerous kinds of technology variations to end up with a circuit that works. This is challenging for analog, custom-digital, mixed-signal or RF circuits, and often researching new design methods in relevant journals, conference proceedings and design tools unfortunately gives the impression that just a "wild bunch" of "advanced techniques" exist. On the other hand, state-of-the-art tools nowadays indeed offer a good cockpit to steer the design flow, which include clever statistical methods and optimization techniques.Actually, this almost presents a second breakthrough, like the introduction of circuit simulators 40 years ago! Users can now conveniently analyse all the problems (discover, quantify, verify), and even exploit them, for example for optimization purposes. Most designers are caught up on everyday problems, so we fit that "wild bunch" into a systematic approach for variation-aware design, a designer's field guide and more. That is where this book can help! Circuit Design: Anticipate, Analyze, Exploit Variations starts with best-practise manual methods and links them tightly to up-to-date automation algorithms. We provide many tractable examples and explain key techniques you have to know. We then enable you to select and setup suitable methods for each design task - knowing their prerequisites, advantages and, as too often overlooked, their limitations as well. The good thing with computers is that you yourself can often verify amazing things with little effort, and you can use software not only to your direct advantage in solving a specific problem, but also for becoming a better skilled, more experienced engineer. Unfortunately, EDA design environments are not good at all to learn about advanced numerics. So with this book we also provide two apps for learning about statistic and optimization directly with circuit-related examples, and in real-time so without the long simulation times. This helps to develop a healthy statistical gut feeling for circuit design. The book is written for engineers, students in engineering and CAD / methodology experts. Readers should have some background in standard design techniques like entering a design in a schematic capture and simulating it, and also know about major technology aspects